The Design And Research On The Exoskeleton Hand Rehabilitation Robotic Training System

Stroke,also known as cerebral apoplexy,is caused by the rupture or obstruction of cerebral vessels,leading to ischemia,hypoxia or necrosis of brain tissue.Stroke is more common in the elderly.Most of the patients have hemiplegia and other symptoms after stroke.Hand dysfunction caused by stroke affects patients' daily life,and brings heavy burden to their families and society.Aiming at the rehabilitation of the hand movement function of stroke patients,this study proposed an exoskeleton hand rehabilitation robot training system based on the robotics.Firstly,the training system of exoskeleton hand rehabilitation robot based on LabVIEW was designed in this thesis.The system mainly includes three modules: human-computer interaction interface,user information database and rehabilitation training.Secondly,aiming at the stroke patients who have no ability to grab by themselves during the rehabilitation stage,this study proposed a passive rehabilitation training scheme based on the rehabilitation theory.The control method was determined by analyzing the mechanical structure of the exoskeleton hand rehabilitation robot.In this study,the upper computer control module,the motion control module and the finger bending angle acquisition module were designed for the rehabilitation robot.In addition,in order to avoid the secondary injury of rehabilitation robot to patients in rehabilitation training and improve the safety of rehabilitation robot,this system analyzed and designed the safety threshold.Thirdly,aiming at the stroke patients who basically recover autonomous motion function,but still need to strengthen and consolidate treatment and improve finger flexibility in rehabilitation stage,an active rehabilitation training program was designed in this study.Firstly,based on the box and block test in rehabilitation medicine,a virtual reality training game was designed.Then,a virtual training scene was built,data acquisition and data communication were designed,and finally,the interactive function between the trainer and the virtual scene was realized.Finally,through the performance evaluation experiments of passive rehabilitation training and active rehabilitation training,the safety of finger rehabilitation robot and the applicability of different age and gender groups in passive rehabilitation training system,and the interaction of active rehabilitation training system were verified.The experimental results showed that the passive rehabilitation training system could help the trainer to grasp the ball and cylinder safely.The active rehabilitation training system could realize the function of grasping the ball in virtual reality and provide a friendly interactive training platform for the trainer.The exoskeleton hand rehabilitation robot training system was proposed in this study,it has certain significance for promotion and clinical application of rehabilitation robot,and brings good news to stroke patients.