Research On The Human Factors Engineering Of Motor Function Rehabilitation System For Upper Limb Exoskeleton

With the development of society and increasing aging population,the patients with limb movement disorder are growing year by year.In order to recover motor function,the need for high-intensity,repeatability and task oriented rehabilitation training is a must.Faced with the current situation of shortage of therapists,the exoskeleton rehabilitation robot system is introduced to the motor dysfunction rehabilitation training,which has gradually gained the consensus of researchers both at home and abroad,and has achieved certain results.The lack of research on human factors engineering has resulted in many problems about sports function rehabilitation equipment,such as unreasonable structure,poor wearing comfort,motion planning without security,individuality and objective evaluation index,and patients' low motivation of rehabilitation.Therefore,it is necessary to study the exoskeleton rehabilitation equipment system from human factors engineering aspect,to improve the availability and timeliness of equipment,and to enhance the transformation of experimental research results into products.The paper intends to study on the upper limb exoskeleton rehabilitation robot system.The main research contents are as follows:(1)The structure of upper limb exoskeleton rehabilitation robot is designed based on human factors engineering.Based on the physiological structure of the upper limbs and the biomechanics,the mechanism of joint movement,anthropometry and other human factors,the 7DOF exoskeleton and upper limb rehabilitation institutions were designed.The rehabilitation system design and industrial design were carried out.The rehabilitation exercise was followed by a follow-up experiment to verify the feasibility of the system.(2)From the human factors engineering aspect,the exoskeleton wear comfort pronlems are studied.A wearable equipment comfort test method is put forward.Through the flexible pressure test system,this method collected the data of body pressure,testing the fatigue under pressure by using motion stability,objectively assessing comfort by integrating pressure and stability,and carrying out experimental verification.At the same time,from the subjective feelings of people,the subjective evaluation criteria of comfort are established using the Rickett scale,and the subjective and objective evaluation system is established to evaluate the comfort of exoskeleton wear.(3)Based on the human-computer interaction technology in human engineering,the passive and active rehabilitation exercise plan was designed by using somatosensory equipment.The passive exercise rehabilitation system of upper limb was constructed by Kniect equipment.The active rehabilitation system was constructed by Leap Motion equipment,and the upper limb exoskeleton rehabilitation robot complete rehabilitation training tasks,to achieve the desired effect of rehabilitation and experimental validation.(4)In view of the lack of objective evaluation criteria for upper limb rehabilitation robots,the EEG was used to record and analyze in the process of exoskeleton rehabilitation,and to explore the rehabilitation of the upper limb exoskeleton robot,the evaluation method of rehabilitation training for upper limb exoskeleton robot is put forward and the experiment was validated.The paper has achieved creative research results in the following aspects:(1)The ergonomic 7DOF upper limb exoskeleton rehabilitation robot based on the human factors engineering,is more in line with human joint motion mechanism in wearability,universality and industrial design than the former exoskeleton rehabilitation robot.The experiment verifies the rationality of the compound movement of shoulder,elbow,wrist and multi joints,and provides a new idea for the design of wearable equipment.(2)By studying the comfort of wearable equipment,a comfort evaluation model is constructed with comprehensive objective and subjective factors,making up the current wearable equipment comfort lack of effective evaluation index,and providing theoretical guidance on wearable equipment design and comfort.(3)Combining the application of Kinect and Leap Motion somatosensory equipment with rehabilitation exercise,the concept of mirror therapy is proposed and the new passive and active rehabilitation model is developed based on human-computer interaction technology,realizing the synchronization and non-synchronization of individualized rehabilitation track,meeting demands of different patients with rehabilitation programs,and providing practical and theoretical basis of the new model with the characteristics of low cost,family-based and fun.(4)Based on the collection and analysis of biological signals exoskeleton rehabilitation process,this paper puts forward a new method to evaluate the use of EEG upper limb exoskeleton rehabilitation exercise effect,providing a new direction for the application of biological signals in the upper limb exoskeleton rehabilitation.This paper conducted a system research on upper limb exoskeleton rehabilitation robot from human factors engineering,providing the essential theoretical basis,experimental data and research experience.The further study of huaman factors engineering will make the technology of upper limb exoskeleton rehabilitation robot more and more perfect,and will help to accelerate the experimental phase of the robot into products,providing service for more people with rehabilitation dyskinesia.This paper has a positive academic significance and important application value of the research.