Design of a multi-mode intelligent drive stroke rehabilitation robot based on limb linkage structure

• Published in: 2023 3rd International Conference on Robotics, Automation and Intelligent Control (ICRAIC) pp. 420 - 428
• Main Authors: Cheng, Yusi, Zhu, Chen, Xu, Jiajun, Gao, Yu, Ji, Yingying, Yang, Longfei, Wang, Yumo
• Format: Conference Proceeding
• Language: English
• Published: IEEE 24-11-2023
• Subjects: Assistive robots; Couplings; Electrical stimulation; Gears; Heart rate; multimodal robot; rehabilitation; stroke; Stroke (medical condition); Training
• DOI: 10.1109/ICRAIC61978.2023.00080

Adequate rehabilitation training after stroke can effectively improve patients' quality of life and reduce the rate of secondary recurrence. Intelligent rehabilitation robots have excellent research value because they can adjust the rehabilitation process through human-computer interaction. In order to solve the problem of patients' lack of exercise initiative in rehabilitation training, this paper proposes a dual-driven control strategy of adaptive heart rate regulation and transcranial electrical stimulation to effectively help patients complete the corresponding training tasks and develop a multi-mode intelligent drive rehabilitation robot based on limb linkage structure. The device collects individual cardiopulmonary function data through sensors and multi-modally senses the individual's physiological condition, according to which quantitative resistance output response is made. It uses transcranial electrical stimulation as a supplementary adjustment mechanism for motion feedback and establishes a heart rate adjustment movement and motion adaptation that adapts to the ontology feeling and can achieve the effect of active movement-a two-way collaborative model of heart rate and actual physiological conditions. The experimental results show that the electromagnetic resistance under different gears and pressure can adjust the output resistance more sensitively. At the same time, the two test results show that the gear adjustment brings a good sense of experience. The movement under the regulation of different output resistances is well adapted to the heart rate, and the corresponding body feeling aligns with the RPE amount table, with a good rehabilitation application effect.