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SEMG-based single joint active training control method and corresponding rehabilitation robot

A rehabilitation robot and active training technology, applied in the field of rehabilitation medicine, can solve the problem that rehabilitation training equipment and methods are difficult to adapt to autonomous limb control, and achieve the effect of improving rehabilitation efficiency and improving training enthusiasm.

Active Publication Date: 2017-07-21
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0004] What the present invention aims to solve is the problem that the rehabilitation training equipment and methods of the prior art are difficult to adapt to patients with weak control of autonomous limbs

Method used

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  • SEMG-based single joint active training control method and corresponding rehabilitation robot
  • SEMG-based single joint active training control method and corresponding rehabilitation robot
  • SEMG-based single joint active training control method and corresponding rehabilitation robot

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Embodiment Construction

[0026] The sEMG-based single-joint active training control method proposed by the present invention is used in a rehabilitation robot with a sEMG acquisition system. The rehabilitation robot has a controller and a driver for receiving computer instructions and controlling the motion and force output of the kinematic mechanism. Since the control of the rehabilitation robot belongs to the prior art, it will not be described in detail here.

[0027] Specifically, the method of the present invention mainly comprises the following steps:

[0028] S1. The sEMG acquisition system acquires the sEMG signal of the patient;

[0029] In the step S1, the sEMG acquisition system usually also needs to acquire the patient's muscle resting sEMG signal and the sEMG signal in the state of maximum voluntary contraction), and use the sEMG signal in these two states to perform an operation on all the sEMG signals collected. Normalized.

[0030] S2. Converting the sEMG signal into a single-joint a...

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Abstract

The invention discloses an sEMG-based single joint active training control method applied to a rehabilitation robot with an sEMG collection system. The method includes utilizing an sEMG collection system to collect sEMG signals of a patient, and allowing the rehabilitation robot to convert the sEMG signals into single joint active training control signals to control the single joint active training of the patient. The method contains two strategies, namely a damping type active training strategy and a spring type active training strategy. The damping type active training adopts the sEMG to control the joint moving speed, and the spring type active training adopts the sEMG to control the joint angle displacement. The the rehabilitation robot is simple and flexible and is capable of monitoring the active motion intention of a tester, two types of lower limb rehabilitation active training are provided, the training activeness of the patient can be improved, and the rehabilitating efficiency can be improved.

Description

technical field [0001] The invention relates to a sEMG-based single joint active training control method and a corresponding rehabilitation robot, belonging to the technical field of rehabilitation medicine. Background technique [0002] Due to the high incidence of cerebrovascular diseases and frequent accidents, the number of paralyzed patients in China is increasing day by day. For paralyzed patients, after acute clinical treatment such as surgery, rehabilitation has become the main treatment. According to the principle of plasticity of the nervous system, it can help patients to restore the damaged limb motor function to a certain extent, relearn the activities of daily life, so as to help patients return to normal life as much as possible. [0003] For example, a lower limb rehabilitation robot is a mechatronic device that can assist paralyzed patients with impaired lower limb motor function to complete rehabilitation training automatically or semi-automatically. The p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A63B23/04A63B71/06
Inventor 侯增广胡进梁旭高占杰彭龙彭亮程龙王卫群谢晓亮边桂彬
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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