Adaptive control method and device for hand rehabilitation robot
A rehabilitation robot and self-adaptive control technology, applied in passive exercise equipment, physical therapy and other directions, can solve the problems of poor self-adaptation, inappropriate hand rehabilitation robot and inability to perform upper limb movement, etc., to achieve self-adaptive control and improve human performance. The effect of computer interaction level
Active Publication Date: 2020-10-02
YANSHAN UNIV
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[0005] This application provides an adaptive control method and device for a hand rehabilitation robot, aiming to solve the technical problems of hand rehabilitation robots not suitable for severe patients who cannot perform upper limb movements and poor adaptability in the prior art
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[0046] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.
[0047] "And / or" in this article is just a relationship describing the associated object, which means that there can be three relationships, for example, A and / or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone In these three cases, in addition, the character " / " in this article generally indicates that the associated objects before and after ar...
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The invention provides a hand rehabilitation robot adaptive control method and device. The method includes obtaining an electroencephalogram signal characterizing user motion imagination and an upperlimb surface electromyogram signal characterizing user motion intention; performing feature extraction and classification recognition on the electroencephalogram signal, and obtaining the expected trajectory of hands; and inputting the expected trajectory into a variable impedance equation model, and obtaining the actual trajectory of the hands to obtain the motion-controlled quantity of each joint of a robot, wherein the impedance parameters of the variable impedance equation model can be adaptively adjusted according to the upper limb surface electromyogram signal. The method and device aresuitable for severe patients who cannot do upper limb motion or have small upper limb moving amplitudes; and adaptive adjusting can be performed on the impedance parameters of the variable impedance equation model according to the upper limb surface electromyogram signal, so that the adaptive control of the rehabilitation robot can be realized, and human-computer interaction levels during the rehabilitation training of patients can be greatly enhanced.
Description
technical field [0001] The present application relates to the field of rehabilitation robot control, in particular to a hand rehabilitation robot adaptive control method and device. Background technique [0002] At present, hand robot rehabilitation training methods are mainly divided into continuous passive motion therapy and robot-assisted rehabilitation therapy. Continuous Passive Movement Therapy (CPM) adopts the method of passive control. The main idea is to assist the patient's limbs to perform long-term passive movement through equipment to achieve the rehabilitation goal. This method often causes secondary injuries because of ignoring the patient's exercise limit, and Because patients do not have autonomy, they cannot carry out brain plasticity training, which greatly reduces the effect of rehabilitation treatment. Robot-assisted rehabilitation therapy adopts active control method, the main idea is to allow patients to actively participate in rehabilitation training...
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IPC IPC(8): A61H1/02
Inventor 杜义浩郑霖白晓林姚文轩于金须吴晓光谢平
Owner YANSHAN UNIV