Task-oriented active training control method and corresponding rehabilitation robot

Abstract

The invention discloses a task-oriented active training control method applied to a rehabilitation robot. The rehabilitation robot is provided with a sensor, a control system and a driving mechanism, the control system is used for receiving a signal generation control command collected by the sensor and sending the control command to the driving mechanism, and the driving mechanism can be worn on the body part of a patient and is used for receiving the control command and applying and regulating acting force on the body part of the patient according to the control command so as to control rehabilitation training of the patient. The control method includes the steps: S1, detecting an active movement signal of the body part of the patient; S2, regulating the acting force applied by the driving mechanism of the rehabilitation robot on the body part of the patient according to the active movement signal of the body part of the patient.

Description

technical field [0001] The invention relates to a task-oriented active training control method and a corresponding rehabilitation robot, belonging to the technical field of rehabilitation equipment. Background technique [0002] Stroke and spinal cord injury are the two main causes of lower extremity motor dysfunction. Stroke, also known as cerebral apoplexy, is an acute cerebrovascular disease. Its onset is sudden and unpredictable, and it can cause permanent brain nerve damage. The disability rate has remained high. Surviving patients often suffer from sequelae, such as hemiplegia It is one of the most common. Spinal cord injury is usually caused by severe spinal trauma, and various accidents may lead to spinal cord injury. Like stroke, spinal cord injury has a high disability rate, which may lead to paraplegia, quadriplegia and other diseases, which seriously hinder patients' daily activities. Due to the high incidence of cerebrovascular diseases and frequent accidents...

AI Technical Summary

Problems solved by technology

[0003] Although exercise training can promote the plasticity of the nervous system and can help paralyzed patients recover to some extent the motor function of the damaged limbs, rehabilitation is usually a fairly long-term continuous process, sometimes even throughout the patient's life

[0004] In traditional rehabilitation methods, patients’ exercise training mainly relies on one-to-one or even many-to-one manual assistance from physical therapists, which generally consumes time and medical resources, and the cost is relatively high; in addition, due to the difficulty of active training It is realized manually, so the movement of the patient's body parts is basically passive, and the training strategy is relatively simple. Regardless of the specific situation, adopting the same passive training mode is not conducive to the recovery of the patient

Since the movement process is mainly manually controlled by the physical therapist, rehabilitation training is easily affected by subjective factors such as the experience, emotion and physical strength of the physical therapist, the trajectory of the patient's body parts, the force exerted on the patient's body parts, and the patient-physical therapist It is often difficult to maintain a good consistency in the interaction between them. This subjectivity and inconsistency often lead to non-repeatable rehabilitation effects.

[0005] Rehabilitation robots interact with the body parts of patients with impaired motor function, and patients are objects with autonomous movement awareness. The current rehabilitation robots are mainly passive training methods, and it is difficult to achieve interactive control between the robot and patients. If the patient's body Some of them fight against the robot due to abnormal muscle activities such as convulsions and tremors. The patient's body part may suffer secondary damage and aggravate the injury. Moreover, it is difficult to obtain the patient's active movement intention through passive training, which greatly reduces the patient's enthusiasm for participation and affects rehabilitation. training effect

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