Research On Automatic Control Multifunctional Rehabilitation Instrument For Musculoskeletal Joint Pain

Since the beginning of the 21st century,the aging of population has become a common problem all over the world.This problem is particularly outstanding in our country,and the health of old people has become a social focus.However,musculoskeletal joint pain has always been one of the most important diseases troubling the health of the elderly.It is not easy to recover from the disease,which has a serious impact on the life and economic status of the patients.Therefore,researchers have designed rehabilitation devices with mechanical structures to help patients with rehabilitation training,but the existing devices are complicated,uncomfortable and expensive,which brings a significant burden to patients.Therefore,this thesis proposes a set of traction,massage,electrical stimulation and moxibustion heat therapy in one of the automatic control of multi-functional musculoskeletal joint pain rehabilitation treatment instrument,which has the characteristics of simple structure,small size,high flexibility,reasonable price,mainly used in human lower limb knee pain rehabilitation treatment,this thesis mainly studies the following contents:First of all,in order to design an ergonomic rehabilitation therapy instrument,this thesis studies the rehabilitation theory of musculoskeletal joint pain,and analyzes the biological characteristics and movement characteristics of human leg bones and muscles from the perspective of human lower limb characteristics.Based on D-H(DenavitHartenberg)algorithm combined with mathematical relation,the mathematical model of the motion range of the simplified model of human leg and the trajectory of the ankle was established.Based on this,the three-dimensional model of the rehabilitation therapeutic instrument was established,and the size design principle of the soft driver,a key component of the therapeutic instrument,was determined.Secondly,according to the design principle of the software driver,the 3D model of the software driver is established,and the working principle of the software driver is analyzed.Based on the Yeoh constitutive model,the mathematical modeling of soft actuator was carried out,and the relationship between pressure and bending Angle was obtained.The material parameters of the third-order Yeoh constitutive model were fitted by the tensile and shear experiments of Ecoflex0030 silicone material.The finite element simulation experiment was carried out by ANSYS Workbench software to simulate the working process of software driver,and the deformation parameters of software driver were visualized.Thirdly,the physical model of the software driver is made,and the manufacturing process of the software driver is described.The 3D printing technology and silicone pouring technology are used to prepare the driver.The internal cavity structure has the characteristics of pressure expansion and bending,and the loss of pressure can restore the original state.The pneumatic drive system is built,the pneumatic circuit is designed,the main hardware of the pneumatic drive system is selected,and the key circuit of the whole system is designed.Finally,in order to realize the automatic control of the therapeutic instrument,a "producer-consumer" framework for event triggering is adopted based on Lab VIEW platform.Through the inherent sub-VI(Virtual Instrument)and VISA(Virtual Instrument Software Architecture)of Lab VIEW,the design of functional modules such as user operation interface,serial communication and data storage is realized.The bending performance experiment of the pneumatic system is carried out,and the experimental results are highly matched with the mathematical and simulation model results,which proves the scientific nature of the rehabilitation therapy instrument designed in this thesis.