Five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy

Abstract

The invention provides a five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy. The strategy comprises two training patterns corresponding to the different recovery period of a patient, i.e. a passive interactive recovery training control strategy and an active-auxiliary interactive recovery training control strategy; during passive movement, a surface myoelectric signal of relevant muscles on a healthy upper limb of a patient is picked up and taken as the movement intention of the patient, thereby controlling a robot to drive a diseased side to realize movement passive training; during active movement, the movement intention of an upper limb of a human body is judged through acquiring in real time the arthrosis force moment generated by a diseased limb acting on the robot during movement, and an applied force is converted into the velocity quantity of the tail end of a mechanical arm by means of a proportional controller, thereby driving the robot to follow the intention so as to carry out recovery active-auxiliary training of the diseased limb. The five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy can provide all-around recovery training movement for a clinic hemiplegia patient, thereby increasing the activeness of the patient in recovery training and the confidence of the patient in recovery; meanwhile, the recovery training control strategy also increases the attractiveness of a recovery process and promotes recovery efficacy.

Description

(1) Technical field [0001] The invention relates to a rehabilitation robot technology, in particular to a five-degree-of-freedom exoskeleton type upper limb rehabilitation robot interactive rehabilitation training control technology. (2) Background technology [0002] At present, the traditional upper limb clinical rehabilitation methods are mostly figure 1 The rehabilitation physician shown guides the patient to complete continuous passive movement one-on-one with bare hands or with assistive devices, or guides the patient to move by giving appropriate resistance or assistance. The increase in the incidence of stroke has led to more and more patients with hemiplegia. The heavy and high-intensity training tasks have brought a heavy burden to the treating physicians. Improvements in treatment options. On the other hand, factors such as the therapist's subjective consciousness, physical strength, and mood play a leading role in the training process, ignoring the patient's ow...

AI Technical Summary

Problems solved by technology

Although the existing upper limb rehabilitation robots can reduce the burden on doctors, improve efficiency, and provide objective and effective data basis for the formulation and optimization of rehabilitation programs for patients in different periods, there are still the following problems: Most of them are simple straight or curved trajectories, with a small range of motion and a single type; they often apply predetermined programs or apply predetermined resistance / assistance to achieve passive movement or auxiliary movement of the upper limbs, which also ignores the movement intention of the patient's limbs, which is not conducive to stimulation The patient's active exercise can improve the patient's interest in exercise and build up the patient's exercise confidence

Images