Rehabilitation training robot system based on parameter identification and correction

A technology of robot system and rehabilitation robot, applied in the field of rehabilitation training robot system

Inactive Publication Date: 2015-02-18
ANYANG INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a rehabilitation training robot system based on system identification, which solves the problem that the current domestic rehabilitation training robot cannot provide rehabilitation physicians with real-time recovery of the patient's muscle tension during training.

Method used

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  • Rehabilitation training robot system based on parameter identification and correction
  • Rehabilitation training robot system based on parameter identification and correction
  • Rehabilitation training robot system based on parameter identification and correction

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Embodiment Construction

[0029] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0030] The interaction between the patient and the rehabilitation physician is an important guarantee for the rehabilitation training robot to complete the rehabilitation training. It can enable the rehabilitation physician to understand the recovery of the patient's muscle tension during training, so as to make further adjustments to the patient's rehabilitation plan. In particular, accurate description of the affected limb is crucial when the rehabilitation physician manipulates the master hand for training. Knowledge of the characteristics of the affected limb can enable the robot controller parameters to be adjusted according to the current working state, thereby improving the effect of rehabilitation training. The premise of good position tracking and motion smoothing performance of the rehabilitation training robot system is that the ma...

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Abstract

The invention discloses a rehabilitation training robot system based on parameter identification and correction . A rehabilitation robot receives a position control command transmitted from the external part to control an injured limb; the rehabilitation robot acquires the mutual acting force between the rehabilitation robot and the injured limb and the acceleration, speed and displacement of the injured limb in real time; through a kinetic model of the injured limb, by adopting a method of solving an overdetermined equation set, firstly the mass me and the muscular tension ke of the injured limb are identified; the me is stopped being identified and only the ke is identified in real time; according to the identified ke, the proportional gain parameter of a PD controller is adjusted in real time. The rehabilitation training robot system based on parameter identification and correction has the beneficial effects that the restoration situation of the muscular tension of the patient can be known by the rehabilitation doctor in real time during training, and the rehabilitation robot can further adjust the rehabilitation scheme of the patient during rehabilitation.

Description

technical field [0001] The invention belongs to the technical field of medical equipment, and relates to a rehabilitation training robot system based on parameter identification and correction. Background technique [0002] Stroke has the characteristics of high mortality, high recurrence rate, and high disability rate, and is a disease that seriously affects people's quality of life and life. The World Health Organization has identified this disease as the number one killer of humans today. The disease is characterized by sudden onset, rapid onset, and difficulty in prevention. Once suffering from a stroke, severe cases will die, light cases will be paralyzed, unable to take care of themselves, which will bring great inconvenience to the patient's life, work and study, and the patient will also suffer from great mental pain. Come worry. As countries around the world enter into an aging population, there will be more and more stroke patients. The development of science a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/00
Inventor 郭晓波翟雁魏胜利戴国强常国权李源张阳张捐净齐万华
Owner ANYANG INST OF TECH
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