Structural Design And Preliminary Implementation Of A Hemiplegia Rehabilitation Exoskeleton Robot For Upper Limb

With the development of the times and the progress of science,the traditional treatment of upper limb hemiplegia can't meet the current rehabilitation needs of patients.Robot technology has been applied to the field of rehabilitation medicine.In order to improve the intensity and efficiency of rehabilitation treatment and save manpower cost,an hemiplegia rehabilitation exoskeleton robot for upper limb is developed in this paper,which can provide more intelligent training and evaluation system.The robot has six basic degrees of freedom and one degree of freedom for motion compensation.It can help upper limb hemiplegia patients to carry out motor function recovery training.The main research work includes:(1)The plasticity theory of the central nervous system and the method of motor relearning are analyzed in this paper.On this basis,the common treatment methods of hemiplegia are enumerated to provide the theoretical basis for the rehabilitation of exoskeleton of upper limb hemiplegia.The physiological structure and movement law of human upper limb are analyzed,which can guide the design of upper limb exoskeleton mechanical structure more in line with human-machine compatible.The upper limb movement data are collected and analyzed by VICON as the basis of calculating the parameters of driving system.(2)According to the needs of use,the design requirements of the hemiplegia rehabilitation exoskeleton of upper limb are put forward,which mainly include seven aspects: motor function,universality,safety,rehabilitation training mode,comfort,intelligence and portability.Based on this,the mechanical structure design scheme is put forward.Based on the forecasting model of upper limb exoskeleton,the driving parameters of joints are calculated and the driving system selection is completed.(3)The structure of box module,beam module,shoulder joint module,upper arm module,forearm module and hand module of upper limb exoskeleton are designed in turn,which mainly include joint rotation mechanism,adjustable limit mechanism,gravity compensation mechanism,dimension infinite adjustment mechanism and motion compensation mechanism.Then the 3D model of each part is established in Solidworks.All the modules are assembled together to complete the structural design of the hemiplegia rehabilitation exoskeleton robot for upper limb.(4)Accurate upper limb exoskeleton model is established in Adams.Joint load moment curve is obtained through dynamic simulation,which verifies that the selected motor and reducer meet the requirements of use.Ansys Workbench,a finite element simulation software,is used to carry out static simulation of key components and modal simulation of the whole machine.Based on the simulation results,structural optimization is carried out to enhance the stiffness and strength of the whole exoskeleton machine and its components,so as to ensure that the exoskeleton will not be destroyed during use and prevent vibration.The performance and function of the prototype are tested,and the end stiffness and human-machine interaction force/moment curves are analyzed,which verifie that the developed hemiplegia rehabilitation exoskeleton robot for upper limb meets the design requirements.