Active training control method and device for a rehabilitation robot

A rehabilitation robot and control method technology, applied in the field of rehabilitation medicine, can solve the problems of complex algorithms, poor recognition accuracy and reliability, long acquisition and processing time, etc., and achieve the effect of improving the efficiency of rehabilitation training and adding functions

Active Publication Date: 2018-06-29
北京中科鸿泰医疗科技有限公司
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Problems solved by technology

For multi-joint motion tasks, obtaining surface EMG signals from more than two related muscles requires long acquisition and processing time, complex algorithms, poor recognition accuracy and reliability of patients' active motion intentions, and is difficult to apply in practice

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  • Active training control method and device for a rehabilitation robot
  • Active training control method and device for a rehabilitation robot
  • Active training control method and device for a rehabilitation robot

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Embodiment Construction

[0023] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0024] The present invention proposes a method for active rehabilitation training control of a rehabilitation robot based on surface electromyography signals, the method comprising:

[0025] In step 101, during the repetitive rehabilitation training process, the surface electromyographic signals of the corresponding two muscles are collected to obtain two-channel surface electromyographic signals;

[0026] In step 102, a preprocessing operation is performed on the collected two-channel surface electromyography signals to obtain periodic surface electromyography composite signals;

[0027] In step 103, using a frequency tracking algorithm to extract frequency and phase motion pattern information from the surface myoelectri...

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Abstract

The invention discloses an active exercise control method and device for a rehabilitation robot based on surface electromyogram signals, which are used in various upper limb or lower limb rehabilitation robots with surface electromyogram signal acquisition functions. The active exercise control method comprises the following steps: in the rehabilitation exercise process, firstly, acquiring surface electromyogram signals from two pieces of corresponding muscle, extracting patient active motion mode information such as the frequency and the phase from the surface electromyogram signals in real time by using a frequency tracking algorithm, generating a reference exercise track of the robot according to the phase information, and controlling the output torque of the robot according to practical motion errors, thereby assisting the patient to complete rehabilitation exercise tasks. By adopting the active exercise control method and device, active exercise of multiple joints can be achieved by using the rehabilitation robot on the basis of double-channel surface electromyogram signals, the surface electromyogram signals are convenient to acquire and process, real-time monitoring of active motion intention of a testee and active rehabilitation exercise through the rehabilitation robot can be achieved, and the rehabilitation exercise efficiency can be improved.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medicine, in particular to an active training control method for a rehabilitation robot based on surface electromyography signals. Background technique [0002] With the intensification of the aging of Chinese society, more and more elderly people suffer from upper limb paralysis due to stroke and other reasons, which brings great inconvenience to daily life. Paralyzed patients can stimulate brain plasticity through a large number of rehabilitation training, restore certain motor ability, realize self-care, improve quality of life, and return to society to the greatest extent. Robot-assisted rehabilitation training can save a lot of manpower and material resources, and can conduct real-time quantitative evaluation of the patient's rehabilitation level, and carry out training step by step according to the patient's rehabilitation status. [0003] Most of the current rehabilitation robots ca...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A63B23/035A63B24/00A61H1/02A61B5/0488
CPCA61B5/72A61H1/0237A61H1/0274A61H2201/1261A61H2201/5007A61H2230/085A63B23/03508A63B24/0003A63B24/0087A63B2230/085A61B5/389
Inventor 彭亮侯增广王卫群程龙谢晓亮边桂彬
Owner 北京中科鸿泰医疗科技有限公司
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