Research On Robot Control System For Automatic Measurement Of Muscle Tension Surface Area

The degree of tension of muscles in a resting or relaxed state is called muscle tension.Whether the muscle tension is normal or not will directly affect people's normal life.The study of muscle tension not only helps the position of the patient's focal site in the medical staff,but also helps to treat Parkinson's and other diseases that cause abnormal muscle tension.At present,the medical community generally uses Ashworth's modified criteria to assess muscle tension.This standard,through the subjective perception of the doctor,completes muscle tension grade classification,and its scientific nature is questioned.In order to obtain scientifically accurate muscle tension values,this article will explore the measurement methods of muscle tension and analyze,design and study the muscle tension automatic measurement robot and its control algorithm.Considering that the human back has a large area,uniform distribution of skin,fat,etc.,the back of the human body is selected as a target for muscle tension measurement.Firstly,this article will conduct an equivalent modeling of human back soft tissue,through the establishment of a dynamic model to study how to obtain accurate muscle tension values.According to the characteristics of the back soft tissue,a double-layered spring mass model of the back soft tissue was established,and the external force acting on the human back muscle and the deformation displacement under stress were calculated through the model,and the muscle tension value was obtained.Secondly,from the measurement of muscle tension in the area,an impedance control strategy is introduced to achieve compliance of the force probe with the human body,and the traditional impedance control strategy is improved so that it can respond to muscle tension measurement of different groups of people.Human uncertainty may exist with the impact force of the force measuring probe.The force measuring probe has a compliant feature to ensure contact with the human body.Security at the time.In order to deal with the actual situation of different people's measurement,a fuzzy control strategy is introduced to improve the impedance control.This strategy improves the wide applicability of the system by automatically correcting the parameters of the impedance equation.Finally,using MATLAB to simulate and verify the back soft tissue model and the impedance control strategy,to observe whether the control system's dynamic indicators meet the requirements.Then through the experimental platform to do the experimental verification of the above content,draw back muscle tension map of the human body.