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A four-degree-of-freedom rehabilitation robotic arm device

A technology of mechanical arms and degrees of freedom, applied in passive exercise equipment, physical therapy, etc., can solve the problems of unfavorable rehabilitation system application popularization, difficult movement, large and complex platforms, etc.

Active Publication Date: 2020-04-03
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing rehabilitation robotic arm system platform is too large and complex, and it is difficult to move, which is not conducive to the application and popularization of rehabilitation systems

Method used

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  • A four-degree-of-freedom rehabilitation robotic arm device
  • A four-degree-of-freedom rehabilitation robotic arm device
  • A four-degree-of-freedom rehabilitation robotic arm device

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0020] The invention is a four-degree-of-freedom mechanical arm for active upper limb rehabilitation training based on motor imagery EEG signals, which is mainly applied to the BCI online rehabilitation platform. After the motor imagery EEG signal is collected, the binary classification signal obtained through preprocessing, feature extraction, and pattern classification is used as the input signal of the control unit of the manipulator. The control unit outputs PWM waves to control the rotation of the corresponding servo motor. The manipulator transmission device of the present invention adopts a motor, a reducer, a hall sensor integration mode and a direct transmission mode, so as to achieve simplification of the design of the manipulator structure, facilitate installation and disassembly, and replace parts in the future.

[0021] The rehabi...

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Abstract

The invention discloses a four-degree-of-freedom rehabilitation mechanical arm device. The device is composed of the two parts including a base and a rehabilitation mechanical arm, wherein the rehabilitation mechanical arm is installed on the base. The rehabilitation mechanical arm is composed of a shoulder abduction joint, a shoulder flexion joint, an elbow flexion joint and a wrist flexion joint. After being collected, motion imaginary electroencephalograms are subjected to preprocessing, feature extraction and pattern classification, and dichotomous signals are obtained to serve as input signals of a mechanical arm control unit. The control unit outputs PWM waves to control a shoulder abduction motor, a shoulder flexion motor, an elbow flexion motor and a wrist flexion motor to rotate.The motion imaginary electroencephalograms are classified through an algorithm, and the singles are transmitted to the control unit. The control unit emits corresponding control singles. The control singles control the rotation of a servo motor. In the four-degree-of-freedom rehabilitation mechanical arm device, the structural design of the mechanical arm is simplified, and assembly and disassembly are convenient.

Description

technical field [0001] The invention relates to the fields of brain-computer interface and rehabilitation training, and mainly realizes the active rehabilitation training of arms based on motor imagery EEG signals. Background technique [0002] With the increasing aging of the global population, most of the elderly are accompanied by symptoms of stroke and hemiplegia. Rehabilitation training plays a very important role in the recovery and improvement of limb motor function of such rehabilitation practitioners. Although the emergence of motor function rehabilitation training robots can reduce the workload of rehabilitation physicians, the treatment effect is not good. BCI (brain computer interface) technology provides a good alternative to this problem. The main motivation for constructing BCI is its potential to restore lost sensory and motor abilities. The existing rehabilitation manipulator system platform is too large and complex, and it is difficult to move, which is n...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02
CPCA61H1/0218A61H1/0274A61H1/0277A61H1/0281A61H1/0285A61H2201/1659A61H2201/5007A61H2205/062A61H2205/065
Inventor 李明爱刘帆孙炎珺杨金福
Owner BEIJING UNIV OF TECH
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