Design And Implementation Of Software For Hand Function Rehabilitation Training Robot

Stroke is one of the major diseases that threaten human life seriously,and it is often accompanied by loss of hand function.According to the principle of brain plasticity,hand rehabilitation training requires a lot of repetitive functional training.The hand-rehabilitation training robot system based on virtual reality technology has been becoming a focused research subject in the field of rehabilitation engineering.However,there are a lot of problems of current researches and equipment,such as too tight coupling between software systems and hardware devices,difficult to manage the virtual reality games,weak rehabilitation evaluation function,etc.The research goal of this thesis is to design and implement a hand-function rehabilitation training software system.The system adopts the design concept of software and hardware separation.It provides a unified software interface for hand-function rehabilitation training robot which can be adapted to any devices.At the same time,the system provides flexible training game management programs and typical virtual reality training games.The system achieves good rehabilitation evaluation functions.In this thesis,a virtual hand model is created by analyzing the skeletal structure and joint freedom of the human hand.Then,establish hierarchical model of the human hand joints and the coordinate system.In combination with the homogeneous transformation relationship of the spatial coordinates,the equations of positive and negative movements,as well as the static and dynamic constraints of the human hand movements of the hand are obtained.Finally,the function of motion control and hand motion tracking of the opponent model is achieved.This thesis designed and implemented three modules: hand ability assessment,training program setting and virtual reality training game.The virtual hand model is used to simulate the shape of the patient hands.The assessment of hand function has been completed by evaluating the movement range of hand and the strength of the hand.Then,doctor sets a training program and the system send training information to the hardware for rehabilitation training,which achieves the separation of hardware and software.This thesis designed and implemented a typical virtual reality training game based on Unity.The virtual training game implements multi-mode training of hand function including passive training,assistant training and active training.And it supports multiple functional exercises including single-fingered,pinched,and grasped actions.This thesis is based on rehabilitation assessment indicators,designs and completes a rehabilitation assessment system,and saves patient training data to the cloud server.According to the patient's hand dysfunction and the change trend of the rehabilitation index,a scientific and reasonable rehabilitation plan is formulated.The treatment plan also can adjust in time.Through systematic experiments and tests,the software system modules designed in this thesis function well.And with stability and availability,the system completes the set research goals and meets the needs of patients with cerebral stroke handicap to provide rehabilitation training and rehabilitation assessment.