An upper limb rehabilitation robot based on binocular vision

Abstract

The invention discloses an upper limb rehabilitation robot based on binocular vision. The device comprises a mechanical structure, a main control module, a remote control module, a motor module, a limb information collection and processing module, a detection module, a communication module and a power module. Characterized in that the mechanical structure comprises a base assembly, a waist rotaryjoint, a main arm rotary joint, a main arm, a main arm external fixing sleeve, an auxiliary arm rotary joint, an auxiliary arm and an auxiliary arm external fixing sleeve; The main control module is aSTM32 single chip microcomputer; The motor module comprises a direct current deceleration motor and a motor driver; The limb information acquisition and processing module comprises a binocular cameraand a computer; The detection module is a surface myoelectric sensor; The communication module is a SX1278 chip. The surface electromyography sensor communicates with the main control module throughSPI, and the binocular camera communicates with the computer through USB interface. The invention discloses an upper limb rehabilitation robot based on binocular vision.

Description

technical field [0001] The invention relates to the field of medical rehabilitation, in particular to an upper limb rehabilitation robot based on binocular vision. Background technique [0002] In the 21st century, intelligent robot technology has played a huge role in the field of industrial production, greatly improving productivity; in the field of medical rehabilitation, robot technology is also developing continuously, and has received extensive attention from researchers; In the modernized society, the incidence and prevalence of stroke are increasing year by year. 70% of the patients have different degrees of motor dysfunction, among which hemiplegia is the most common and serious sequelae. 55%~75% of hemiplegia patients have upper limb impairment. The upper limb rehabilitation robot can promote the recovery of upper limb function of stroke patients with hemiplegia through rehabilitation training. [0003] In traditional rehabilitation training, one-to-one profession...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem of long natural recovery period and weak effect of upper limb hemiplegia patients after medical treatment, and the problem of inaccurate information collection by existing upper limb rehabilitation robots, the present invention proposes a simple structure, accurate information collection and precise control. An upper limb rehabilitation robot based on binocular vision with high rehabilitation effect, which can assist patients in shoulder abduction / retraction, vertical movement of the shoulder, and elbow extension / bending; the main control chip is used to complete the control of the entire robot , the control information comes from the calibration information of the physical therapist assisting the patient's training; the binocular vision method is used to collect and process the patient's limb movement information on the affected side; The arm is fixed, and both the left and right arms can be trained; the segmented intelligent control method can be used to self-adjust the training in a small range, so that the training process is closer to the calibrated information, and the effect is better

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