Design Of The Rehabilitation Robot With Human Upper And Lower Limbs’ Active And Passive Motion

Cerebrovascular disease,osteoarthropathy,infantile paralysis,industrial injury,traffic accident,developmental deformity,cerebral palsy,spinal cord disease,infectious and endemic diseases are likely to result in physical disability.In addition, China’s aging population, physical disability issues attendant will be more prominent.According to the second national survey data of persons with disabilities,as of April 2006, the total number of persons with disabilities is 82.96 million.The number of physically disabled persons about 24.12 million, accounting for 29.07% of the number of persons with disabilities.The rehabilitation robot is based on the theory of rehabilitation medicine, using a variety of exercise to prevent and treat joint stiffness, muscle atrophy, and maximize the recovery of the patient has reduced or lost motor function. The main training patterns are passive exercise, active auxiliary training, active training and resistance training.The system adopts the double closed loop control strategy and PID algorithm,combined with the current loop and the speed loop,to control the speed and torque of the motor.In order to reflect the balance of the left and right limbs, the system introduces the biological feedback, which transforms the patient’s recovery into a visual experience and increases the interest of the training process as well.In the process of exercising,the robot can automatically detect the movement of patients and to determine whether a limb spasm happens.At the end of treatment,the patient will be provided about the movement data of the right and left limb and overall evaluation data.This data can provide evidence of rehabilitation for physicians to develop better treatment options.The main contents of this paper are as follows:(1)Investigate the domestic and international development status of the rehabilitation robot, analyze their strengths and weaknesses,perfect the combination of active and passive treatment rehabilitation programs.(2)Study on the rehabilitation mechanism of upper and lower limbs and musclestrength grading method,analysis four training methods.(3)Design the hardware circuit based on AVR microcontroller.(4)Design the touch-screen program and the lower computer microprocessor program,develop the communication protocols.(5)The system is fully tested to determine that it meets the requirements.