Research Of Flexible Wearable Rehabilitation Manipulator Based On Biology-Computer Interface

With the continuous deepening of population aging,the prevalence of frequently-occurring diseases in the aging population represented by stroke has increased sharply.Stroke is often accompanied by varying degrees of hand movement dysfunction.As the most frequently used organ in daily life,hand function damage will bring a great burden to patients.Rehabilitation training is needed to regain motor function.However,the existing medical resources and rehabilitation facilities are in short supply,and rehabilitation physicians are under tremendous work pressure.Rehabilitation manipulators can overcome the current shortage of medical resources and provide a new method for hand rehabilitation for stroke patients.However,most of the current rehabilitation manipulators use rigid structures with complex structures and large masses.Not only are they expensive,but they are also likely to cause secondary injuries to patients;moreover,passive training alone cannot well promote the remodeling of patients’ neurological function.Therefore,how to design a flexible wearable rehabilitation manipulator and realize active compliance control has become the two major problems that need to be solved in the rehabilitation of stroke patients.This article focuses on the above-mentioned problems,and the main research contents are as follows:Firstly,analyze the characteristics of the human hand from multiple physiological perspectives such as bones,joints and muscles,study the kinematic characteristics of the human hand,measure the range of motion of the human hand joints,and take the index finger as an example to simplify the human hand model,and apply the D-H parameter method to analyze the finger model and obtain the range of the fingertip point,and provide a theoretical basis for the design of the rehabilitation manipulator.Secondly,design the mechanical structure of the flexible rehabilitation manipulator from the perspective of bionics.Using the coupling characteristics of the finger joints,the bowden wire is deformed under the action of the motor to control the soft rehabilitation gloves,thereby driving the patient to complete the flexion/extension movement of the finger joints.The gloves are equipped with bending and pressure sensors to feed back angle and pressure information in real time to realize the closed-loop control of the rehabilitation manipulator.At the same time,the control circuit of the system is designed according to the control needs,which mainly includes the minimum system of the single-chip microcomputer,the power circuit,the communication between the PC and the single-chip microcomputer,and the sensor data acquisition module.Thirdly,an active control method of rehabilitation manipulator based on vitality interface is designed.Aiming at the problem of motion intention recognition,a method of human intention recognition based on EEG signals is designed to generate a desired trajectory synchronized with human intentions;for the patient’s active force prediction problem,a relationship between multi-channel surface EMG signals and hand grip strength is established to achieve the decoding of the patient’s active grip.At the same time,in order to improve the control accuracy of the rehabilitation manipulator on the human-machine contact force and ensure the compliance of the human-machine contact,the control outer loop realizes the tracking of the desired auxiliary force through the position-based impedance controller.Finally,build a flexible rehabilitation manipulator system experimental platform,conduct physical prototype experimental research on the rehabilitation manipulator,and formulate an experimental plan and experimental process based on the proposed active control strategy.Experiments verify the effectiveness of the human body intention recognition,main force prediction and position-based impedance control methods proposed in this paper.