Study On5-DOF Upper Limb Rehabilitation Robot Training System

With the development of modern rehabilitation medicine, nerve center rehabilitation using robots rehabilitation training system is becoming the main research area. The technology not only can satisfy the needs of traditional rehabilitation therapy, but also can obtain the training information directly, so as to understand recovery law of neural and movement.Aiming at the problem of recovery of upper limb motor function after stroke, this dissertation maily introduces how to use five degrees of freedom (5-DOF) upper limb rehabilitation robot to buid intelligent upper limb rehabilitation training system, in order to make up for traning efficiency, real time data acquisiton and objective rehabilitation evaluation in current clinical management of upper limb after stroke hemiplegia, a new technical way of upper limb hemiplegia rehabilitation is found. The virtual reality technology is used in exercise training and psychological training based on clinical rehabilitation medicine and control theory. Several key techniques, including mathematical modeling, optimization control function and rehabilitation evaluation are sloved, in order to build a special robot system which can assist or displace therapists to carry out rehabilitation exercises. The main contents are summarized as follows:(1) Study on upper limb rehabilitation medical theory. The relationship amoung exercises training after stroke, cerebral function remodeling and recovery of upper limb function are expounded based on upper limb rehabilitation medical theory. In the dissertation, the author suggest that rehabilitation training of upper limb motor function is essential to facilitate upper limb functional reorganization using plasticity in brain. Meanwhile, the paper points out the movement form of each upper limb joint and its effects on musle fuction, summarizes the main characteristics and advantages of many cures, proposes training principle of upper limb hemiplegia rehabilitation for5-DOF upper limb rehabilitation robot.(2) Construction of upper limb rehabilitation and evaluation. Because hemiplegia rehabilitation after strock lack intelligent system which is combined the evaluation, training and detection, so intelligent upper limb rehabilitation training system which has a closed loop structure with clinical demands is builded by5-DOF upper limb rehabilitation robot. It proposes overall frame and system component, and expounds design principles, main function and their relationship for evaluation subsystem, training subsystem and detection subsystem.(3) Study on5-DOF upper limb rehabilitation robot model. Firstly, it establishes forward kinematics for5-DOF upper limb rehabilitation robot based on D-H (Denavit-Hartenberg) and inverse kinematics for5-DOF upper limb rehabilitation robot based on inverse transform. Secondly, a simplified calculation method for Lagrange formulation is presented and gives a new dynamic equation, thus establishes dynamic model of5-DOF upper limb rehabilitation robot, discussing many uncertainty factors in this model. It is found that this simplified calculation method is much faster and the result is very good. Finally, it combines the characteristic rule and physical components of system and establishes3D movement model for5-DOF upper limb rehabilitation robot using virtual reality technology. The models are accuracy by visual simulation in the virtual realinty environment and show the running processes of5-DOF upper limb rehabilitation robot directly and actually.(4) Study on control strategy of upper limb rehabilitation robot. Amiting at uncertainty problem in the model of5-DOF upper limb rehabilitation robot, this dissertation proposes H-infinity state feedback robust repetitive control for5-DOF upper limb rehabilitation robot with muti-channel periodic input signal based on training methods of upper limb rehabilitation robot. It makes that the system has both tracking performance and robust stability. Simulation results show that the method could rapid precision tracking and the system has the high stability.(5) Study on evaluation method of upper limb rehabilitation robot. Amiting at difference problem of expert’s score in rehabilitation evaluation based on clinical evaluation method of motor function, combining Analytic Hierarchy Process and Fuzzy Comprehensive evaluation method proposes a self-correction AHP-Fuzzy evaluation method which is both qualitative and quantitative. It transforms motor function evaluation contents into indicator system of motor function for5-DOF upper limb rehabilitation robot, and makes assessment criteria for each indicator, including muscle force, range of motion, balance function and coordination function. Synthetical evaluation model of motor function is established for5-DOF upper limb rehabilitation robot, and gives out its hierarchy structure and comments system. Finally, verification, this method proves its feasibility and validity.