Under-actuated upper limb rehabilitation robot control system

A rehabilitation robot and control system technology, applied in the direction of passive exercise equipment, gymnastics equipment, sports accessories, etc., can solve a single problem, only for patients in a specific rehabilitation period, patients with low degree of autonomy and participation, can not be effective Identify the patient's intentions and other issues to achieve the effect of light and flexible actuators, reducing the number of drives, and enriching the types
CN106974795AActive Publication Date: 2017-07-25HUAZHONG UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
HUAZHONG UNIV OF SCI & TECH
Publication Date
2017-07-25

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Abstract

The invention belongs to the field of medical rehabilitation equipment, and discloses an under-actuated upper limb rehabilitation robot control system. The system comprises a microcomputer and a power-supply distribution module, a data collection module and a motion control module which are connected with the microcomputer; the data collection module comprises an eye tracker, an image collection card, a joint torque sensor, a six-dimensional force sensor, a holding power sensor, a displacement sensor, myoelectric electrodes, a tension sensor and a data collection card, and the motion control module comprises a motion control card, a limiting switch, an emergency stop switch, a servo motor, an electromagnetic clutch and a joint encoder. The system adopts an under-actuated structure, the number of actuators is reduced, the actuators are arranged at the back, an actuating mechanism of the whole rehabilitation robot is light and flexible, and complicated action can be completed.
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Description

Technical field

[0001] The invention belongs to the field of medical rehabilitation equipment, and more specifically, relates to an under-actuated upper limb rehabilitation robot control system. Background technique

[0002] Human upper limbs play an irreplaceable role in various operation tasks in daily life with their strong motor ability. However, motor nerve damage caused by stroke or spinal cord injury may cause upper limb motor dysfunction. These patients with motor dysfunction It is often difficult to take care of themselves, causing a great blow to the patients and their families, and also bringing heavy pressure and burden to the development of society.

[0003] Traditional upper limb rehabilitation training is performed one-to-one by rehabilitation therapists. This training method is long, low in efficiency, and difficult to ensure training intensity and accuracy. The patient's participation in the entire rehabilitation process is low and lacks interest. The introduction...

Claims

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