Design And Implementation Of Manual Rehabilitation Training Robot

As one of the important organs of the human body,the hand has an irreplaceable role in daily life and work.However,its motor function is impaired due to trauma or cerebral stroke,and it needs to be recovered by scientific rehabilitation training.The application of robotics in the field of rehabilitation has injected new impetus into the development of rehabilitation theory and the advancement of clinical rehabilitation technology.At present,the research on the opponent functional rehabilitation training robot has become one of the hotspots in the field of medical robot research.This paper analyzes the research status and rehabilitation theory of hand function rehabilitation training robot,and proposes a hand function rehabilitation training robot.The specific work content is as follows:According to the biological characteristics of human hands and the theoretical knowledge of rehabilitation,the angle of each joint of index finger of normal human hand was explored.The mechanical structure of the hand functional rehabilitation training robot is designed based on the traction mode of the end of the finger by the Bowden line,and the overall design scheme of the hand function rehabilitation training robot was developed.It has the characteristics of simple structure and easy wear.The hardware design of the hand function rehabilitation training robot control system is proposed.The control circuit of the system is designed according to the control needs,including power supply circuit,PC and MCU communication,driver and MCU communication,and angle sensor acquisition module.According to the corresponding MCU,the control program of the lower computer and the design of the main program are designed.The software system of the functional rehabilitation robot is developed.According to the different rehabilitation needs of different rehabilitation stages,two training modes,active and passive training,are designed.For the primary stage of rehabilitation training,the training movements,the number of trainings and the passive training with adjustable training speed were designed.At the same time,the animation stimulation was used to improve the rehabilitation effect.For the intermediate and late stages of rehabilitation training,active training based on EMG signals and EEG signals was designed.By collecting physiological signals to identify the patient's activity intentions,the initiative of patients during training was further improved.The physical prototype experiment of hand functional rehabilitation training robot was carried out.The experimental contents include continuous passive rehabilitation training experiment and active rehabilitation training experiment.In the passive rehabilitation training experiment,the flexion angles of each index finger joint were collected,and the scatter plots obtained were compared with the fitting curves obtained in the third chapter when the normal adult male finger movement law was explored.The rationality and stability of the design scheme were verified.