Software Design And Development Of Balance Perception Detection Rehabilitation Robot

As an important physiological index,balance perception plays an important role in rehabilitation therapy.For people with cerebral palsy,they lose their balance and are prone to falls,often with serious consequences.Therefore,as an important indicator of human body,balance perception plays an important role in predicting human falls and diagnosing medical diseases.Reflecting the human body’s ability to maintain various postures and adapt to the environment is a research hotspot in recent years,which has been widely used in sports,rehabilitation medicine,aerospace and other fields.Therefore,it is necessary to design and develop a rehabilitation robot with the combination of detection and rehabilitation training in order to accurately classify patients’ balance perception ability grades and provide corresponding rehabilitation training.Among them,the balance perception rehabilitation robot should be able to adapt to people intelligently,not the repetition of mechanization;Patients lacking balance perception should actively participate in training rather than passively follow;Realize the cooperation and close coupling between man and machine.Therefore,the balance perception rehabilitation robot should have high human-computer interaction ability and be able to intuitively observe the status of the trainer in real time.This paper focuses on the software part of the balance perception rehabilitation robot,and realizes the motion control of the balance perception rehabilitation robot through interface development and balance perception ability classification algorithm.The main contents of this paper are as follows:(1)Expounds the background and significance of this research,and to balance the cognitive rehabilitation robots at home and abroad is analyzed,some typical cases got balance cognitive rehabilitation robot in the actual application of rehabilitation in patients with different medical function,and to further improve now some incomplete function,can be the direction of the further study of next step.(2)According to the training requirements of the balance perception rehabilitation robot,a convenient man-machine interface is established to realize the real-time monitoring and man-machine interaction of the state data of the balance sensing rehabilitation robot system.This paper describes the steps of building the software development platform of rehabilitation monitoring system,the communication between the upper computer and the lower computer(DSP),and the design of rehabilitation monitoring interface system application program.(3)According to the control requirements of the balance sensing rehabilitation robot,the software algorithm of the balance sensing rehabilitation robot was designed.The rehabilitation evaluation basis was given based on the balance data of the bicycle with double handlebars,and the rehabilitation grade classification of patients was realized through the Algorithm of Gaussian process classification.A gaussian approximation to the Gaussian posteriordistribution was given by the EP approximation algorithm,and the optimal hyperparameters were obtained by the conjugate gradient algorithm.A multi-classification algorithm of the Gaussian process was designed to make a more accurate division of the balance perception ability,so as to obtain a more effective rehabilitation treatment plan.(4)According to the level standard of balance perception ability developed by the rehabilitation doctor,the corresponding physical prototype experiment was carried out on the balance perception rehabilitation robot to further verify the accuracy and effectiveness of the designed classification algorithm.