Human-robot Interaction Method Of Immersion Lower Limb Rehabilitation Robot And Its Application

At present,due to the high incidence and disability of stroke,spinal cord injury,and brain injury,the number of patients with limb paralysis is huge,which has attracted widespread attention from the society.Because the nature of limb paralysis patients is the central nervous system injury,exercise rehabilitation has become the main form of reorganization and compensation of patients with central nervous system.In view of the above situation,the use of robot-assisted rehabilitation training can improve rehabilitation efficiency,reduce the labor intensity of rehabilitation trainers,help patients with central nervous system reorganization and compensation to a greater extent,and can provide multiple forms of rehabilitation training mode,thereby improving the rehabilitation effect.Can be widely used in clinical rehabilitation.However,there are many shortcomings in the existing rehabilitation robot system,and the clinical effects need to be further verified.This article focuses on the study of the lower limb rehabilitation robot system,analyzes the existing deficiency of the rehabilitation robot,and focuses on the following two issues: the first is the patient's active intention to identify the movement;the second is the human-computer interaction method.The former is based on sensors for active patient intention recognition,so that patients actively participate in rehabilitation training;the latter is based on virtual reality scenes,improve the patient's active participation in rehabilitation training,improve rehabilitation training.The main research content and innovations of this thsis:.1)Lower extremity rehabilitation robot dynamic model.Under the conditions of high coupling and strong nonlinearity,a dynamic model of lower limbs was established based on the principle of virtual work and Lagrange method.The parameters of the model were identified,and then the joint torque and joint pressure of lower limbs in the rehabilitation training were estimated.2)Patient's Active Movement Intention Identification and Interactive Control Strategy.Based on the dynamic model,the patient's active movement intention was identified.According to the patient's ability,a fuzzy variable impedance interactive control strategy was proposed to realize the active compliance control of the robot system and ensure the safety of the patient's rehabilitation training.Finally,the validity of the method was verified by human experiments in healthy people.3)Human-computer interaction design based on virtual reality scene.In order to increase the awareness and enthusiasm of patients to actively participate in rehabilitation training,this article designed a scenario reconstruction rehabilitative training scenario based on virtual reality technology,the main game scene-stadium,including games with walking racing games,bicycle racing games and so on.According to the main research object of this thsis combined with the knowledge of clinical rehabilitation medicine,the human-computer interaction strategy of rehabilitation robot based on virtual reality technology is proposed.According to the dynamic model of rehabilitation robot and human body,active control strategies and human-computer interaction methods are proposed and corresponding experiments are conducted to verify.