The Design Of Trunk Rehabilitation Training System Based On Multi Manipulator Coordination

Studies have shown that the incidence of stroke in my country is high,and most patients have varying degrees of motor dysfunction after illness.Patients can usually un-dergo rehabilitation under the guidance and help of a rehabilitation physician to help them recover their motor functions.However,there has always been a contradiction between supply and demand of a large number of patients and a shortage of doctors.In order to cope with this contradiction,rehabilitation training systems are often used instead of doctors to perform rehabilitation treatments on patients.At present,a large number of rehabilita-tion training systems have been developed and applied in the rehabilitation treatment of stroke patients,such as lower extremity rehabilitation exoskeleton,upper extremity re-habilitation exoskeleton and so on.The trunk motor function of stroke patients is often damaged.Studies have shown that the recovery of the motor function of the patient’s trunk is of great significance.It can not only maintain body balance,but also promote the recovery of other limb functions.However,the rehabilitation training system for the patient’s trunk rehabilitation has not received widespread attention.Therefore,this article designs a rehabilitation training system based on multi-manipulator coordination for the trunk rehabilitation of stroke patients.The main research work is as follows.The generation method of trunk rehabilitation training trajectory based on the hu-man trunk model is proposed: First,according to the rehabilitation system scheme and the analysis of the human trunk motion,abstract and simplify the motion model of the human trunk.The motion model is represented by a joint-link model.When perform-ing rehabilitation for patients of different body shapes,only the corresponding parameters of the model need to be changed.Based on the model and the analysis of rehabilitation training actions,the motion trajectory generation algorithm of two training modes of the trunk rehabilitation training system is proposed,namely the passive mode and the induc-tion mode.Passive mode directly generates rehabilitation training trajectory according to the set movement angle.This mode can be used to help patients in the early stage of reha-bilitation increase the mobility of the trunk,and can achieve sports rehabilitation of trunk flexion,lateral flexion and rotation.The induction mode generates real-time rehabilitation training trajectories based on the force sensor data.This mode can induce the patient to participate in the rehabilitation training more actively when the patient has a certain trunk active movement ability,and further improve the patient’s rehabilitation efficiency.Designed the software implementation scheme of the trunk rehabilitation system:The solution realizes the separation of UI interaction and low-level control programming through the definition of the software function interface.The underlying software frame-work provides the system’s trunk model,system’s rehabilitation training mode and train-ing action interface to facilitate subsequent further upgrades.The UI interactive part is designed with richer functions based on the software function interface.Finally,the re-search and development of the software part of the rehabilitation training system is com-pleted based on the actual designed mechanical hardware system and software scheme.This article finally realizes a relatively complete trunk rehabilitation training system.The system can assist doctors in providing patients with relatively efficient rehabilitation training,Recording the patient’s rehabilitation training data saves the manpower and ma-terial costs of rehabilitation training.Through the diversified training modes provided by the system,the efficiency of rehabilitation training for patients is improved,helping them to recover as soon as possible and return to normal life.