Path Planning And Implementation Of Flexible Upper Limb Rehabilitation Robot

At present,the aging population base of our country is increasing,the patients with upper limb hemiplegia caused by stroke are increasing day by day,and the demand for rehabilitation is huge.Clinical trials have shown that in the first three months after the onset of the disease,patients receive rehabilitation therapy,and the effect is the best,with a total treatment efficiency of 92.4%.Therefore,early rehabilitation training is very necessary.Based on the key research and development project of artificial intelligence technology in Chongqing,this paper carries out path planning and function realization of the flexible upper limb rehabilitation robot.Because the existing rehabilitation prototype in the laboratory has a single mode and is not stable during movement,and the effect of the flexible rope characteristics on upper limb movement is ignored,this article analyzes the motion of the prototype,designs a multi-joint combined motion path scheme,makes a reasonable motion path plan,and uses CPAC controller and virtual reality technology to achieve it.First,based on the upper limb rehabilitation theory,this article summarizes the freedom of movement and range of motion of the human upper limb shoulder and elbow joints.Through the laboratory's existing rehabilitation prototype structure characteristics,the movement principle of the upper limb rehabilitation prototype is analyzed,and the reverse study of the complex movements of the upper limb is combined.Laboratory upper limb rehabilitation prototype,design multi-joint combination rehabilitation exercise program.Secondly,the kinematics analysis of the flexible upper limb rehabilitation robot and the establishment of the dynamic model of the flexible upper limb rehabilitation robot.Analyze the mechanical characteristics of the flexible rope,use the Newton-Euler method and Lagrange method to establish the mechanical model of the flexible upper limb rehabilitation robot,and dynamically analyze the upper limb rehabilitation movement under the flexible rope traction,laying the foundation for the later robot end motion planning basis.Next,path planning is performed for multi-joint combined motion.By analyzing and solving the kinematics and dynamics of the flexible upper limb rehabilitation robot,this article uses cosine polynomial function,cubic polynomial interpolation and quintic polynomial interpolation to analyze the motion planning of the upper limb movement,in preparation for the next step of upper limb rehabilitation rehabilitation training.Finally,the realization of upper limb rehabilitation movements.This article uses the CPAC controller to build an upper limb rehabilitation robot experimental platform,configure multi-joint combined motion parameters,combine with the NOKOV three-dimensional optical motion capture system,track and monitor the upper limb movement path in real time,and then combine virtual reality technology to simulate a real training scene and match the upper limb...