Self-adaptation training control method of parallel lower limb rehabilitation robot and rehabilitation robot

A rehabilitation robot and control method technology, applied in muscle training equipment, gymnastics equipment, sports accessories, etc., can solve the lack of evaluation of the muscle activity and contractility of the affected limb, the inability to detect the muscle activity and rehabilitation status of the affected limb in real time, and the Difficulty adapting to the rehabilitation cycle of patients

Active Publication Date: 2016-02-03
WUHAN UNIV OF TECH
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Problems solved by technology

The current rehabilitation training system rarely introduces EMG signals in the overall operation cycle to realize the autonomous, intelligent, and optimal control of the robot. It cannot detect the muscle activity and rehabilitation state of the affected limb in real time during

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  • Self-adaptation training control method of parallel lower limb rehabilitation robot and rehabilitation robot
  • Self-adaptation training control method of parallel lower limb rehabilitation robot and rehabilitation robot
  • Self-adaptation training control method of parallel lower limb rehabilitation robot and rehabilitation robot

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Embodiment Construction

[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0060] Such as figure 1 As shown, a parallel lower limb rehabilitation robot involved in the present invention includes: a parallel robot platform 1 , a myoelectric signal acquisition device 2 , a force signal acquisition device 3 , a control interface 4 and a main control box 5 .

[0061]The robot platform 1 includes a movable upper platform, a fixed lower platform and an actuator, and is used to drive the patient's lower limbs to perform rehabilitation exercise training according to control signals. The executive mechanism is composed of six ball screw actuators. The six ball screw actuators are respectively connected to the movable upper platform and the fixed lower platform through the Hooke hinge and the ball hinge. The movable upper platform is equipped with foot covers for fixing the patient's lower limbs. , by controlling the...

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Abstract

The invention discloses a self-adaptation training control method of a parallel lower limb rehabilitation robot and the rehabilitation robot. The method comprises the steps that lower limb muscle activity and contractility state are estimated according to collected electromyographic signals and impedance model parameters of the robot are adjusted in a self-adaptation mode according to the lower limb muscle activity and contractility state; meanwhile, interaction acting force between a patient and the robot is obtained, and calculation and correction of the motion of the robot are achieved through a recognition result and an impedance model; a master control portion of the rehabilitation robot provides online trajectory planning and inverse kinematics, control instructions are sent to a controller and a driver of a corresponding joint, and self-adaptation training control over the robot is achieved. Intelligentization can be achieved in the rehabilitation process, and the fundamental practical significance and application value for improving the patient rehabilitation effect and improving the patient rehabilitation initiativeness and motivation are achieved.

Description

technical field [0001] The invention relates to the field of control of auxiliary medical rehabilitation robots, in particular to an adaptive training control method based on muscle state evaluation of a parallel lower limb rehabilitation robot. This method collects the surface electromyographic signals of the lower limbs of the human body and evaluates the contraction force state of the relevant muscles online through processing and calculation, so as to adaptively adjust the parameters of the human-machine impedance model, and drive the rehabilitation robot to assist in training with different degrees of compliance. The method of the invention is applicable to fields such as medical rehabilitation robot and artificial limb control. Background technique [0002] The rehabilitation of the elderly, the disabled, and people with limb movement disorders caused by stroke and hemiplegia has become an urgent social problem. The traditional rehabilitation of limb dysfunction mainly...

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Application Information

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IPC IPC(8): A63B21/005A63B24/00A61B5/22
Inventor 刘泉艾青松孟伟丁波
Owner WUHAN UNIV OF TECH
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