Research On Trajectory Planning Of Upper Limb Exoskeleton Rehabilitation Robot

With an ageing population,diseases caused by acute cerebrovascular circulation disorders have become the leading cause of death in China.At the same time,the number of people with impaired motor function due to traumatic brain injury and spinal cord injury is also quite large.If effective rehabilitation treatment is not provided in time,patients will lose some of their motor functions permanently,which will seriously affect their quality of life and even reduce their survival rate.With the development of medical-industrial integration technology and the increasing demand for clinical rehabilitation,the rapid development of rehabilitation robots has been promoted,which can effectively stimulate the awareness of hemiplegic patients to actively participate in rehabilitation and enhance their confidence and determination in the process of rehabilitation training.In view of this,this paper takes patients with impaired limb motor function caused by stroke,traumatic brain injury and spinal cord injury as the research object,and proposes an upper limb exoskeleton rehabilitation training robot for shoulder and elbow joints,which is applicable to patients with upper limb motor dysfunction for rehabilitation training,and the main contents of the paper are as follows:(1)Based on the theory of hemiplegia rehabilitation and the anatomical characteristics of the upper limb,the physiological structure and movement characteristics of the upper limb are analysed,and a shoulder and elbow joint exoskeleton rehabilitation robot with a gravity compensation device is designed.Based on Open Sim simulation software,a coupled musculoskeletal-exoskeletal model of the upper limb is constructed,and muscle force analysis is performed on the flexion movement of the elbow joint,solving the problem that the patient cannot move effectively under gravity due to insufficient muscle activity.(2)The mathematical model of the upper limb rehabilitation robot is established based on the D-H parameter method,the positive and negative kinematics of the rehabilitation robot is analysed,and the motion space of the rehabilitation robot is solved by the Monte Carlo method;the dynamics of the rehabilitation robot is analysed based on the Lagrangian method,and all joint moments are smooth and continuous through simulation analysis,which verifies the rationality of the design of the rehabilitation robot.(3)For the trajectory planning problem of the upper limb rehabilitation robot in joint space,the starting and ending points and the transition points that are required to pass through in a specific state are motion constrained,and the trajectory planning with motion constraints over the path points is analysed based on the 4-3-4 trajectory planning method,and the angular displacement,angular velocity and angular acceleration are fitted,and the rationality of the 4-3-4 polynomial trajectory planning is verified through simulation analysis.(4)Based on the rehabilitation training requirements and safety principles,the kinematic data of the human upper limb is collected based on the Qualisys 3D dynamic capture system to provide a kinematic basis for the teaching rehabilitation training of the rehabilitation robot.An experimental platform is built for the upper limb rehabilitation robot to design single-joint and multi-joint passive rehabilitation experiments and demonstration rehabilitation experiments to verify that the designed upper limb rehabilitation robot can meet the relevant rehabilitation training movements.