Method and control system for eliminating deviation of limb movement trajectory

Abstract

The invention discloses a method and control system for eliminating deviation of a limb movement trajectory. The method includes the following steps that the movement trajectory of rehabilitation equipment is set; the starting-point position and end-point position of the movement trajectory, and the movement speed, between the starting-point position and the end-point position, of the equipment ineach unit time are recorded; the rehabilitation equipment is controlled to drive limbs to do trajectory reduction motion from the start-point position of the movement trajectory, wherein the movementspeed in each unit time in the trajectory reduction motion is same as the movement speed when the movement trajectory is set; the stop position of the trajectory reduction motion is recorded; the stop position is compared with the end-point position, if the positions are same, no trajectory errors exist, and if the positions are different, the rehabilitation equipment is controlled to move from the stop position to the end-point position so as to eliminate the trajectory deviation. According to the method and control system for eliminating the deviation of the limb movement trajectory, the consistency of the speeds of trajectory reduction is ensured, shaking is avoided to occur when the rehabilitation equipment is used for training, and the smoothness and accuracy of limb rehabilitation exercise are improved.

Description

technical field [0001] The invention relates to a trajectory recovery exercise for limb rehabilitation training, more specifically, a method and a control system for eliminating the deviation of limb movement trajectory. Background technique [0002] Due to cerebrovascular disease, traumatic brain injury and other causes, patients lose their limb mobility and muscle atrophy. They often need to use external force for passive exercise for rehabilitation training, so as to help patients recover their limb strength. The limb rehabilitation equipment is used for the treatment and rehabilitation training of patients with limb movement dysfunction. By recording the limb movement trajectory of the doctor on the rehabilitation equipment, the patient can restore the limb movement trajectory set by the doctor on the rehabilitation equipment, so that the patient can get accurate and effective rehabilitation training. [0003] At present, the method of restoring the movement trajectory ...

AI Technical Summary

Problems solved by technology

This method has obvious defects. Due to the lack of accuracy of the angle sensor, there is a certain trajectory deviation in the angle restoration per unit time, and then the trajectory deviation accumulates. After multiple trajectory restorations, the trajectory deviation is obvious, which is easy to cause the robot arm to collide with the limit. Components, thereby affecting the treatment effect of patients, and even causing danger

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