| Most stroke patients cannot fully recover limb muscle energy after operation.Many complications caused by stroke bring different degrees of limb movement disorders to patients,and also bring difficulties to many patients’ daily lives.The rehabilitation of movement has become a hot topic around the world.With the expanding research on biomechanics and medical rehabilitation,rehabilitation training is not limited to a single training mode,but has gradually changed to determine the best rehabilitation training modes according to the degree of illness of different patients.In this paper,rehabilitation controller design and joint simulation analysis were carried out for knee joint flexion and extension function recovery.Established the human knee joint muscle model,the related muscle characteristics in the process of human knee joint movement were analyzed,and the rehabilitation controller algorithm was designed and improved,the joint co-simulation system of the controller and the knee joint muscle model was established.Through the analysis of knee joint movement and injured muscles,analyzed the principle of muscle Hill model based on biomechanics,the method of solving muscle force was determined,the simulation model of solving muscle force based on Hill model was established,and the changes of muscle force in the process of rehabilitation training were analyzed.Based on OpenSim simulation principle of human skeletal muscle model,the relationship between muscle force,joint moment and muscle force arm were determined.The muscle force arm during knee flexion and extension was solved,the solution model of knee joint moment was established,and the change of joint moment was analyzed.The dynamic model of knee joint was established,and the joint analysis of the musculoskeletal characteristics of human knee joint was carried out to obtain the change of knee joint motion angle.To determine the input of bone-muscle model of knee joint.Determined the main training methods of lower limb knee joint rehabilitation,designed and improved the control algorithm.Doctors usually adopt passive training for initial patients,and passive training adopt flexible control to prevent secondary injury caused by motor blockage;and adopt active training mode for mid-term patients,active training adopt current loop control to ensure its follow-up characteristics.At the later stage of recovery,patients willbe trained by isokinetic training;in this paper isokinetic training combine the methods of joint moment prediction and matching of active moment with resistance moment.Paper also established the joint simulation of active-passive controller,constant speed controller and knee joint model,and taken the simulation of the rehabilitation status of the experimental subjects under different rehabilitation training intensity to predict whether a certain training intensity was suitable for the patient.From this,the changes of muscle force,joint moment and joint angle obtained by simulation analysis were more significant.And doctors could use these changes to adopt different training.The experimental simulation platform based on dSPACE and ZEPU rehabilitation device were built to carry out passive training and active rehabilitation training under different loads,as well as isokinetic rehabilitation training under different target speeds.Tested the surface electromyogram signals of the subjects under different training,and carried out the joint simulation according to different training.In the conclusion,it cleared that the joint simulation model was effective in selecting suitable training for different disable degrees of patients. |
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