Research On Upper Limb Rehabilitation Medical System Based On Exoskeleto

Cerebral apoplexy,also known as stroke,is an acute disease caused by blood vessel disease to the brain.It has the characteristics of high incidence rate,high disability rate,high recurrence rate and high mortality rate.The number of patients is large.It is the first cause of death in China.Moreover,due to the defects of high cost of traditional rehabilitation treatment,insufficient number of doctors and medical institutions,and great dependence on doctors’ subjective experience,especially the difficulty of upper limb rehabilitation compared with lower limb rehabilitation,the research of Upper Limb Rehabilitation Exoskeleton engineering has broad scientific research value and application value.Aiming at the research of the whole exoskeleton system of upper limb rehabilitation,this paper has done the following work:Firstly,through the analysis of human upper limb bones and degrees of freedom,and considering the size adjustment and the wearability between exoskeleton and human body,a four degree of freedom Upper Limb Rehabilitation Exoskeleton structure is designed.The kinematics and dynamics of the designed structure are analyzed.Based on the coordinate transformation theory,the forward and inverse kinematics of the designed structure is solved by D-H method,and the working motion space of the structure is obtained by Monte Carlo method.After analyzing the motion characteristics of the structure,the dynamic model is solved by Kane equation method,and the relationship between the motion of each joint and the moment is obtained.Then,according to Brunnstrom grade evaluation method,this paper expounds the three stages of patient rehabilitation,and establishes an information monitoring and evaluation system.The subjective questionnaire method is used to evaluate the subjects’ subjective feelings about environmental factors and rehabilitation training,the heart rate and pulse sensor is used to monitor the subjects’ physical signs during rehabilitation training,the EMG signal information in the training process is used for subsequent evaluation,and the process of EMG data evaluation is fully described.Then,the required hardware is selected and the sensor network is built.For the divided three rehabilitation stages,three control modes are designed: pre programmed trajectory control,force feedback control based on tension pressure signal and follow-up control based on IMU signal.At the same time,the controller is designed to reduce the following error of the motor,and the upper computer is designed to test the system function and display the data.Completed the development based on DSP development board μC/OS-II embedded system construction.Finally,the prototype experimental platform is built to verify the function of the system.The effectiveness of the three control methods is verified,and the surface electromyography,heart rate and pulse monitoring data of the experimental subjects during training are collected.