Research On Rehabilitation Robot For Upper Limbs Based On The Rehabilitation Needs Of Hemiplegic Patients

In China,the number of patients with hemiplegia caused by stroke is relatively large.Clinical medical studies have shown that reasonable rehabilitation training for stroke patients can help patients to better recover their physical functions and avoid "useless atrophy" of limbs.Compared with traditional rehabilitation methods that rely on rehabilitation therapists to assist patients in rehabilitation training,robot-assisted rehabilitation for patients have many advantages.Combined with the rehabilitation needs of patients with hemiplegia,it is of great practical significance to design rehabilitation robots for upper limbs.First,this thesis analyzes the human upper limb physiological structure and the medical background of hemiplegia rehabilitation,and clarifies the design requirements of the rehabilitation robot for upper limbs.Combining the characteristics of human physiological structure and the existing research foundation at home and abroad,this thesis analyzes and develops design work for a serial scheme of robotic mechanism.In the scheme,the robot has four driving modules and one active motion module.By changing the driving position of some motors or the position of the patient’s wrist,the patient can be assisted in 6 degrees of freedom passive training and 1 degree of active training of the upper limb at different times.In this thesis,through the analysis of material design,drive and transmission design,length adjustment function design and system component selection in the design,improved the overall design the mechanical system scheme of the rehabilitation robot for upper limbs.Secondly,according to structural parameters of the robot and the overall design scheme of the robot mechanical system,the specific structure of the rotating platform module,the shoulder joint module,the upper arm and elbow joint module,the forearm and wrist joint module,and the hand module are designed in this thesis.It mainly includes the overall design of the turntable,the design of the driving mechanism,the design of the size adjustment mechanism,the design of the movement limit mechanism and the design of the connecting mechanism.Through Ansys,the key components such as the robot’s forearm,upper arm and connecting plate are statically analyzed to solve the overall deformation and equivalent stress distribution of the components.According to the results of finite element analysis,this thesis select appropriate working domains for some components for topology optimization design to reduce the weight of the robot arm joints.Finally,the prototype functions are initially verified after the prototype is processed and assembled.Test the movement and the limit mechanism of shoulder joint,elbow joint,forearm and wrist joint.Through testing,it is found that the robot can assist the patient’s upper limb to perform the rehabilitation training well.The movement process is relatively stable,and the limit mechanism can limit the corresponding degrees of freedom to the maximum range of human joint activities.The robot can better meet the rehabilitation needs of patients to a certain extent.