Control system and control method for master-slave-mode upper-limb exoskeleton rehabilitation robot

Abstract

The invention discloses a control system and control method for a master-slave-mode upper-limb exoskeleton rehabilitation robot. The control system comprises a sensor module, a bottom-layer movement controller and an upper-layer main control computer, wherein the sensor module detects master-slave-arm posture information at joints when the master-slave-mode upper-limb exoskeleton rehabilitation robot works, information representing movement intentions of patients and on-off information for preventing movement of all slave-arm joints from being out of a limit; the bottom-layer movement controller receives all kinds of information detected by the sensor module and uploads the information to the upper-layer main control computer; the upper-layer main control computer processes data obtained through the sensor module, a control moment is obtained, a control instruction is formed and issued to the bottom-layer movement controller, a robot slave-arm driving mechanism is controlled to move, and therefore a robot slave-arm actuating mechanism is driven to complete corresponding movement.

Description

technical field [0001] The invention relates to the technical field of rehabilitation, in particular to a master-slave upper limb exoskeleton rehabilitation robot control system and a training control method thereof. Background technique [0002] Hemiplegia is the most common complication after stroke. Its symptoms include numbness and muscle weakness of one side of the upper limb of the patient. In severe cases, it will lead to muscle atrophy or even loss of motor ability of the affected limb. For patients with hemiplegia, they can recover their activities through training. The traditional training method is that the therapist provides one-on-one assistance training based on experience, but this method not only consumes a lot of physical strength of the therapist, but also has poor self-participation of the patient, making it difficult to reach a high level. the therapeutic effect. In addition, the current situation of rehabilitation medical treatment in my country has pro...

AI Technical Summary

Problems solved by technology

[0004] Although the rehabilitation robot can slow down the impact on the patient's affected limb and prevent secondary injury to the patient, it has few movable joints and can only perform flexion and extension rehabilitation exercises on the elbow joint, and cannot effectively train the patient's shoulder and wrist. Therefore, there are few training movements, and the range of motion of the affected limb is limited.

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