Research Of Automatic Rehabilitative Training Extraction And Layout System For The Upper-limb Rehabilitation Robot

Our country is a high incidence area of stroke,most of the patients will lead to sequelae after treatment and can not take care of themselves,which not only caused huge physical and psychological pressure to the patients themselves,but also brings heavy burden to the family and society.Our country is also facing a huge aging pressure,as of 2014,the total population of China's 60-year-old and above is 212 million.accounting for 15.5% of the total population,China has the world's largest elderly population,which means that our country is already in an aging society.In this form,the field of rehabilitation robot came into being.This article aims to study and develop an automatic rehabilitative training extraction and layout system for upper-limb rehabilitation robot based on motion capture technology.The traditional upper limb rehabilitation robot control system usually plans some common rehabilitation training trajectories,then adjusts the parameters to reprogram the robot,built in multiple preset training programs to meet the different needs of patients in the rehabilitation process.But in the actual use of the process,due to the patient's physical ability and other factors,the preset rehabilitation program is difficult to meet the comfort of rehabilitation and targeted personalized customization requirements.The physician needs to inform the maintenance engineer of the specific training trajectories and then let the maintenance engineer test and debug the motion parameters of the machine.It wastes a lot of time and effort.This article aims to combine somatosensory camera Kinect with upper limb rehabilitation robots,develop an automatic rehabilitative training extraction and layout system with simple interaction and low learning costs.Let physician change the training trajectories without maintenance engineer,removes the interaction between physicians and engineers and improves treatment efficiency,also improves the comfort and pertinence of patients in rehabilitation training process.Through this system,the physician can record training trajectories by himself,records complex rehabilitation actions on a computer simply and drive the upper limb rehabilitation robot.And with the help of computer graphics technology,setting up virtual characters in the screen to make the same rehabilitation action to give patients visual stimulation,improves interest and rehabilitation effect during the rehabilitation process.In this article,a rehabilitative motion planning scheme based on stroke trajectory is proposed,by using this ready-made trajectory library,physician can program rehabilitation exercise simply through the automatic rehabilitative training extraction system.Let the patients know what they are doing by displaying stroke images on the screen,combines with the impression of stroke writing to improve the effect of rehabilitation therapy.Then implement the communication between rehabilitation software and robot control system based on the existing upper limb rehabilitation robot.So that physicians can drive the upper limb rehabilitation robot through real-time guidance and communicate with the patient in time to correct the action.In addition,physicians can also choose rehabilitation action files to drive the upper limb rehabilitation robot in the off-line mode.Finally,combined with the development trend of upper limb rehabilitation training system,puts forward the prospect of the future development of rehabilitation training system.