Research On Desktop Upper Limb Neurorehabilitation Robot Based On Biofeedback

The desktop upper limb neurorehabilitation robot belongs to the field of medical robots and rehabilitation engineering.In view of the serious aging of the population in my country,the rising incidence of stroke,and the shortage of rehabilitation personnel,the research on the desktop upper limb neurorehabilitation robot will have far-reaching significance for the aging population,stroke patients,and disabled people.The use of upper limb neurorehabilitation robots for rehabilitation training can not only effectively improve the limb muscle strength of patients,but also prevent diseases such as muscle atrophy and venous thrombosis.It is also a general trend to introduce rehabilitation training equipment into rehabilitation therapy to reduce family economic pressure and social medical pressure.Based on this,this topic proposes a structural design scheme of a new desktop upper limb neurorehabilitation robot,makes a test prototype and builds a semi-physical real-time control experimental platform.The main contents of this paper are as follows:(1)After analyzing the structure,joints and degrees of freedom of human upper limbs,the biofeedback principle of upper limb neurorehabilitation is introduced.Based on this,the mechanical structure scheme of the desktop upper limb neurorehabilitation robot is proposed,and its parameters are designed.It mainly includes a shoulder rotation and support mechanism,an adjustment mechanism,a shoulder lift mechanism,an elbow joint flexion and extension mechanism and a movable desktop platform.In addition,the safety analysis of key components and the analysis and calculation of drive selection are carried out.(2)The kinematics and dynamics simulation of the upper limb neurorehabilitation robot model is carried out through ADAMS,and the joint range of motion obtained by the kinematics simulation of the upper limb neurorehabilitation robot is compared with the ideal joint range of motion of the human upper limb as an important indicator for evaluating the rehabilitation effect of patients.The driving force and torque of the driving element are obtained through the dynamic simulation and compared with the calculated driving force and torque.The high degree of agreement between the two sides verifies the rationality of the selection of driving components.(3)Motion space analysis and motion planning of the desktop upper limb neurorehabilitation robot.Firstly,the D-H model is established and its end pose is calculated,and MATLAB is used to analyze the motion space of the upper limb neurorehabilitation robot in detail.In order to prevent collisions during the movement,the bidirectional RRT algorithm is used to plan the path of the upper limb neurorehabilitation robot,and two more suitable trajectory planning methods are selected.(4)The control system design of the desktop upper limb neurorehabilitation robot.Combined with its characteristics and requirements,the compliant control method of force-position hybrid control is selected,and the strategy of adopting admittance control for outer loop force control and PID control for position inner loop is determined.Then the Sim Mechanics model of the control system simulation is established and the simulation analysis is carried out to verify its rationality.(5)Prototype production and construction of a semi-physical real-time control experimental platform.Through experiments,the range of motion of the mechanism and the performance of the control system of the desktop upper limb neurorehabilitation robot prototype are tested and verified.