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

A technology for rehabilitation training and posture information, applied in program control, gymnastics equipment, sports accessories, etc., can solve the problems of inconvenient wearing and unstable signal, and achieve the effects of stable signal, improved participation and high precision

Active Publication Date: 2019-05-31
SOUTHEAST UNIV
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  • Summary
  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

Traditional motion intention recognition generally uses EMG or EEG signals, but it is inconvenient to wear and the signal is unstable

Method used

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

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Experimental program
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Effect test

Embodiment

[0043] Hemiplegic patients with upper limb movement disorders have certain motor ability in their upper limbs, but their upper limb muscle strength is not enough to allow them to reach the maximum movement space of normal upper limbs of healthy people.

[0044] Use the three-degree-of-freedom upper limb rehabilitation training robot of the present invention to carry out upper limb rehabilitation training, and hold the rocking bar 13 in the hand to perform autonomous training. The rehabilitation training robot obtains the patient's movement intention through the force sensor, and assists its upper limbs to exercise to achieve normal Workspace. Figure 5 Shown is the workspace of the patient's upper extremity with voluntary and robot-assisted movements. Figure 6 In the process of exercise, the surface EMG signal of the patient's upper limb and the signal curve of the force sensor. It can be seen that the movement space of the upper limbs of the patient is significantly increas...

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Abstract

The invention discloses a limb movement intention understanding and upper limb rehabilitation training robot and its control method based on force sense information and posture information. The posture information of the human arm is respectively obtained through the posture sensor and input to the controller, and the human arm exerts force through the robot. The joystick acts on the six-dimensional force sensor, and the six-dimensional force sensor inputs the corresponding signal to the controller. The controller calculates the acquired attitude parameters and force sense parameters through the established intention recognition model, and controls the rehabilitation training robot to make Corresponding actions are used to control the rehabilitation training robot to realize auxiliary active training under weak active force.

Description

technical field [0001] The invention belongs to the robot control technology, and in particular relates to a limb movement intention understanding and upper limb rehabilitation training robot control method based on force sense information and posture information, which is used for rehabilitation training robot-assisted rehabilitation training. Background technique [0002] The current rapid development of robot technology, human-machine integration is one of the important directions. By coordinating robots with humans to complete tasks, humans and robots can each exhibit their strengths. Therefore, how to realize the friendly interaction between humans and robots has become an important issue. Especially in the field of rehabilitation training robots, studies have shown that proper active rehabilitation can enable patients to achieve better rehabilitation results, and patients usually cannot freely control their limb movements like healthy people due to the decline of body...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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