Active Rehabilitation Control System Of Upper Limb In Stroke Patients Based On Virtual Environment

Stroke is a highly disabling neuropathic disease,which seriously affects people's health and normal life.Formal,regular and rationalized rehabilitation training can be a good way to regain the functions of limbs.Traditional physical rehabilitation refers that patients get recovery by stimulating the damaged brain with repetitive limb movements of a doctor or a professional therapist,but it owns high cost,low efficiency and other shortcomings.With the rapid development of robot technology and virtual reality technology,haptic interaction system has been widely used in clinical treatment of limb rehabilitation.It not only adjusts patient's training initiative by simulating the virtual training scene and creating a good sense of immersion,but also releases the doctors and patients from heavy exercises and quantifies the movement tasks and stimulus,detection and evaluation.There are two specific goals that should be achieved with a haptic interaction system:(1)Create a virtual environment and design training tasks;(2)Based on the haptic device Phantom Omni,design an active control system to assist stroke patients in rehabilitation training.Four works have been done to achieve the aforementioned goals:(1)To create a virtual environment using H3D interactive software and design a virtual training task to track circle.(2)To quantitatively analyze kinematics and statics on human robot system.(3)To establish the position/orientation and force feedback control based on kinematics and statics to realize the real-time tracking control of the motion error in real world.(4)To design an experiment to verify the effectiveness of the active auxiliary rehabilitation control system.This study has concluded that:(1)the virtual reality system can improve the enthusiasm of rehabilitation training on patients;(2)the haptic interaction system is effective for the upper limb rehabilitation training of stroke patients.The main contributions of the thesis are of two-folds:(1)considering the influence of user environment on interactive devices,the quantitative analysis of the dynamic model of haptic interaction system is realized;(2)for the characteristics of haptic device without force sensor,the impedance control scheme is taken to realize the force feedback control.