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Rehabilitation motion control method and system based on rehabilitation robot

A motion control system and rehabilitation robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of poor motion flexibility, insufficient smooth trajectory, incomplete synchronization of joint motion, etc., to restore motion function and reduce labor intensity. Effect

Active Publication Date: 2019-07-12
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to overcome the defects in the prior art that the trajectory of motion control using teaching data in rehabilitation training is not smooth enough, the motions between joints are not completely synchronized, and the motion flexibility is poor, and to provide a Rehabilitation motion control method and system based on rehabilitation robot

Method used

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  • Rehabilitation motion control method and system based on rehabilitation robot
  • Rehabilitation motion control method and system based on rehabilitation robot
  • Rehabilitation motion control method and system based on rehabilitation robot

Examples

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Effect test

Embodiment 1

[0072] A rehabilitation motion control method based on a rehabilitation robot, such as figure 1 As shown, the rehabilitation exercise control method includes:

[0073] Step 10, acquiring teaching data; the teaching data includes the motion data of at least one motion joint when the patient is driven to perform the teaching motion;

[0074] Step 20, generating a smooth motion trajectory of the motion joint for rehabilitation exercise according to the motion data;

[0075] Step 30, controlling the rehabilitation robot to drive the patient to carry out rehabilitation exercise according to the smooth motion trajectory.

[0076] In this embodiment, the teaching training method is first used to allow the patient to perform passive rehabilitation training, for example: the therapist drives the patient to perform a complete teaching exercise, the rehabilitation robot records the teaching data, and performs trajectory processing based on the teaching data Finally, the smooth motion t...

Embodiment 2

[0078] The rehabilitation motion control method based on the rehabilitation robot of this embodiment is further improved on the basis of Embodiment 1, the motion data includes motion data of the motion joint at multiple trajectory points, and the motion data includes motion duration, position , velocity and acceleration, such as figure 2 As shown, step 20 specifically includes:

[0079] Step 201, constructing a motion function with time as an independent variable of a smooth motion trajectory; the motion function includes a position motion function, a velocity motion function and an acceleration motion function;

[0080] Step 202, sequentially selecting the motion data of any two adjacent trajectory points in chronological order;

[0081] Step 203, obtaining the phase motion function and the motion parameters of the phase motion function according to the motion data of two adjacent trajectory points;

[0082] Step 204, obtaining a motion function according to the phase moti...

Embodiment 3

[0131] The rehabilitation motion control method based on the rehabilitation robot of this embodiment is further improved on the basis of Embodiment 2, as image 3 As shown, before step 20, the rehabilitation exercise control method also includes:

[0132] Step 111, selecting the target track point with the largest vertical distance from the line connecting the start track point and the end track point in the teaching movement;

[0133] Step 112, judging whether the vertical distance between the target track point and the line connecting the start track point and the end track point in the teaching movement is greater than the preset threshold, if yes, then perform step 113, if not, then perform step 115;

[0134] Step 113, extracting target trajectory points as feature points;

[0135] Step 114, dividing the teaching movement into segmented teaching movements with the target trajectory point as the dividing point, returning to step 111, and performing the action of selecting ...

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Abstract

The invention discloses a rehabilitation motion control method and system based on a rehabilitation robot, wherein the rehabilitation motion control method comprises the following steps: acquiring teaching data, wherein the teaching data comprises motion data of at least one motion joint when a patient is driven to perform teaching motion; generating a smooth motion track of the motion joint to perform rehabilitation motion according to the motion data; controlling the rehabilitation robot to drive the patient to perform rehabilitation motion according to the smooth motion track. The method comprises the following steps: firstly, driving the patient to carry out a complete teaching motion by a therapist; recording teaching data by the rehabilitation robot; carrying out track processing onthe basis of the teaching data to generate the smooth motion track of the rehabilitation motion; finally, reproducing the teaching track by the robot to drive the affected lateral limb of the patientto carry out rehabilitation training. According to the assistance of the rehabilitation robot, the labor intensity of the therapist can be obviously reduced, and meanwhile, the smooth motion track ismore beneficial to the scientific and effective rehabilitation training of the patient, so that the purpose of restoring the motion function of the patient is achieved.

Description

technical field [0001] The invention belongs to the field of rehabilitation instrument control, in particular to a rehabilitation motion control method and system based on a rehabilitation robot. Background technique [0002] Medical theory and clinical medicine have proved that for the limb function rehabilitation of stroke patients with hemiplegia, taking the rehabilitation of upper limb function as an example, in addition to surgical treatment and drug treatment, scientific rehabilitation training plays an extremely important role. And repeated training can repair the damaged central nervous system and help the recovery of upper limb motor function. [0003] There is a shortage of doctors in traditional rehabilitation training. During the training process, the therapist needs to teach for a long time to drive the arm for reciprocating training, which is labor-intensive. At the same time, the existing equipment also uses the teaching data in rehabilitation training, but it...

Claims

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Application Information

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IPC IPC(8): A61H1/02B25J9/16
CPCA61H1/0274A61H2201/1638B25J9/1664
Inventor 孙凤龙郭凤仙邢留涛汪从礼
Owner SHANGHAI ELECTRICGROUP CORP
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