Changing rigidity elbow joint rehabilitation robot based on man-machine impedance matching model and controlling method of changing rigidity elbow joint rehabilitation robot

Abstract

The invention discloses a changing rigidity elbow rehabilitation robot based on a man-machine impedance matching model and a controlling method of the changing rigidity elbow joint rehabilitation robot. According to the robot and the controlling method thereof, the changing rigidity elbow joint rehabilitation robot drives the elbow joint of a patient to conduct flexion and extension rehabilitation training at a vertical plane, the force information and the position information of a forearm are obtained through a force sensor and a photoelectricity angle encoder, after the optimal rigidity parameters of the changing rigidity elbow joint rehabilitation robot are selected, the output force and the output displacement of the changing rigidity elbow joint rehabilitation robot are calculated, and thus the changing rigidity elbow joint rehabilitation robot is controlled to drive the limbs of the patient to move so as to be subjected to rehabilitation training. The changing rigidity elbow joint rehabilitation robot based on the man-machine impedance matching model and the controlling method of the changing rigidity elbow joint rehabilitation robot can make the patient avoid secondary harm generated by rigid impact and spasm, the load of the rehabilitation device on the patient is reduced, the flexibility and the comfort of man-machine interaction are increased, requirements on different driving torques at different rehabilitation stages are met, the rehabilitation process of the patient is quickened, and the changing rigidity elbow joint rehabilitation robot creates a safe, comfortable and natural training environment which is also provided with initiative flexibility for the patient.

Description

【Technical field】 [0001] The invention belongs to the technical field of rehabilitation medical equipment and robots, and relates to a variable stiffness elbow joint rehabilitation robot based on a man-machine impedance matching model and a control method thereof. 【Background technique】 [0002] The rehabilitation training robot is a new type of human-machine cooperative robot that drives the patient's limbs for rehabilitation training. It aims to use the principle of robots to combine intelligent control with human movement to replace manual rehabilitation training. Rehabilitation robots achieve the purpose of promoting neurological function remodeling and restoring patients' ability to move and control through standardized repetitive movements. The advantages of rehabilitation robots are as follows: high work intensity and stable performance; improving the efficiency of rehabilitation training and reducing labor costs; real-time monitoring and recording of parameter change...

AI Technical Summary

Problems solved by technology

As the patient's movement ability continues to improve, the driving force provided by the rehabilitation robot will become smaller and smaller, which requires the rehabilitation robot to have the characteristics of variable stiffness, but there is no guideline for how to select different stiffness coefficients in different rehabilitation modes

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