Research On Key Technology Of New Balance Disorder Evaluation And Rehabilitation Robot

The incidence rate of balance disorders is increasing with the increase of the number of elderly population.Many elderly people fall down due to dizziness and dizziness caused by balance disorder,resulting in immeasurable serious consequences.The problem of balance disorder has aroused widespread concern of people from all walks of life,and has become an urgent problem to be solved in the medical field.The number of patients with balance disorder is increasing year by year in China.But the medical resources are very limited,the rehabilitation training method is single,and the technology is backward.In this project,the rehabilitation training robot for patients with balance disorders is studied.A large part of the causes of the imbalance of human body is the abnormality of the motion sensing system,especially the loss or degradation of the vestibular sensing system.Therefore,the primary function of the robot is motion simulation,which can drive patients to carry out a variety of rehabilitation movements,constantly stimulate patients to produce vestibular sensation and deep sense,so as to guide the brain to actively integrate and improve the ability of motion sensing organs.In this paper,starting from the main function of helping patients with balance disorder to carry out rehabilitation training,based on the characteristic index of "large load,high speed and high acceleration",the overall scheme is designed and developed step by step.In this project,a new type of 6-ssp parallel robot is applied to the rehabilitation training of balance disorders in the medical field for the first time,which solves the defect that the traditional Stewart Parallel Platform can not carry out highspeed and high acceleration movement although it has strong bearing capacity.It is a breakthrough and progress in the field of rehabilitation training robot.This paper also analyzes the characteristics of the new 6-ssp parallel robot in all aspects,including motion characteristics,dynamic characteristics,structural characteristics and parameter optimization,in order to better understand the characteristics of the robot and improve its performance.The washout control algorithm is studied.In order to realize all kinds of motion in a limited range of motion,parallel robot cannot do without washout control algorithm.In this paper,the influence of the filter parameters of each channel of the control algorithm on the effect of motion simulation is studied in detail.For the shortcomings of the classical washout algorithm,multi objective genetic algorithm is used to optimize the filter parameters,find the most suitable parameters for the application scene,and improve the fidelity of motion simulation.Finally,the prototype of the experimental platform is built to observe the motion of the experimental platform under the control of the optimized wash out algorithm,and compare with the simulation motion in the simulation software to verify the feasibility of the algorithm.