The Design Of 3-DOF Assistant Device For Upper Limb Rehabilitation Training

The number of patients with upper extremity motor dysfunction due to stroke and other causes in our country is huge,and the number is also increasing rapidly.Impaired limb movement is not only a physical injury to the patient,but also causes great harm to the patient's psychology and his family members,and causes great resource consumption to society.The study found that if they receive effective rehabilitation training in the early stages of rehabilitation treatment,they can help the patient to rebuild part of the motor function to a large extent,so that the patient's ability to restore an independent life can help improve the patient's self-confidence and happiness,while reducing Patient family and social burden.With the gradual aging of China's society,the government and enterprises are paying more attention to the field of rehabilitation.Therefore,the practical application value of the upper limb rehabilitation training system is increasingly evident.With the continuous development of mechanical and electronic technologies,the rehabilitation training system based on assistive assistance continues to play an important role in clinical practice.Based on the literature research and field research of rehabilitation centers,this paper designs an improved three-degree-of-freedom upper limb rehabilitation training system design scheme based on the existing defects and deficiencies of upper limb rehabilitation robots.It has a compact and simple structure and convenient interactive methods.Due to the wide range of application scenarios,the hardware design of the mechanical actuator and control system for assisting the movement of the arms and joints of the upper limbs,and the software design of the lower computer and the upper computer to realize human-computer interaction and operation are completed.The main work of this article includes independently designing the mechanical structure,hardware circuit,lower computer control program and upper computer software.By analyzing the joint movement characteristics of the upper extremity,the three degrees of freedom of the shoulder and elbow joints were selected,and the mechanical body was designed using a motor drive.The kinematic analysis was performed using the D-H method.The control system hardware adopts the modular design of the core board and expansion board.The core board is the minimum circuit of the STM32F429 system.The expansion board includes the LD3320 chip circuit,CAN transceiver circuit,DX-BT05 circuit,TLE5012 B sensor circuit,AD acquisition circuit,serial port display Circuit and core board switching circuit.In this article,the use of DX-BT05 Bluetooth module to achieve wireless communication with the host computer and mobile devices,instead of the traditional rehabilitation equipment cable communication,making the system more extensive application scenarios,because the PC does not support BLE4.0,so designed portable The mobile communication setup module implements communication with the host computer.The use of non-specific speech recognition also makes the system's interaction more flexible and can respond quickly to user requests.The lower-machine control system creates tasks and schedules them by porting ?C/OSII to achieve communication with the host computer,identify ambient voice signals,read shoulder/elbow angle values,motor motion control and information feedback,and send system-related information to the host computer.Software and serial port display,draw the joint angle change curve.The motion control task adjusts the system motion state according to the angle measurement value,the encoder feedback signal and the speech signal to ensure the training system's training effect and safety.PC software design reference research data,using AXure RP to design a PC program prototype interactive interface,programming in QT Creator5.8.The PC program implements system login,serial port communication parameter setting,training parameters(training mode,number of times,etc.)setting,data management(increase,delete,change,check of patient information),and the change of joint rotation angle.The Android App is written in the Eclipse+ADT development environment.It calls the Bluetooth API to communicate with the control system,implements training parameter settings,supports the system Android 4.3 and above,and cooperates with the mobile device to make the system application more flexible.Based on the mechanical and system hardware and software design of the entire upper limb rehabilitation training system,various functional modules and prototypes of the system are tested,including sensor testing experiments,communication module testing experiments,speech module testing experiments,and DC servo motors.Commissioning experiment,upper computer control experiment.According to the above test results,the prototype of the upper limb rehabilitation training system developed in this paper meets the design requirements.