A robot for upper limb rehabilitation

Abstract

The invention discloses an upper limb rehabilitation robot. The motion control method of the upper limb rehabilitation robot is as follows: using Kinect to collect upper limb motion data, processing the motion data through an upper computer to obtain a control signal, and the lower computer transmits the control signal to a servo driver, Drive the movement of the exoskeleton wearable robotic arm. The present invention adopts body movement somatosensory control, and the control method is more intuitive, natural and simple. Real-time linkage control of multiple joints is possible, which facilitates the realization of complex movements. The user can control the robot to coordinate synchronous mirroring of both upper limbs through the movement of the healthy side of the body. Exercise is more conducive to the recovery of the user's limb function.

Description

Technical field: [0001] The invention relates to a somatosensory-controlled upper limb exoskeleton mirror machine. Background technique: [0002] 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 recovery effect. However, for patients with insufficient limb muscle strength and unable to perform recovery training independently, they can only use the assistance of a physical therapist or use training equipment. When robots are used to assist patients in recovery training, the robot's motion control strategy and system stability will affect the recovery effect to a certain extent. [0003] At present, the control methods adopted by exos...

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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