Apparel type robot for healing hand function and control system thereof

Abstract

The invention discloses a wearable hand function rehabilitation robot, which is mainly used for assisting the repeated movement function rehabilitation training of the patient with hand movement function disorder which is caused by stroke, brain trauma, spinal cord injury and peripheral nerve injury in communities or families. The robot system extracts the active movement will of the patient by detecting the multi-channel surface myoelectric signals of the affected hand and obtains the state of the affected limb by combining the data which is measured by an angle and force sensor to carry out the rehabilitation training of the affected hand by pneumatic muscle contraction assistance by using the intelligent control algorithm on the basis. The rehabilitation robot has multiple degrees of freedom, which can assist the affected hand to carry out multi-joint complex movement and inosculate the multi-sensor data information fusion during the rehabilitation process to be further used for the evaluation of rehabilitation effect, and the activity and the training interest of the patient can be improved by using the rehabilitation treatment virtual environment on a computer. The invention has the advantages of simple structure, flexible movement, safety and reliability, which can not only realize the rehabilitation training of the movement function of the affected hand, but can also be in line with the physiologic structure characteristics of human hands. The invention is more comfortable to wear.

Description

technical field [0001] The invention belongs to rehabilitation robot technology, in particular to a wearable hand function rehabilitation robot and a control system thereof. The robot is driven by pneumatic muscles and can assist patients in multi-joint compound motion training of the affected hand. The invention adopts intelligent control based on biomyoelectric biofeedback, can quantitatively evaluate the rehabilitation effect, and adopts augmented reality technology to fully exert the patient's subjective initiative. Background technique [0002] In recent years, the number of patients with central nervous system injuries such as spinal injuries, traumatic brain injuries, and strokes has increased significantly. Upper limb and hand dysfunction is one of the most common major problems. The recovery of hand function is related to the prognosis and quality of life of patients. Studies have shown that 90% of neurological recovery occurs within three months after a stroke. Th...

AI Technical Summary

Problems solved by technology

[0009] The disadvantage of this device is that the driving actuator is not compliant, it is not suitable for wearing, and it does not introduce biofeedback and augmented reality technology to improve the enthusiasm of patients to actively participate in rehabilitation training.

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