Wearable power-assisted finger based on myoelectric control and its control method

Abstract

The invention provides a wearable assistance finger based on myoelectric control. The wearable assistance finger comprises an under-actuated simulated human finger, a magnetic coupling interface, a rehabilitation assistance connector, a myoelectric collecting array, a servo motor and a control system, wherein the under-actuated simulated human finger adopts a mixed driving mode of connecting rod driving and driving tendon driving, and the requirement of moving the patient finger joints is sufficiently met. Meanwhile, a control method of the wearable assistance finger based on myoelectric control is provided. The wearable assistance finger has the advantages of simple structure, light weight and good reliability. A force sensor and a position sensor are connected onto a driving tendon, the force and the position for driving the finger to move can be obtained through the telescopic movement of the driving tendon, and the quantification index can be provided for the rehabilitation process. The wearable assistance finger has the advantages that the structure is simple, the cost is low, the operation and the wearing are convenient, the man-machine interaction performance is good, the obstruction caused by muscle and joint rigidity can be effectively overcome, the patient can obtain effective rehabilitation treatment, and better application prospects are realized in the fields of finger rehabilitation and the like.

Description

technical field [0001] The invention relates to a power-assisted robot in the field of finger rehabilitation, in particular to a wearable power-assisted finger based on myoelectric control with two characteristics of rehabilitation and power assistance and a control method thereof. Background technique [0002] According to statistics, stroke causes millions of deaths every year around the world, and there will be an increasing trend in the next few decades. Therefore, the prevention and treatment of stroke have a profound impact on people's quality of life. In most cases, stroke symptoms only affect one side of the body, and timely detection and reasonable treatment are important guarantees for the patient's recovery. For most stroke patients, physical therapy (PT) and occupational therapy (OT) are the cornerstones of the rehabilitation process. Usually stroke rehabilitation should start as soon as possible and last anywhere from a few days to over a year. Most functional...

AI Technical Summary

Problems solved by technology

The rehabilitation robot adopts a four-finger structure design, each finger has two degrees of freedom, and is driven by a motor, but the rehabilitation of human fingers is provided by the movement of five fingers, so this design lacks the necessary mechanical structure for rehabilitation, and lacks power assistance function, it will increase the burden on the hand, it is difficult to meet the function of assisting and completing the homework

In addition, there is still a lack of necessary wearing interfaces, and the compatibility is insufficient.

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