Force feedback control method and system for power assisting training of wrist rehabilitation robot

Abstract

The invention provides a force feedback control method and system for power assisting training of a wrist rehabilitation robot. The force feedback control system comprises a force feedback part and a three-closed-loop control part, wherein in the force feedback part, a force / torque sensor installed on the wrist rehabilitation robot detects out a force / torque exerted on the wrist rehabilitation robot by the human wrist, the detected force / torque is converted into equivalent current; a value of a current loop feedforward part in three-closed-loop control is determined by judging the size relation between the equivalent current and an equivalent current amplitude limiting value; the three-closed-loop control part comprises a position loop, a speed loop and a current loop, wherein an input of the position loop is wrist motion trajectory data, an output of the position loop is given motor rotation speed, output current serves as a given value of the current loop through the speed loop portion, an output of the force feedback part is an input of the feedback part of the current loop, a motor rotation speed value is obtained through the current loop portion, and accordingly a motor is driven. The force feedback control system is strong in operability, high in precision, strong in stability, low in cost, high in control precision and strong in robustness.

Description

technical field [0001] The present invention relates to the control field of rehabilitation robots, in particular to a force feedback control method and system for wrist rehabilitation robot mobility assistance training. Background technique [0002] Hemiplegic patients often suffer from wrist dysfunction, which brings a lot of inconvenience to patients' life and work. Traditional rehabilitation training usually involves physical therapists and patients performing one-on-one physical training, which requires repetitive and large-scale movements of the affected limb. These rehabilitation training methods can improve the limb movement ability of hemiplegic patients to a certain extent, but the one-on-one training mode, the labor intensity of the therapist is high, and cannot meet the needs of a large number of hemiplegic patients. In response to these limitations and shortcomings, medical rehabilitation robots have emerged as the times require, and have been more and more wid...

AI Technical Summary

Problems solved by technology

[0005] When the patient recovers part of the wrist function, only the passive training mode can not better adapt to the patient's rehabilitation needs, so an assisted training mode is adopted to help the injured body to obtain the best rehabilitation effect

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