A Noval Mirror Training Strategy Based On Kinematics

Abstract

Aiming at the problem of limb motor dysfunction in stroke patients after operation, a noval mirror training strategy based on kinematics is proposed in this paper. Firstly, the pose of the end effector based on the common coordinate system is obtained by establishing forward kinematic modeling of dual-arm upper limb rehabilitation robot; Secondly, the pose of the end effector of patient’s impaired limb in the common coordinate system is calculated by the mirror relationship of the bilateral limbs, and the joint angles is obtained according to the inverse kinematics, which realizing the function of the mirror training. Finally, the experiment is designed and the tester’s training data is collected and a series of evaluation indicators are obtained to reflect the training effect in different traininig stages. The results show that this strategy has a certain effect on improving the motor function of the impaired limb. In the future, the factors affecting the strategy will be further optimized to improve the rehabilitation effect.