Research On Evaluation Of Upper Limb Compensation Of Stroke Patients Trained By Rehabilitation Robot

In the upper limb rehabilitation training,obvious physical compensation will be generated to replace the damaged function to complete the target task,which greatly affects the rehabilitation process of the injured parts of the patient.It is of great significance to correctly evaluate and suppress the upper limb compensation with the training of rehabilitation robots.At present,the evaluation of the compensation trained by rehabilitation robot mainly depends on subjective observation of rehabilitation physicians,and there is no unified evaluation standard.Based on real-time collection of motion data,establishing a compensation evaluation model can solve the problem of non-standardization in evaluation better.In order to build a real-time compensation evaluation model,the upper limb compensation mode guided by rehabilitation robot was analyzed through the principles of compensation and the kinematic model containing compensated bodies was established under the certain training guidance.The effects of rehabilitation robot on compensation was analyzed based on experimental research.And through comparative analysis between the rehabilitation guided training and traditional rehabilitation training of the upper limb skeleton points motion trajectory diagram and the dynamic change of angle,angular velocity and angular acceleration,it was verified that there existed compensation during upper limb rehabilitation exercise of stroke patients.Then the compensation evaluation system was established from three aspects of degree of freedom,joint mobility and movement coordination.The difference of the degrees of freedom and the difference of joint mobility between the stroke patient and standard reference described degree of freedom compensation and joint mobility compensation respectively.And the difference of coordination element principal component and coefficient of activity of the coordination element described the movement coordination compensation,so as to realize the compensation quantitative assessment of the stroke patient trained by rehabilitation robot.Finally,the rehabilitation robot guided upper limb compensation evaluation system was developed.the feasibility of the compensation evaluation system was verified by comparing the compensation evaluation results with the clinical diagnosis of rehabilitation physicians.