Development Of A Hemiplegia Rehabilitation Training Robotfor Upper-limb Multiple-Motion

The therapy technology of hemiplegia rehabilitation aided by robot is becoming one of the hot native and abroad subject gradually. By this technology, not only the requirements for the different patients' training can be satisfied, but also a more objective rehabilitation estimation criterion can be set down and the probability of a more in-depth study for neuro-rehabilitation can be offered. In this paper, we study the correlative technology of using robot to hemiplegia rehabilitation training for upper-limb multiple-motion. By robot aiding patients in rehabilitation therapy, we can find a more effective therapy method, establish the quantitative rehabilitation estimation criterion, and forms a solid base for finally realization of a close-loop therapy system. The main results in this dissertation are as follows:1. According as the hemiplegia rehabilitation theory and the actual clinic rehabilitation training method, it is confirmed that the main design purpose for the robot is to aid patients in large-scale, multi-joint multiple-motion training, and the robot's motion region can cover the total area where the healthy people's upper-limb can move. The robot system can not only realize four kinds of basic training mode, including initiative motion mode, passiveness motion mode, resistance motion mode and assistant motion mode, but also have additional rehabilitation motion training function as many as possible. In order to offer the evidence for establishing the quantitative rehabilitation estimation system, the robot can manage to exactly record the patients' motion function parameters during the training in time. 2.The whole robot system is divided into several relative independent modules, including machine module, control module, data record module, etc. And we confirm the correlativity between the different modules, the modules' main function and the material realization method. 3. The key technologies of the robot system are researched and presented, including using the robot kinematics theory to demonstrate and calculate the motion region of robot's operation arm, confirming the control method of the force field in a plane according to characters and advantages of the robot control system, and designing the material actualization strategy for the four rehabilitation training mode.4. Through training the healthy subjects by robot, the feasibility of rehabilitation training with robot's aid is proved elementarily. After processing and classification to the data recorded by robot, the quantificational index used to estimate motion functions for different training mode is established.5. Through training the hemiplegia patients by robot, it is demonstrated that the training aided by robot have definite therapy effect. And the estimate result made by robot can show the motion function difference between the different patients and one patient in different rehabilitation period.