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An underactuated upper limb rehabilitation robot control system

A rehabilitation robot and control system technology, applied in general control systems, control/regulation systems, computer control, etc., can solve a single, only for patients in a specific rehabilitation period, can not effectively identify the patient's intention, patient autonomy and low participation, to achieve the effect of light and flexible actuators, rich types, and rich sensors

Active Publication Date: 2019-04-12
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The currently known upper limb rehabilitation robots have the following disadvantages: 1), most of them adopt the joint-driven control mode, which is difficult to control, and the mechanism is bulky and inflexible; 2), the training method is single, and it can only be used for patients in a certain rehabilitation period ; 3) The man-machine interface is single, unable to effectively identify the patient's intention, and the patient's degree of autonomy and participation is low; 4), the degree of intelligence is low, and it is impossible to objectively record or only partially record the relevant data in the patient's rehabilitation process

Method used

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  • An underactuated upper limb rehabilitation robot control system
  • An underactuated upper limb rehabilitation robot control system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] The specific process when using passive mode for rehabilitation exercise is as follows:

[0032] The patient's arm is fixed on the mechanical arm of the rehabilitation robot through straps, and the palm is placed on the handle of the mechanical arm. The rehabilitation doctor selects the required rehabilitation training action through the keyboard and mouse 5 connected to the microcomputer 4 and modifies the corresponding parameters. The computer 4 sends the motion trajectory parameters corresponding to the rehabilitation action to the motion control card 6-2 through the PCI bus, and the digital output port of the motion control card 6-2 controls the relay 6-5 to close, and then the relay 6-5 makes the electromagnetic clutch 6-2 close. 6 and the servo motor 6-3 are powered on, and the motion control card 6-2 converts the motion command into an analog command that the servo drive 6-3 can recognize to control the motor movement. At this time, the servo motor 6-3 drives the ...

Embodiment 2

[0038] The specific process when using the eye movement model rehabilitation exercise is as follows:

[0039]The patient's arm is fixed on the mechanical arm of the rehabilitation robot through straps, and the palm is placed on the handle of the mechanical arm. The eye tracker 2-1 is worn by the patient, and the pupil position is monitored in real time through the miniature camera installed on the eye tracker. And send to microcomputer 4 by image acquisition card 2-2, calculate the required motion parameter of rehabilitation robot by the image algorithm in microcomputer 4 and send to motion control card 6-2 by PCI bus, motion control card 6-2 The digital output port of the control relay 6-5 is finely closed, and then the relay 6-5 enables the electromagnetic clutch 6-6 and the servo motor 6-3 to be powered on, and the motion control card 6-2 converts the motion command into the servo driver 6-3. The identified analog command controls the movement of the motor. At this time, th...

Embodiment 3

[0044] The specific process when using the active assist mode for rehabilitation exercise is as follows:

[0045] The patient's arm is fixed on the mechanical arm of the rehabilitation robot through a strap, and the palm is placed on the handle of the mechanical arm. The patient exerts a slight force on the handle. The direction of the force is the direction the patient wants to move. The six-dimensional force sensor 2-5 is The six-dimensional force information at the handle can be collected and sent to the microcomputer 4 through the data acquisition card 2-4. The microcomputer 4 calculates the motion parameters required by the rehabilitation robot through corresponding algorithms and sends them to the motion control card 6 through the PCI bus -2, the digital output port of the motion control card 6-2 controls the relay 6-5 to close, and then the relay 6-5 enables the electromagnetic clutch 6-6 and the servo motor 6-3 to be powered on, and the motion control card 6-2 will move...

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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.

Description

technical field [0001] The invention belongs to the field of medical rehabilitation equipment, and more specifically relates to an underactuated upper limb rehabilitation robot control system. Background technique [0002] Human upper limbs play an irreplaceable role in various operational tasks in daily life with their powerful motor capabilities. However, motor nerve damage caused by stroke or spinal cord injury may lead to upper limb motor dysfunction. Patients with motor dysfunction It is often difficult to take care of oneself, which causes a great blow to the body and mind of patients and their families, and also brings heavy pressure and burden to the development of society. [0003] Traditional upper limb rehabilitation training is carried out one-on-one by rehabilitation therapists. This training method takes a long time and is inefficient. It is difficult to guarantee the training intensity and accuracy. The patient's participation in the entire rehabilitation proc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/00A61H1/00A61H1/02A63B23/12
CPCA61H1/00A61H1/0274A61H2201/50A61H2201/5007A61H2201/5058A63B23/12
Inventor 熊蔡华何畅贺磊程小为伍轩
Owner HUAZHONG UNIV OF SCI & TECH
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