Master-slave upper limb exoskeleton rehabilitation robot control system and its control method

Abstract

The invention discloses a master-slave upper limb exoskeleton rehabilitation robot control system and its control method, and a sensor module. The sensor module detects the master-slave arm attitude information at the joint when the master-slave upper limb exoskeleton rehabilitation robot is working, and represents the movement of the patient. Intent information and switch information to prevent the movement of each joint of the slave arm from exceeding the range; the bottom motion controller receives various information detected by the sensor module and uploads it to the upper-level main control computer; the upper-level main control computer uses the data obtained by the sensor module to perform The control torque is obtained through processing, and the control command is sent to the bottom motion controller to control the movement of the robot slave arm drive mechanism, thereby driving the robot slave arm actuator to complete the corresponding action.

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.

Images