Optimal Design Of Upper Limb Rehabilitation Robot Based On Human Characteristics

According to the 2014 census,China's population aged 60 and over 212 million,with China's aging population,about 2 million people died of stroke each year.Stroke patients to the family and society to bring huge losses,the role of rehabilitation robot is to help stroke patients with stroke rehabilitation.On the basis of literature review and the previous generation of rehabilitation robot,this paper completed the study of human upper limb movement,and the design,optimization and evaluation of upper limb rehabilitation robot.The main research work is as follows:1.By using the motion capture technology,the data of human upper limb motion data were collected by the motion capture system,and the data of the upper limb movement were obtained.Based on the data processing and analysis,the movement law of the joints in the daily activities of human was studied.2.According to the theory of human body movement and upper limb motion,and the hypothesis of upper limb rigid body,the 3D model of upper limb was designed.Then,the kinematics and dynamics of the human upper limb model were calculated by the scientific method.It provides the theoretical basis for the design of the upper limb rehabilitation robot and the simulation of virtual human computer interaction.3.According to the existing problems of the last generation rehabilitation robot,a reasonable solution is put forward.According to the parameters of human body and motion,the length of the rod,the stroke and the range of motion of the robot are calculated.Then the kinematics and dynamics of the new generation robot are calculated.4.Computer aided ergonomics technology is used to simulate the human computer interaction.By simulating the movement of human upper limb movement,the paper studies the human touch space,comfort,force,etc.The innovation of this paper: through the motion capture technology,based on the daily life of human upper limb movement and upper limb biomechanics,interactive simulation application of computer aided ergonomics of human body and rehabilitation robot.In this paper,the research on the upper limb rehabilitation robot is carried out from the perspective of human motion...