Limb movement intention understanding and upper limb rehabilitation training robot based on force sense information and posture information and control method for limb movement intention understanding and upper limb rehabilitation training robot

A technology for rehabilitation training and attitude information, applied in sports accessories, program control, gymnastics equipment, etc., can solve the problems of signal instability and inconvenient wearing, and achieve signal stability, safety and comfort assurance, and easy acquisition and processing Effect

Active Publication Date: 2018-06-22
SOUTHEAST UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

Traditional motion intention recognition generally uses EMG or EEG

Method used

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  • Limb movement intention understanding and upper limb rehabilitation training robot based on force sense information and posture information and control method for limb movement intention understanding and upper limb rehabilitation training robot
  • Limb movement intention understanding and upper limb rehabilitation training robot based on force sense information and posture information and control method for limb movement intention understanding and upper limb rehabilitation training robot
  • Limb movement intention understanding and upper limb rehabilitation training robot based on force sense information and posture information and control method for limb movement intention understanding and upper limb rehabilitation training robot

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Embodiment

[0043] Hemiplegic patients with upper limb movement disorders have certain upper limb exercise ability, but the upper limb muscle strength is not enough to make themselves reach the maximum movement space of normal upper limbs of healthy people.

[0044] The three-degree-of-freedom upper limb rehabilitation training robot of the present invention is used for upper limb rehabilitation training. The hand holds the rocker 13 for autonomous training. The rehabilitation training robot acquires the patient's movement intention through the force sensor and assists the upper limbs to move to normal Workspace. Figure 5 Shown is the working space of the patient's upper limbs in the case of autonomous movement and robot-assisted movement. Image 6 It is the curve of the surface EMG signal and force sensor signal of the patient's upper limbs during exercise. It can be seen that the patient's upper limb movement space is significantly increased under the robot-assisted movement, and the norma...

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Abstract

The invention discloses a limb movement intention understanding and upper limb rehabilitation training robot based on force sense information and posture information and a control method for the limbmovement intention understanding and upper limb rehabilitation training robot. Posture sensors respectively acquire posture information of the arm of the human body, the posture information is input to a controller, force generated by the arm of the human body acts to a six-dimensional force sensor through the rocker effect, the six-dimensional force sensor inputs a corresponding signal to the controller, the controller resolves the acquired posture parameters and force sense parameters through an established intention cognition model, and controls the rehabilitation training robot to make corresponding movements, thus the control over the rehabilitation training robot is realized, and the auxiliary active exercise under the weak active force is realized.

Description

Technical field [0001] The invention belongs to robot control technology, and specifically relates to a method for comprehending limb movement intention and upper limb rehabilitation training robot based on force perception information and posture information, and is used for rehabilitation training robot assisted rehabilitation training. Background technique [0002] The current rapid development of robotics, human-machine integration is an important direction. Through the cooperation of robots with humans to complete tasks, humans and robots can show their respective strengths. Therefore, how to achieve friendly interaction between humans and robots has become an important issue. Especially in the field of rehabilitation training robots, research has shown that appropriate active rehabilitation can enable patients to achieve better rehabilitation results, and patients usually cannot control their limbs freely like healthy people due to the decline of body motion function, so t...

Claims

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Application Information

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IPC IPC(8): A63B23/12
CPCA63B23/12A61B5/1114A61B5/1116A61B5/4851B25J9/163B25J9/1633B25J9/1679G05B2219/45109G16H20/30G16H40/63A61B2505/09A61B2090/064B25J9/1694B25J13/02B25J13/085B25J13/088G05B19/4155
Inventor 宋爱国石珂
Owner SOUTHEAST UNIV
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