Design Of Upper Limb Exoskeleton Rehabilitation Robot For Exercise Rehabilitation And Cognitive Rehabilitation

With the aggravation of the aging population,people pay more and more attention to the rehabilitation treatment of stroke patients.There are some exercise dysfunction and cognitive dysfunction in stroke patients.As a modern medical means,rehabilitation robot can effectively assist patients to carry out postoperative rehabilitation treatment and improve their exercise ability and cognitive ability.However,the existing sports rehabilitation training equipment is too cumbersome and has poor versatility,and most of them are controlled by the old terminal control mode,which cannot achieve accurate auxiliary movement of patients.The new type of exoskeleton rehabilitation robot is limited by the mechanical design weight,and few products can carry out isokinetic muscle strength training,which is an efficient training mode.Cognitive rehabilitation training equipment has higher requirements on patients’ muscle strength,so it is unable to train patients early after operation,which leads to patients missing the prime time of cognitive rehabilitation treatment.In order to improve the existing sports rehabilitation training equipment and cognitive rehabilitation training equipment,this dissertation designs an upper limb exoskeleton rehabilitation robot system with visual feedback module,and uses the speed current double closed-loop control algorithm to accurately control the torque and speed of the robot,so as to realize the corresponding functions of sports rehabilitation training.Through the fusion of visual feedback module and robot,it can assist patients with cognitive rehabilitation training and cognitive exercise rehabilitation training,improve the efficiency of rehabilitation training,and provide training equipment for early patients after stroke surgery.The main work is as follows(1)In this dissertation,an upper limb exoskeleton rehabilitation robot system is designed,which can carry out exercise rehabilitation and exercise cognitive rehabilitation.The system is composed of rehabilitation robot,visual feedback module and computer control network.The doctor sets the rehabilitation training parameters through the computer,the computer controls the rehabilitation robot through the computer control network,the relevant data of the rehabilitation robot movement is fed back to the computer through the computer control network,and the data is synchronized to the visual feedback system at the same time.It provides a hardware platform for exercise rehabilitation and cognitive motor rehabilitation.(2)Isokinetic muscle strength training is an efficient rehabilitation training mode,which makes the equipment move at constant angular speed by balancing the output torque of the patient’s limbs.However,most of the existing equipment focus on the speed control,ignoring the torque control.In order to further improve the isokinetic muscle strength training control algorithm,this dissertation applies the speed current double closed-loop control algorithm to the rehabilitation robot,and carries out passive motion control Training experiment,muscle tension training experiment,isokinetic muscle strength training experiment.(3)In order to solve the pain point that stroke patients can not participate in cognitive due to insufficient muscle strength in the early stage after operation,this dissertation proposes to use the visual feedback module to interact with the rehabilitation robot,the patient and the robot interact with the visual feedback screen,and the robot outputs auxiliary power moment for the patients with insufficient muscle strength.Design traction teaching passive cognitive rehabilitation,hemiplegia passive cognitive rehabilitation,autonomous cognitive rehabilitation,isokinetic muscle strength cognitive rehabilitation mode.The experimental results show that the rehabilitation robot system designed in this dissertation can complete cognitive rehabilitation.The experimental results of rehabilitation and motor cognitive rehabilitation show that the upper limb exoskeleton rehabilitation robot system designed in this dissertation can complete the above two rehabilitation training modes.