Design Method For Exoskeleton Robot Based On The Coordination Movement Characteristics Of Human Upper Limb

Pursuing high-quality life is the eternal theme of human social development,and enjoying high-quality rehabilitation medical services is an important guarantee for people to obtain happiness.In clinical practice,exoskeleton rehabilitation robots play an indispensable role in improving the quality of life of patients with motor function impairment.The ultimate goal of rehabilitation medicine is to remodel the motor function by robot guided by the patient's intention,which brings a new challenge to the research and development of motor function remodeling equipment.Aiming at the practical requirements and the basic problems in mechanical design and human-like movement generation of exoskeletal rehabilitation robot,this paper systematically studies the design of motion and driving mechanism of exoskeletal rehabilitation robot and the method of human-like movement generation on the basis of analyzing the characteristics of human motor coordination.These studies have important theoretical significance and application value for enriching human's recognition of their own motion rules and innovating the design methodology of exoskeletal rehabilitation robot.The main research contents of this thesis are discussed following.Based on the anatomical structure of human upper limb,the skeletal coordinate system s describing the movement of shoulder girdle,humerus,forearm(including ulna and radius)and hand were defined,and the anatomical basis of the motor coordination of upper limb was explained.With the help of multi-camera motion capture system,the postural synergies and corresponding motor inputs of upper-limb reaching movement are extracted,the variation of the postural synergies and motor inputs through different subjects is revealed,and the similarity of different individual postural synergies and the variability of motion input are quantitatively analyzed.Conclusion provides guidance for making experimental paradigm for the study of human motion characteristics.Aiming at several typical upper-limb reaching movements necessary for rehabilitation training,principal component analysis was used to realize the dimensionality reduction of the motion data of human natural movements.The postural synergies of the motions of joints in one cluster,obtained by the correlation analysis of joint motions,were revealed.In order to achieve the mechanical implement of postural synergies of upper-limb movements,the design of a multijoint exoskeletal rehabilitation robot which could perform human-like movements with less actuators was proposed.A remote transmission system consisting of motor-drive wheel-wire rope was constructed.The design of automatic tensioning device and weighting system of wire rope was proposed.Benefit by the postural synergy based mechanical design method,the configuration of the transmission mechanism of exoskeletal rehabilitation robot is simplified,and the robustness and reliability of the motion control system are improved.Singular value decomposition is used to analyze the synergic characteristics of upper-limb reaching movements,because dimensionality reduction of the motion data by principal component analysis would bring problems induced by centralization.The influence of the target point location,describing the attribute of the reaching movement,on the variation of the postural synergy and motor input was revealed.Then,the mapping relationship between upper limb motor primitives and task attribute was studied.An interpolation algorithm based on the weight of the distance between the target points to determine the motor input was proposed,and a method of human-like movement generation based on upper-limb motor primitives was put forward.The feasibility of the human-like movement generation method is verified by the joint angle data obtained from the motion capture experiment.Considering the clinical needs of rehabilitation therapy and the human-in-charge/robot-incharge modes,the human-machine interaction modes such as contact force,eye-gaze tracking,and surface electromyography were constructed,and control strategies such as position,interaction force and eye-gaze tracking were formulated.By comparing and analyzing the joint angle of exoskeletal rehabilitation robot and upper-limb natural movement under robot-in-charge mode,the feasibility of mechanical design method based on upper-limb movement postural synergy is verified.Also,the availability and reliability of the control system are validated by the result of recognizing the patients' intention under interaction force strategy in the human-incharge mode.