Virtual Environment Design And Navigation Research Of Rehabilitation Robot

Medical theory and clinical medicine prove that besides the early surgical and necessary drug treatment, correct and scientific rehabilitation training play a very important role to the rehabilitation and improvement of limb movement function for the patients with limb degradation or injury. The traditional rehabilitation method is mainly the hands-on training under the guidance of the therapists, and the therapeutic effect mostly depends on the experience and ability of the therapists. At the same time, due to the limitation of rehabilitation equipments, the traditional rehabilitation method cannot realize organic integration of function assessment, movement therapy and psychotherapy, especially the psychotherapy cannot run through the rehabilitation process all the time.In view of defects of traditional rehabilitation training methods, this thesis studies the rehabilitation training system with the aid of Omnidirectional Lower Limbs Rehabilitation Robot. The study mainly includes virtual environment design and navigation research.The virtual environment design has improved the dull and monotonous situation of traditional rehabilitation training and relieved movement fatigue of the patients. The virtual environment in this thesis is established by VRML programming language, which can provide an interesting rehabilitation training environment and realize the automatic activation function of slogans.The navigation research makes the rehabilitation process more scientific and much securer. The navigation research includes the design of rehabilitation training method, obstacle-avoidance algorithm combined with T-S type fuzzy neural network, synchronous control mode for robot and virtual environment, and the design of gait and obstacle detection system. This thesis verifies the reliability and effectiveness of the obstacle-avoidance algorithm by theoretical analysis and MATLAB simulation tests.