Control device and method for upper limb movement training robot

A technology for sports training and motion control, applied to sports accessories, passive exercise equipment, gymnastics equipment, etc.

Inactive Publication Date: 2013-04-03
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, traditional upper limb exercise training robots have shortcomings such as single training mode and lack of objective training effect evaluation indicators.

Method used

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  • Control device and method for upper limb movement training robot
  • Control device and method for upper limb movement training robot
  • Control device and method for upper limb movement training robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] see Figure 1-Figure 7 , the upper limb exercise training robot control system includes an upper limb exercise training robot 1, a signal detection device 2, a data acquisition device 3, a main control computer 4, a motion control device 5, a torque control device 6, a driving device 7 and an interactive interface 8, wherein The signal detection device 2 and the driving device 7 are installed on the corresponding positions of the upper limb exercise training robot 1 through screw connection and key connection, the output line of the signal detection device 2 is connected to the corresponding port of the data acquisition device 3, and the data acquisition device 3 and the motion control device 5 is installed in the PCI slot of the main control computer 4, the corresponding output port of the motion control device 5 is connected with the corresponding terminal of the torque control device 6 through wires, the output port of the torque control device 6 is connected to the d...

Embodiment 2

[0031] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0032]The upper limb exercise training robot control system is characterized in that the upper limb exercise training robot 1 is a four-degree-of-freedom upper limb exercise training robot; the signal detection device 2 includes an encoder and a force sensor, wherein the encoder can be selected from Omron E6J-CWZ1EA2 type encoder, the force sensor is a four-dimensional force sensor that can detect the force in three orthogonal directions and one torque; the data acquisition device 3 and the motion control device 5 can use Altai boards PCI2394 and PCI8640 respectively; the drive device 7 and torque control device 6 can choose Dongfang Motor TM203C-MSE torque motor and supporting torque controller respectively; main control computer 4 and interactive interface 8 can choose Advantech IPC-610MB industrial computer and supporting liquid crystal display.

Embodiment 3

[0034] The control method of the upper limb exercise training robot adopts the control system of the upper limb exercise training robot according to claim 1, and is characterized in that: the control method includes ① passive control along a predetermined trajectory, ② active control of free movement, and ③ along Active control of predetermined trajectory Three control training methods:

[0035] ① Passive control training is used in the initial stage of exercise training. The upper limb exercise training robot 1 moves according to a predetermined trajectory to drive the upper limb movement of the training object 10. At this stage, the upper limb does not need to provide force and is completely driven by the upper limb exercise training robot 1 . At this time, the operation steps are as follows:

[0036] 1). Plan the movement trajectory according to the movement path that helps to improve the training effect;

[0037] 2). Solve the target pose of each joint through kinematics ...

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Abstract

The invention discloses a control device and method for an upper limb movement training robot. The control system mainly consists of an upper limb movement training robot, a signal detection device, a data collecting device, a master control computer, a movement control device, a torque control deice, a driving device and an interactive interface. According to the control device and method for an upper limb movement training robot provided by the invention, the upper limb movement training robot assists a trained object to passively train the upper limb along a predetermined track, train actively along the predetermined track, and train actively in free movement. The upper limb is assisted to train by selecting the training mode and setting associated parameters according to condition of the upper limb of the trained object.

Description

technical field [0001] The invention relates to a control system and a control method of an upper limb exercise training robot, belonging to the technical field of robot control. Background technique [0002] The upper limb exercise training robot system is mainly used for upper limb exercise training for athletes, and can also be used as home fitness equipment for non-professional athletes, or for clinical exercise training treatment for upper limb hemiplegia. Traditional upper limb exercise training methods are mostly carried out by professional instructors assisting the training objects. This manual operation method leads to high work intensity for professional instructors, and the training effect is inevitably affected by factors such as professional instructors' work skills and work mood. higher cost. For this reason, researchers have studied upper limb exercise training robots to replace professional instructors to assist training objects to complete exercise training...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A63B23/12
Inventor 余刚沈林勇钱晋武章亚男李国军
Owner SHANGHAI UNIV
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