Design And Research Of Pneumatic Rigid-flexible Coupling Upper Limb Rehabilitation Equipment

The proportion of the country’s ageing population base is rising sharply over time.Due to the continuous degeneration of human function,bring a large number of senile diseases and a variety of recessive additional diseases,such as muscle atrophy caused by hemiplegia and various neurological diseases caused by motor dysfunction.The state and society began to build for the aging population by deploying a large number of community medical security institutions and elderly care centers.Rehabilitation equipment for sports dysfunction is also designed and developed under the promotion of the environment.In recent years,the proportion of research on exoskeleton rehabilitation equipment in the field of rehabilitation engineering shows a rapid development trend,and extends to a variety of directions.Taking upper limb rehabilitation equipment as an example,domestic and foreign research directions can be generally divided into wearable exoskeleton rehabilitation equipment and end-effector rehabilitation equipment.The rehabilitation equipment developed in the early stage was mainly end-effector rehabilitation equipment due to the limitation of materials,equipment configuration and other factors.Subsequently,with the emergence of a large number of new materials,the research and development of rehabilitation equipment gradually began to turn to wearable exoskeleton rehabilitation equipment,among which pneumatic muscle as the driver of the exoskeleton rehabilitation equipment.Through the operation mode of the pneumatic muscle biomimetic human muscle group,the fitting adaptability of the equipment and human tissue is improved.Pneumatic muscle has the advantages of high strength,light load and smooth working process.In operation,it can only provide one-way force in the specified direction and is only self-extending tension in essence.Moreover,pneumatic muscles have the characteristics of highly nonlinear,degeneration and retardation.Therefore,it is relatively difficult to achieve fine control for rehabilitation equipment driven solely by pneumatic muscle.At present,most of the upper limb rehabilitation equipment developed at home and abroad focuses on the specific function and control scheme,and there are relatively few researches on the physiological comfort and psychological needs of users.Based on the perspective of design,with the help of multidisciplinary integration,this paper takes the comfort index of human upper limb rehabilitation exercise as the starting point for the relevant design and research of upper limb rehabilitation equipment.(1)The rehabilitation equipment developed at home and abroad was analyzed and differentiated according to different functional structures and driving modes.The trend of research direction in recent years is analyzed,and the innovation points are sorted out in combination with the literature to provide diversified research directions.Research on rehabilitation AIDS at home and abroad mostly focuses on functional organization,structure and control program development,etc.,while relevant research on the operation function of equipment has leveled off,and there is a lack of research on user needs,ergonomics and product use comfort.(2)Through the relevant theories of human anatomy and sports rehabilitation engineering,refine and integrate the data of the movement track,activity limit,motor muscle strength index and other data of the human upper limb,so as to provide the benchmark index of human tissue for the structural setting of subsequent equipment and related experiments.According to relevant theories of pneumatic muscle,a 3D model was established for Abaqus finite element analysis.Through simulation,the contraction coefficient of pneumatic muscle driven by different standard air pressure was collected.According to the relevant data of simulation,the initial prototype is made and the running data of the prototype is collected.(3)According to ergonomics and sports rehabilitation related theories,carry out detailed research on the comfort level of human movement.Through the DH model of upper limb movement and the real-time monitoring system of human movement trajectory,the feedback of human upper limb in different motion states was extracted.Based on the Siemens Tecnomatix Jack software,real-time simulation was carried out for the relevant movements of human upper limbs,and the joint motion angles and load conditions in the movement of human upper limbs were sampled.It provides corresponding indicators for the subsequent device driving scheme and driver configuration,and guarantees the motion fit degree between the device and the human body.(4)Force source data of each group of drivers were sampled and analyzed to provide data support for the final selection of subsequent equipment.Based on previous human motion data samples and driver data,two driving schemes of pneumatic muscle combination structure and rigid-flexible coupling structure were constructed for comparative analysis.Finally,a relatively better driving scheme is selected,and hardware electronic control system and software control system are established.Finally,a relatively complete initial prototype layout was established and compared horizontally with the human movement data collected in the early stage to analyze whether the device driver could match the process of human movement,whether it could meet the force supply required for human rehabilitation movement,and would not generate data hedging with the human upper limbs in the process of movement.It can assist human body to carry out designated rehabilitation training and guarantee the comfort of human movement.(5)According to the relevant theories and research methods of design psychology,the SCL-90 psychological evaluation quantitative table is used to conduct psychological evaluation for target patients,and relatively scientific and effective psychological data samples are obtained.According to the psychological sample data,the psychological needs of users in the process of rehabilitation are analyzed,and the relevant design elements of the corresponding design scheme are extracted.Finally,a complete upper limb rigid-flexible coupling structure rehabilitation equipment design scheme was established,and the specific use comfort of the rehabilitation equipment was evaluated and analyzed.