Research On Key Technology Of Intelligent Upper Limb Rehabilitation Robot And Its Trajectory Planning

According to the data released by the National Bureau of Statistics on January the eighteenth,24.09 million people of 60 or above account for 17.3 percent of the total population.At the international level,it is called aging population that the population aged 60 or older makes up over ten percent of a country or region's total population.With China's aging population becoming more and more serious,the health system for the elderly has been tested.Stroke is the biggest threat to the elderly.At present,about two million Chinese people die from it every year,causing great damage to families and society.Thus,the rehabilitation robot serves as helping stroke patients.However,most researches only focus on a single robot system,without studying the rehabilitation robot in this field from the perspectives of human physiological structure and human-computer interaction.Under the guidance of literature research,the human upper limb model is carried out in this paper besides the movement of upper limbs,the design of robot model,the robot trajectory planning and the simulation analysis of human-computer interaction.The main research contents are as follows:First,according to the research of human upper limb movement and biomechanics,the three-dimensional model of upper limb is designed in UG software,with kinematics and dynamics equations calculated.Second,the three-dimensional model of intelligent upper limb rehabilitation robot is developed in UG software on the basis of the physiological structure of human upper limb.It provides a theoretical basis for the study of the trajectory planning and human-computer interaction simulation of the upper limb rehabilitation robot.According to the parameters of three-dimensional human upper limbs,the structure design of rehabilitation robot is completed including robot's base,connecting rod and movement.Through UG software,finite element analysis of the designed rehabilitation robot is carried out to optimize the robot's structure.Third,the range of movement in each joint of human upper limbs is studied.Taking each joint movement as research object,the motion equations of robot joints and human joints are calculated respectively in three-dimensional space.Fourth,based on the result of human-computer interaction,the three-dimensional models of human upper limb and rehabilitation robot are regarded as research object in UG software to set articulated movement combined with the parameters of this article.Through the dynamic simulation function of UG software,it is applied to verify the designed structure and motion equation could meet the requirement of the physiological structure of human and motion parameters.The innovation point of this paper is to calculate the kinematics and dynamics equation of human upper limbs through the establishment of three-dimensional model of human upper limbs.It is concluded that the motion equations are calculated by themovements of human-computer integration in three-dimensional space fitting the human physiological structure characteristics to the full extent.Finally,the movement simulation and dynamics simulation is conducted with the human-computer simulation experiment platform composed of human three-dimensional model and rehabilitation robot model in UG software making it possible to apply the designed robot structure to analyze the simulation results whether it meets the design requirements.