Research On Rehabilitation Evaluation System For 5 DOF Upper Limb Rehabilitation Robot

With the tendency of aging population and increasing proportion of stroke-suffering people,there is an extensive concern on the research of the upper limb rehabilitation robot systems which assist physicians in performing rehabilitation training to patients.Recently,most of the researches on the upper limb rehabilitation robot systems concentrate on the machine design and motion control.Upper limb rehabilitation comprehensive evaluation methods combined with the upper limb robot and medical theory exist in a immature form and the design and implementation of upper limb rehabilitation comprehensive evaluation system is still rare.According to the practical issues exist in the upper limb rehabilitation robot,combined CNS theory,robot technology and comprehensive evaluation method,the thesis presented an upper limb rehabilitation comprehensive evaluation method based on the fuzzy hierarchy of grey correlation degree to solve the evaluation issues with subjective and objective indicators.And it fulfilled the systems designing and developing according to the method.The main contents are as follows:(1)The rehabilitation indicators system was based on the clinical medical theory of upper limb rehabilitation and 5-DOF upper limb rehabilitation robot's structure features.Then the collection method and quantitative criterion were analyzed.(2)The thesis built the upper limb rehabilitation comprehensive evaluation model based on the fuzzy hierarchy of grey correlation degree which settled several practical questions.In this research,the construction of membership function in fuzzy mathematics is casual and evaluation system exists unknown information,grey relational analysis method was used to calculate indicators' fuzzy membership degree.Analytic Hierarchy Process Method was used to calculate indicators' weight.However,there were some problems in existing AHP,such as the inconsistency of the comparison matrix and the cases of incomplete matrix.Considering all problems above,the thesis put forward several methods to improve the existing AHP.The fuzzy composition operation of fuzzy comprehensive evaluation was used to aggregate indicators for comprehensive evaluation analysis and obtain the upper limb rehabilitation comprehensive appraised result.(3)The upper limb rehabilitation comprehensive evaluation system was designed based on the comprehensive evaluation model.Algorithms of method function modules were designed based on the model using C#language mixed with Matlab.The system could evaluate the rehabilitations of motor function,reflect function,shoulder function,elbow function,forearm function and wrist function.And the above seven evaluation items were integrated to give a comprehensive rehabilitation evaluation.All the evaluation results were stored in the database,which contributed to track records of the whole rehabilitation process.Through the testing experiment on real patients,the evaluation results reported by upper limb rehabilitation comprehensive evaluation system were consistent with clinical rehabilitation clinicians' ones.It verified the upper limb rehabilitation comprehensive evaluation method based on fuzzy hierarchy of grey correlation degree could evaluate the rehabilitation of the patients comprehensively,objectively and quantitively.The system could play an important role as a guidance and feedback on the rehabilitation training.