Robotic Assist Control And Evaluation System For Upper Limb Rehabilitation

With the advancement of the research into the mechanism of modern central nerve rehabilitation, foreign researchers have done a lot of studies on the rehabilitation of upper-limb-motor aid by use of robot-technology. The difficulty of these studies focuses on how the training way of motor rehabilitation can be realized by way of robot-controlling. Since the studies in field of rehabilitation engineering in our country is relatively weak, this paper's research is practical. This paper analyzes the feasibility of the aided-robot for upper-limb-motor rehabilitation and the method's realization from the following four aspects: convalescence medicine of brain nerve, physiological anatomy of upper-limb, structure of robot and active participation into the rehabilitative training. The main productions of the research are: (1) advanced the control of plane speed field and the arithmetic of plane force field for the first time. Moreover, by way of clinical trials, we have realized both active and passive training patterns of 6 different training ways, and finished the rehabilitative training for stroke patients; (2) We have designed two sets of robotic assist control systems for rehabilitation which have stable performances in the clinical trainings; (3) Based on the analysis of numerous data of motor training, we designed rehabilitation system, advanced the guideline parameter of evaluating linear and circumferential movement, and hence evaluated effectively the validity of the changes of the sufferers' kinematic characteristics and the strategies of control; (4) From a lot of analyses, we have found that there was some certain disciplinarian in training process between the sufferer himself and the individual Another part of work of this paper is to control the movement of the mechanical limb by way of BCI (Brain Computer Interface), which will provide a feasible approach for the application of active movement. The main productions include: (1) Based on the control commands abstracted from BCI and the programmable logic controller, we have realized the artificial limb's multi-free-degree movement of water-pouring, which is controlled steadily by BCI; (2) We have also realized the BCI feedback, in which the sick-limb's movement of stroke patients will be aided by the aided robots, which are controlled by steadily evoked brain wave signals.