Development On Active Interaction Virtual Training System Of Upper Limb Rehabilitation Robot

With the aging process of people,the cerebrovascular disease has become the leading cause of morbidity,recurrence rate and mortality all over the country.The recovery level of upper limbs in hemiplegic patients has a marked impact on their daily life,and stroke rehabilitation is one of the most difficult problems to solve.The rehabilitation training by using robot can meet the demand for hemiplegic patients;besides it can reduce the workload of doctors.But the problem is that the training process might be terribly boring.Latest research of the exercise rehabilitation medicine shows that actively participation of the patients in sports rehabilitation training improves the effect of rehabilitation training.The virtual reality technology has many advantages of multi-sensory,immersion and interactivity.Therefore,the upper limb rehabilitation training with VR can make the training more lively,and improve the enthusiasm of patients to participate in rehabilitation training.The concrete work is as follows:Firstly,this thesis deeply studies the cause of hemiplegic stroke and the theory of hemiplegic rehabilitation.The design of the interactive virtual training system is based on the structure of the rehabilitation robot.Then,an interaction force acquisition module is set up on the experimental platform of the upper limb rehabilitation robot.The interaction signal is measured by the FSR pressure sensor and the arduino board.The MSComm serial communication module realizes the communication with the computer.The filtered signal is used for the control of upper limb rehabilitation robot.The results show that the interaction control system has good stability and rapid response.Finally,this thesis uses 3D Max to build 3D simulation model in virtual environment;To enhance the compatibility and scalability of the system,MFC which uses the GUI framework to manage the software modules is used;To improve the software of virtual scene rendering,this thesis selects OSG to realize virtual environment interactive graphics operation.According to the patient's different rehabilitation,this thesis designed corresponding level of difficulty and high sense of immersion in virtual training tasks,and the purpose of the task is to train elbow and shoulder of the hemiplegic patients.The active interactive virtual training system for upper limb rehabilitation robot is finished and it lays the foundation for following job.