Design And Performance Test Of Flexible Wearable Upper Limb Power Suit

With the significant increase in the number of patients with neurological and tissue dyskinesia caused by aging and various accidents in China,during the recovery and treatment of upper limb rehabilitation,in addition to the necessary medical-related technologies to achieve active treatment,the injured joints are correctly Scientific rehabilitation training is a very important auxiliary medical treatment.Most of the traditional rehabilitation training devices use a motor-driven rigid exoskeleton structure.During the rehabilitation training process,the sharply changing impact force easily causes secondary damage to the joint,while the larger mass increases the extra burden of the body and is not suitable for wearing,and the price Expensive,it is not conducive to the popularity of application people and application sites.In this paper,aiming at the flexible wearable and miniaturized control of the upper limb power suit,an upper limb rehabilitation training device based on fiber-reinforced large-load flexible actuator was developed,which can complete the four-degree-of-freedom rehabilitation training of the upper limb wrist,elbow and shoulder.action.The research on configuration design,theoretical research,simulation verification,manufacturing process,prototype production and experimental testing was carried out around the upper limb power service device,which provided theoretical reference and technical support for the research of flexible wearable upper limb dynamics.Firstly,the physiological parameters of the upper limbs were analyzed to develop the rehabilitation assist parameters.The fiber-reinforced large-load flexible actuator was the main body.The overall design of the flexib le wearable power suit for the upper limb three joint rehabilitation training was designed.A portable flexible wearable upper limb was designed.The power suit and the virtual prototype technology are used to design the overall structure.Secondly,the kinematics and statics analysis of the rehabilitation exercises of the upper limbs power suits are carried out to provide theoretical guidance for the rehabilitation training of the upper limbs.The superelastic theoretical model of the flexible drive module is established.The Mooney-Rivlin model of the rubber superelastic material is obtained by combining the experimental test results.The finite element software Abaqus is used to simulate the flexible drive module and joint rehabilitation,and it is verified by theoretical research.Finally,a wireless portable control box based on Arduino and small air pump is built.The control box is integrated with the drive and control system.It can be carried around without being restricted by the place of use.The structure and manufacturing process of the flexible drive module are optimized,and the upper limb power is completed.The prototype of the service is made.The experimental platform for flexible drive module and various rehabilitation actions was built,and the experimental test was carried out and the rehabilitation training characteristic curve was fitted to complete the mutual verification and error analysis with theoretical research and finite element analysis.