Design And Optimization Of Human Balance Function Evaluation And Rehabilitation Training Equipment

Balance function is the basic guarantee for human body to maintain normal posture and accomplish daily activities.Maintaining balanced capacity needs a complete central nervous and athletic regulation system.Any level of injury can cause balance dysfunction,affect normal work and life,and even lose self-care ability.Therefore,in order to achieve accurate assessment of human balance capacity and provide corresponding rehabilitation training,it is necessary to design and develop intelligent equipment integrating evaluation and rehabilitation training.This paper first analyzes and compares the technical characteristics and performance related research and products at home and abroad.The evaluation index of the development product is determined through statistical analysis of clinical data.Under the goal of minimizing the design of kinematics coupling,a design scheme of 3 DOF U cantilever type "half-enclosed" mechanical structure by introducing a virtual constraint and data acquisition of human posture by using MPU6050 is determined.According to the overall design plan,theoretical analysis and optimization design of the key mechanical structure are carried out.(1)The structural type and size parameters of the column are determined through the finite element analysis.(2)The U arm is modeled and simulated by using parametric modeling method and obtained the optimal design results of geometry and size parameters.(3)The shaft system that plays a key supporting and connecting role is optimized to the characteristics of the rotating cantilever structure.The bearing span,the length of the cantilever and the effect of the external load on the bearing life are given.On this basis,the design of virtual prototype is completed.The kinematics model based on D-H method is established and analyzed as well,the kinematics forward inverse solution is obtained and verified by using the robotics toolbox in MATLAB.System dynamics equation established by Lagrange method,the expressions of inertia and gravity terms that affect the stability and positioning accuracy of the mechanical system is explained and analyzed it for different conditions,which provides basis for the design of driving and control systems for human balance function evaluation and rehabilitation training equipment.On the basis of the design and analysis of the prototype,the data acquisition and processing of human posturography system is designed and a preliminary experiment is given.According to the detection index in the design scheme,the selection of sensors is discussed,a data acquisition and processing scheme based on serial communication between LabVIEW and MCU is proposed.Through building the experimental platform to simulate human posturography,the performance test of related indicators is completed and verified the feasibility and rationality as well.