Somatosensory control method for upper limb rehabilitation robot and rehabilitation training strategy

Abstract

The invention discloses a somatosensory control method for an upper limb rehabilitation robot and a rehabilitation training strategy. Kinect is used for collecting upper limb motion data, an upper computer is used for processing the motion data and obtaining a control signal, and a lower computer is used for transmitting the control signal to a servo driver to drive a wearable exoskeleton mechanical arm to drive injured limbs to carry out rehabilitation training. The rehabilitation training strategy includes bilateral limb mirror image synchronized rehabilitation training under the mirror image somatosensory control, master-slave rehabilitation training under the synchronized somatosensory control and semi-active rehabilitation training. Body movement somatosensory control is adopted, the control mode is more intuitive and natural and simpler, multi-joint real-time coordinated control can be carried out, and training of complex motions is convenient to achieve; a somatosensory master-slave real-time control mode is convenient for physical therapists to adjust rehabilitation training plans in real time; patients can drive the injured limbs to carry out healthy limb and injured limb bilateral coordination synchronized mirror image motions through own healthy limb motions, repairing of the cerebral neurons is more conveniently promoted, and the therapeutic effect of a mirror image therapy on the whole injured limbs is improved.

Description

[0001] Technical field: [0002] The invention relates to a somatosensory-controlled upper limb exoskeleton mirror rehabilitation machine. [0003] Background technique: [0004] Stroke has become one of the main causes of harm to human health, and it is showing a younger trend. The ensuing high morbidity rate leads to impairment of limb movement ability in most post-stroke patients, which seriously affects the quality of life of patients. Such patients with hemiplegia need to implement intensive high-intensity exercise therapy as soon as possible to achieve the best rehabilitation effect. However, for patients with insufficient muscle strength of the affected limb and unable to perform rehabilitation exercise training independently, they can only use the assistance of a physical therapist or rehabilitation training equipment. When a rehabilitation robot is used to assist patients in rehabilitation training, the motion control strategy and system stability of the rehabilitati...

AI Technical Summary

Problems solved by technology

In the past, there have been researches on the somatosensory control methods of robots, but most of them need to install signal acquisition devices such as gyroscopes and acceleration sensors at the joints of the human body, and there are still problems such as cumbersome installation, inconvenient wearing and operation.

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