Research Of5-DOF Upper Limb Rehabilitation Robot AHP-Fuzzy Comprehensive Rehabilitation Evaluation Methodology

As an important branch of the medical robot, the upper limb rehabilitation robot system is on the basis of the hemiplegic upper limb movement and learning theory, and also the rehabilitation medicine, human anatomy, medicine, computing and robotics technology and many other disciplines, and is the current domestic and international research hot spot. Based on the5-DOF wearable type upper limb rehabilitation robot platform, the paper combines upper limb rehabilitation evaluation method, AHP-fuzzy comprehensive evaluation method and robot technology theories, and proposes one kind of rehabilitation evaluation method based on the AHP-fuzzy comprehensive evaluation method and suitable for the upper limb rehabilitation robot.First of all, according to the upper extremity clinical rehabilitation medicine knowledge, it determines rehabilitation evaluation index system, and gives the implementation method. It designs rehabilitation evaluation action execution according to the clinical rehabilitation medicine theory, and it not only can promote normal movement pattern, but also prevent abnormal movement pattern durning the evaluation. Secondly, it proposes the upper limb rehabilitation evaluation model to determine the hierarchical relations among the rehabilitation evaluation indexs. It determines weight coefficient matrix of of each evaluation index by AHP method and CR verification method, and determines the seven-level reviews system of upper limb rehabilitation evaluation index.Finally, it implements the upper AHP-fuzzy comprehensive rehabilitation evaluation examples, and uses force/torque sensor, surface EMG signal testing instrument and other auxiliary equipment to measure and feedbacks on the related evaluation datas, and uses software to prepare rehabilitation evaluation scheme, and uses Matlab for the synthetic operation to get the rehabilitation evaluation results, and compared with clinical evaluation results.Through the examples, the upper limb rehabilitation robot AHP-fuzzy comprehensive evaluation method can measure the patients from multiple perspectives of evaluation, and can realize the matrix and numerical multiple evaluation methods. It makes the evaluation results more objective and comprehensive. Especially in the long-term rehabilitation evaluation of super large data processing ability, the method has obvious advantages relatived to traditional clinical rehabilitation evaluation method, and is certainly scientific and also feasibility. it puts forward a new train of thought for the realization of the5-DOF upper limb rehabilitation robot rehabilitation evaluation function.