Research And Implementation Of The5DOF Upper Limb Rehabilitation Robot’s Rehabilitation Evaluation System

In recent years, due to the sharp increase of the aging population, stroke cases are also showing a significant increase tendency along with it. Therefore, it has been focused by medical community for the treatment of patients with stroke. As a useful medical device that can treat upper limb hemiplegia causing by stroke, upper limb rehabilitation robot is widespread concerned by more and more people. In the rehabilitation process, rehabilitation evaluation is throughout the whole story. It plays an important guidance role in the rehabilitation effect and rehabilitation training. This is particularly significant for the research of rehabilitation evaluation.At present, the stroke rehabilitation assessment is mainly in accordance with all sorts of scales to assess and score for limb damage degree by rehabilitation physician (e.g., Brunnstrom movement restoration’s six levels assessment form by stages, the F-M motor function assessment integral table and modified Ashworth spasm rating scale).The shortcomings of these methods are that strong subjective experiential or single evaluation index etc. Moreover, rehabilitation physicians cannot not only carry out the sustained and standardized rehabilitation training, but fulfill a complete data record of the rehabilitation process. There is no a quantitative synthesis evaluation method to make a reasonable rehabilitation training mode.This paper will establish an upper extremity rehabilitation evaluation subsystem on the basis of five DOF upper limb rehabilitation robot systems (including rehabilitation training subsystems, sensors and signal acquisition subsystem) simultaneously at the same time achieve the two functions of the robot system-training and evaluation. According to the study and research on the rehabilitation medicine theory, it has established an overall program of rehabilitation evaluation, including15kinds of training modes so that the evaluation model of the upper extremity rehabilitation has based on an effective combination of Fuzzy Sets Theory, Analytical Hierarchy Process and Fuzzy Comprehensive Evaluation. In accordance with the model, to propose two evaluation factors’ set and indicators’set that issuitable for the characteristics of medical rehabilitation. To begin with, use the analytic hierarchy process to calculate the comparison matrix and weight between the evaluation factors. Moreover, adopt the expertise to determine the quantitative factors’ evaluation matrix. Finally, the application of the fuzzy synthetic theory can come to a comprehensive evaluation of rehabilitation effect. Therefore, according to the principle of maximum degree, the final evaluation result can be confirmed.It’s still rare to utilize the modeling method in the upper extremity rehabilitation research that performs the fuzzy hierarchy comprehensive evaluation for the effects of upper limb rehabilitation. Therefore, this paper uses a valid data input way-surface electromyography (sEMG) to achieve a verification of model success. Ultimately, calculate and process the data information. Specifically, use the fuzzy hierarchy comprehensive evaluation method to work out the evaluation results of the rehabilitation effect and compare with the evaluation results of clinical rehabilitation scales in order to draw a veracity conclusion of the model.