Closed-loop control system for rehabilitation robot

Abstract

The invention discloses a closed-loop control system for a rehabilitation robot. The system comprises an upper computer, multiple semi-closed-oop control modules corresponding to multiple I type of joints of the rehabilitation robot and multiple full-closed-loop control modules corresponding to multiple II type of joints, wherein the semi-closed-oop control modules and the full-closed-loop controlmodules are all connected with the upper computer through a bus, each full-closed-loop control module is connected with a second data acquisition module, and each second data acquisition module is used for collecting bending angle data of the corresponding II type of joints in real time, and then feeding back the bending angle data to the upper computer for analyzing and processing to judge whether or not the II type of joints reach a target position; if the II type of joints reach a target position, the corresponding joints are controlled to stop moving, thereby the full-closed-loop controlis achieved, then it can be accurately ensured that each II type of joint reaches the target position, the accuracy of the rehabilitation robot is improved, the completeness of the rehabilitation robot for rehabilitation training is also ensured, and the injuries to patients caused by excessive or abnormal exercise can be avoided.

Description

technical field [0001] The invention relates to the technical field of medical rehabilitation equipment, in particular to a closed-loop control system of a rehabilitation robot. Background technique [0002] Rehabilitation medical engineering is a new discipline that emerged in the middle of the 20th century. With the aging of the population and the increase in the average life expectancy of human beings, more and more people will need rehabilitation. In addition, for some paralyzed or physically disabled patients, following scientific training methods can help slow down the deterioration of limbs and even restore the function of some limbs. The emergence of rehabilitation robots will free physical therapists from heavy physical therapy tasks, allowing precious medical resources to better serve patients. [0003] Foreign countries began to enter the development and production of rehabilitation robots very early. There are many types of robots at home and abroad, but many of...

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Problems solved by technology

[0003] Foreign countries began to enter the development and production of rehabilitation robots very early. There are many types of robots at home and abroad, but many of them have high costs, are too large to be popularized, and the accuracy of their control systems is not enough, and they cannot accurately control the movement of each joint. For example, when the joints of the upper limbs of the robot need to move 60°, the joints of the existing robots can only move to 55-58° or 62-65°, but cannot accurately reach 60°, if it does not reach 60° °, then the rehabilitation training has not been fully completed in essence, if it exceeds 60°, it may cause damage to the patient's limbs, and even aggravate the patient's condition

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