Design And Realization Of Human-Robot Interaction System For Hemiplegic Stroke Rehabilitation Of Upper Limbs

Coronary artery disease,stroke,and cancer are the three most common deaths in the world.The main disease group is the elderly over the age of 50 and has a younger trend in our country.According to statistics,by the end of 2017,China's population aged 60 and over reached 240.9 million and accounted for 17.3%of the total population[1].According to relevant UN standards,China is in an aging population society.Cerebral ischemia or cerebral bleeding leads to stroke,commonly known as stroke.In the world,nearly 80%of stroke patients are accompanied by varying degrees of unilateral limb movement disorder,namely hemiplegia.Stroke hemiplegia rehabilitation is not only the process of physical rehabilitation but also the process of neurological rehabilitation.The traditional rehabilitation therapy is mainly used by occupational therapists to assist patients in the training of the corpulent limbs,but there are disadvantages in many factors.In the early 1990s,with the continuous development of computer technology and robotics technology,related researcher views assisted therapists and stroke patients with hemiplegia through human-robot interaction systems for rehabilitation.In 1991,the world's first rehabilitation robot,MIT-MANUS,was developed to help human patients with stroke hemiplegia to develop upper limb rehabilitation training and human-robot interaction system.Since 1991,related research has become one of the research hotspots in the field of stroke rehabilitation and robotics.With the continuous deepening of clinical research on hemiplegic stroke rehabilitation therapy for stroke patients,the researcher's design requirements for rehabilitation robots have also changed:from the center of therapist and robot to the center of patient and human-robot interaction,from the focus on Research and development of robotics technology to focus on the patient's clinical needs for rehabilitation treatment,from the pursuit of the design and implementation of scientific and technological level to the design and implementation of commercial applications.On the premise of fully expounding the relevant basic theories,the author of this article stands on the perspective of the above-mentioned new changes in development,starting from the factors of safety,high efficiency,light weight,ease of use,and cost control,and comparatively analyzing domestic and foreign related research.According to the clinical needs of stroke rehabilitation of upper limbs,the design and implementation of the human-robot interaction system for stroke upper limbs to meet the needs of people's livelihood and commercialization are taken.As a control system development worker completed the Robotic kinematics control of the engineering task.Allows patients with stroke hemiplegia using the computer-vision and teaching method via the upper limb of the healthy side to dynamically control the affected side equipped with the exoskeleton type robotic arm.