Research On Motion Intention Recognition Method Of The Omnidirectional Rehabilitative Training Walker

Nowadays,due to population aging,traffic accidents,sports injuries,brain disease or other causes,patients with lower limb motor dysfunction are significantly increased,which makes a serious shortage of nursing resources in our country.The condition of lacking medical makes the patients can not receive effective treatment,leading to a sharp decline in quality of life and bringing heavy burden to patients' family and society.In this context,it is necessary to study the rehabilitative training walker that can effectively help patients regain their ability to walk and provide them with walking support.In the later stages of rehabilitation training,there are two kinds of training methods:active training and passive training.Compared with the passive training,active training is more participatory,easier to increase the patients' interest in training,and can improve the patients' motor perception and muscle control.In order to improve the operability of rehabilitation robots and stimulate the patients to participate in active training,the paper proposes a method to recognize the motion intention of the patient by collecting the pressure data of the forearm.The main contents are as follows:The kinematics model of the walker is established.The relationship between the resultant force of the forearm pressure and the directional intention is studied experimentally.The forearm pressure data of the subjects during exercise are recorded experimentally and the fuzzy rules are established to express the relationship between forearm pressure and directional intention.Based on the fuzzy Lagrangian interpolation reasoning method,the forearm pressure data at a certain moment is deduced to obtain the patient's intention at that moment.Finally,the motion direction and the recognition direction are contrasted in the simulation experiment,and the feasibility of the method is verified.The proportional relation between the velocity intention and the resultant force of forearm pressure is put forward.The force characteristics of wrist and elbow are studied by measuring the data recorded in different directions in the experiment.Considering the influence of individual differences and directional intention,a method of velocity intention recognition is proposed,the motion velocity is compared with the recognition velocity in the simulation experiment,and the feasibility of the method is verified.