Development Of Upper Limb Rehabilitation Training Robot Based On Heart Rate And Force Feedback

At present,the research and development of upper limb rehabilitation training robot is still in the research stage in China,and have not been popularized in the market.Moreover,due to the complex construction and high cost of rehabilitation robots,patients can only go to medical institutions for systematic rehabilitation training,while at home they can only do simple manual rehabilitation training.Aiming at the patients with upper limb injuries,a 6-DOF upper limb rehabilitation training robot with two arms is designed,which can real-time monitor the information of heart rate and force feedback.The upper limb rehabilitation training robot uses STM32F103C8T6 single chip computer as the main control MCU,and chooses a high torque steering gear as the executing mechanism of two arms with 6 degrees of freedom.The robot also uses the FSR400 torque sensor to collect the interaction force between the upper limb injured patients and the robot,and collects the patient's heart rate data through the heart rate sensor.MCU processes the collected data information and sends it to the server side through the WIFI module,and displays and archives the data on the server side.After analyzing these data,the doctor will work out a more suitable rehabilitation program for the patient and send it to the MCU.When MCU receives the information,it will carry out the rehabilitation program formulated by the doctor.If the patient is injured again in other environments,the doctor can also make more scientific and effective rehabilitation plan by analyzing the patient's file information.The upper limb rehabilitation training robot designed in this project is divided into three steps to carry out rehabilitation training for upper limb injured patients,including passive rehabilitation training,active rehabilitation training and impedance rehabilitation training.Passive rehabilitation training is to let the robot of upper limb rehabilitation training drive the movement of patients' upper limbs,which is mainly carried out when the limb function of the injured part of patients' upper limbs is very weak in the initial stage.Active rehabilitation training is a kind of rehabilitation training exercise carried out by patients themselves.The robot follows the movement and records the movement information,which is mainly used in the middle stage of upper limb rehabilitation training.Impedance rehabilitation training means that while the patients themselves exercise in rehabilitation training,and the robot exerts some hindrance to the patients.This step is used in the later stage of limb rehabilitation training.The experiment verifies that the upper limb rehabilitation training robot designed in this project has a good rehabilitation training effect on upper limbs with motor function impaired.