The Research On The Intelligent Bridge-style Movement Rehabilitation Training Platform

Bridge-style movement is an important means for the stroke patients to restore the movement control ability of the lumbar and back muscles.Meanwhile it is also an important way to restore the balance and walking ability of patients.Bridge-style movement can solve the sequelae caused by hemiplegia in stroke patients,especially the problem of dyskinesia,and provide effective rehabilitation measures.Because of the development of the aging society,a great number of patients with hemiplegia has increased step by step year.However,at present,the clinical treatments methods are based on "one to one" rehabilitation training between therapists and patients,which not only increases the treatment burden of the therapists,but also greatly influences the rehabilitation process of the patient.In clinical treatment,the treatment plan of patients largely depends on the subjective experience of the therapist.Because of great differences among patients,so it is impossible to achieve accurate and quantitative analysis of patients’ bridge-style movement.It affects the effective formulation of patients’ objective treatment plan for patients,and the effective plan cannot be repeated objectively.As an outstanding achievement of scientific and technological development,the robot has obvious advantages in quantitative execution and analysis.Therefore,a great number of experts and scholars at home and abroad have proposed the combination of robotics and rehabilitation medicine to provide effective auxiliary means to solve the problems in the current rehabilitation industry.In this paper,the basic need of rehabilitation robot is summarized and analyzed by analyzing the research status from home and abroad.Secondly,the simplified mathematical model and bridge-style model are established by analyzing the physiological structure and movement characteristics of bridge-style movement.This paper analyzed the institutional requirements,information acquisition and analysis system requirements and control requirements of the intelligent bridge-style movement rehabilitation training platform.Based on the basic requirements,the bridge-style movement rehabilitation mechanism is designed and simulated to verify the rationality of the mechanism.The inertial sensor is used to collect patient data of bridge-style movement,the encoder is used to detect patient movement position and the force sensor is used to collect patient’s torque information based on the requirements of information acquisition and analysis system.The patient’s data is recorded in real time by position feedback,motion state feedback and feedback acquired by the inertial sensor,encoder and force sensor,which it provides data source basis for bridge-style movement model.A position impedance based control strategy is proposed by the requirement of the control system.The good performance and reliability of the system is verified by building the control model and changing the impedance control parameters.This paper has proposed the motor coordination control by Integrating the rehabilitation training platform,information acquisition and analysis system and based on the position impedance control strategy to realize the force and position adaptive adjustment control mode of intelligent bridge-style movement rehabilitation training platform to carry out the research on the robot control theory and method.The position,torque and motion posture characteristics of intelligent bridge-style movement rehabilitation training platform is verified by selecting experimenters to carry out the experimental study.The experiment showed that the new filed of clinical treatment of rehabilitation of rehabilitation robot is opened and the new training method is provided by the intelligent bridge-style movement rehabilitation training platform,which reduces the rehabilitation process of patients in the clinical and promotes the rehabilitation of patients.