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Rehabilitation robot and human-machine cooperative interaction force control method thereof

A rehabilitation robot and man-machine collaboration technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve problems such as poor compliance, poor quick start, and complex data processing of rehabilitation robots

Active Publication Date: 2019-01-18
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0010] The technical problem to be solved by the present invention is to provide a rehabilitation robot and its man-machine Cooperative Interaction Force Control Method

Method used

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  • Rehabilitation robot and human-machine cooperative interaction force control method thereof
  • Rehabilitation robot and human-machine cooperative interaction force control method thereof
  • Rehabilitation robot and human-machine cooperative interaction force control method thereof

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Embodiment 1

[0080] This embodiment provides a method for controlling the human-machine collaborative interaction force of a rehabilitation robot. figure 1 A rehabilitation robot is shown. The rehabilitation robot can be used as an upper limb rehabilitation robot to help patients perform upper limb rehabilitation training. The affected limb in this embodiment is an upper limb. Such as figure 1 As shown, the rehabilitation robot includes a mechanical arm 110 with two joints 111, 112. The upper joint 111 corresponds to the patient’s shoulder, and the lower joint 112 corresponds to the patient’s elbow. Motors for controlling joint movement and angle sensors and torque sensors for detecting joint movement are installed at 112 places. Of course, in other embodiments, the rehabilitation robot may also be a rehabilitation robot with other structures or other purposes, and the mechanical arm 110 may also include only one joint or include more than two joints, which is not limited in the present in...

Embodiment 2

[0115] This embodiment provides a rehabilitation robot, which can be used as an upper limb rehabilitation robot to help patients perform upper limb rehabilitation training. In this embodiment, the affected limb is an upper limb. Such as figure 1 As shown, the rehabilitation robot includes a mechanical arm 110 with two joints 111, 112. The upper joint 111 corresponds to the patient’s shoulder, and the lower joint 112 corresponds to the patient’s elbow. Motors for controlling joint movement and angle sensors and torque sensors for detecting joint movement are installed at 112 places. Of course, in other embodiments, the rehabilitation robot may also be a rehabilitation robot with other structures or other purposes, and the mechanical arm 110 may also include only one joint or include more than two joints, which is not limited in the present invention. Such as Figure 5 As shown, the rehabilitation robot further includes a human-machine cooperative interaction force control devic...

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Abstract

The invention discloses a rehabilitation robot and a human-machine cooperative interaction force control method thereof. The rehabilitation robot comprises a robot arm with at least one joint. The method for controlling the human-machine interaction force of the rehabilitation robot comprises the following steps: detecting an action moment of a patient's affected side limb acting on the robot arm;Generating a target motion trajectory of the manipulator; Establishing a dynamic model of the manipulator; Calculating a joint moment required for generating the target motion trajectory by using aninverse dynamics principle; Calculating a friction compensation torque of the joint and a dynamic compensation torque of the affected side limb of the patient; The joint torque, the action torque, thedynamics compensation torque, and the friction compensation torque are used as control inputs to the manipulator. The robot can provide the compliant force interactive control between the patient andthe rehabilitation robot arm, provides complete dynamic compensation, improves the equipment motion starting ability and flexibility, and is favorable for improving the experience degree of the patient to the auxiliary rehabilitation training. The invention can provide the compliant force interactive control between the patient and the rehabilitation robot arm, provides complete dynamic compensation, and improves the equipment motion starting ability and flexibility.

Description

Technical field [0001] The invention belongs to the field of robot human-computer interaction, and in particular relates to a rehabilitation robot and a method for controlling the human-machine cooperative interaction force. Background technique [0002] With the aging of our society, the number of patients with upper limb motor dysfunction caused by stroke is increasing, and the number of stroke patients is huge. About 75% of stroke patients will have different degrees of sequelae after the onset of the disease, which seriously affects the patient's quality of life and brings a great burden to the patient's family and society. Among the many sequelae, the incidence of hemiplegia is the highest. In the rehabilitation of hemiplegia, the rehabilitation of upper limb function is the most difficult. Medical theory and clinical medicine have proved that in addition to surgical treatment and drug treatment, scientific rehabilitation training plays an extremely important role in the re...

Claims

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Application Information

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IPC IPC(8): A61H1/02B25J9/00B25J9/16
CPCA61H1/0274A61H1/0277A61H1/0281A61H2201/1207A61H2201/1638A61H2201/1659A61H2201/50A61H2201/5058A61H2201/5069B25J9/00B25J9/0006B25J9/16
Inventor 孙凤龙郭凤仙
Owner SHANGHAI ELECTRICGROUP CORP
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