Design Of Upper Limb Rehabilitation Training Device Assisting Occupational Therapy

Due to the increasing proportion of the elderly in our country,the health problems of the elderly have become the focus of attention,and stroke is currently one of the important reasons for the disability and even death of the elderly.According to medical research related to hemiplegia,timely rehabilitation training can effectively help patients with hemiplegia sequelae to recover from physical disabilities.However,the traditional rehabilitation treatment of hemiplegia is not only a long process,but the effect is also difficult to guarantee.Therefore,the design of hemiplegia rehabilitation device has important application requirements.Based on the theoretical knowledge of hemiplegia rehabilitation,combined with the clinical investigation results of the rehabilitation department,this paper designs a rehabilitation device for assisting hemiplegic patients to complete upper extremity occupational therapy tasks.The specific work is as follows:By summarizing and analyzing hemiplegia rehabilitation theory,clinical rehabilitation exercise therapy theory and rehabilitation engineering methods,selecting roller work and sliding board work in occupational therapy tasks as application scenarios to carry out device design,and describing the engineering realization methods of selected occupational therapy tasks,Including the degree of freedom involved in the occupational therapy task,the corresponding joint angle parameters,and the specific realization method of the movement.According to the engineering description of the occupational therapy task and the basic requirements of the device design,the structure design of the device was completed,and the realization method of the device’s motion function and the range of joint motion were determined.Based on this,the structural design of the device was carried out,including the calculation of the linear module selection and the calculation of the structural parameters of some parts.The design of the device’s drive scheme and the calculation of the selection of the drive motor were completed,and a three-dimensional model of the device was established using Solid Works.According to the structure of the device,the kinematics equations of the device are established using the D-H matrix method and the forward and inverse kinematics analysis is completed.The kinematics model of the device was established using Robotics toolbox and the correctness of the kinematics equations were verified.The workspace simulation analysis of the device model was carried out according to the joint motion range,and the human upper limb kinematics model was established based on the motion parameters of the occupational therapy task.In this way,the two models are simulated for motion planning.By comparing the trajectory of the initial and final position planning of the human upper limb movement model and the device kinematics model,it is shown that the trajectories of the two models to complete the occupational therapy task are basically the same,and the feasibility of the device to achieve the occupational therapy task is verified;The results show that the end motion of the device and the angle of freedom of the joints change smoothly,which verifies the feasibility of the device’s drive control scheme.The drive circuit and control program of the upper limb rehabilitation device are designed,including the selection of motor drivers and other components,the hardware connection based on the USB1020 motion control card,and the device control program and system interface design based on Lab VIEW.Through the control interface,the drive parameters of the device can be set and the parameters output by the device control system can be read.Then according to the device structure design plan,the parts are processed and purchased,the prototype processing is completed,and the device system integration is completed by combining the device’s drive system and control system.Combining the design requirements and application functions of the device system,the prototype was tested and verified.After experimental tests,the device movement can better match the movement mode of the upper limb joint movement,and assist the wrist movement to meet the movement trajectory and range of the occupational therapy.The performance of the device system meets the design requirements of the device and can assist users to better realize the task of roller work and sliding board occupational therapy tasks,and help users perform occupational therapy task training.