| Stroke patients will have sequelae of hemiplegia and need long-term rehabilitation treatment.The intelligent rehabilitation training system,which integrates robotics,artificial intelligence,rehabilitation medicine and other disciplines,can be free from time and place restrictions and has safe and reliable performance.It is a cutting-edge technical way to solve the problem of rehabilitation training for patients.As the actuator of the wrist exoskeleton rehabilitation device,compared with the motor drive mode,bending pneumatic artificial muscle is more compliant and can avoid the secondary injury to wrist caused by the impact force of the system.Compared with the linear pneumatic artificial muscle driving mode,curved pneumatic artificial muscle can avoid combining with the rigid series linkage mechanism,and does not need to be firmly fixed on the user.The adaptability of the device and the comfort of the user are improved.Focusing on the key technical problems of wrist rehabilitation training system,a wrist rehabilitation training system is designed and implemented,which includes exoskeleton rehabilitation gloves,control system,perception system and interaction system,aiming at assisting patients to complete the rehabilitation training of wrist dorsiflexion/flexion and wrist adduction/abduction.A series of engineering and technical problems,such as flexible driver design and modeling,exoskeleton rehabilitation gloves design,control system design,perception system design,and interactive system design,are mainly solved.The main tasks completed in this paper include:(1)Aiming at the design,manufacture and modeling of flexible actuator,the bending pneumatic artificial muscle is used as the actuator to realize the patient’s compliance training.The structure and main manufacturing process of bending pneumatic artificial muscle are described,and its kinematic characteristics and output force characteristics are tested.The kinematic characteristics and output force of bending pneumatic artificial muscle are modeled by analytical method,so as to lay a foundation for accurate control of bending pneumatic artificial muscle.(2)For the problem of exoskeleton rehabilitation gloves driving the affected wrist movement,the physiological structure and movement characteristics of the wrist were analyzed.According to the rehabilitation theory of hemiplegia,the rehabilitation training device was designed and realized to assist patients to complete wrist dorsiflexion/flexion movement and wrist adduction/abduction movement.(3)Aiming at the design problem of control system,the control system is designed and implemented based on the air circuit control requirements of flexible driver,including embedded microcontroller,micro air pump,solenoid valve,driving module and air pressure sensor.The miniaturization design of the device is realized to meet the requirement of portability.(4)Aiming at the problem of patients’ motion information perception,the angle sensor is used to collect wrist motion direction and angle information during rehabilitation training.The test results show that the perception system can collect wrist angle information,provide objective and accurate motion data,and meet the design requirements.(5)Aiming at the problem of interaction between patients and training devices,human-computer interaction interface and voice interaction system are designed and implemented,which can display real-time motion information during rehabilitation training and recognize patient voice commands.The test results show that the interactive system meets the design requirements. |
