Upper limb exoskeleton mechanical arm and control method of rehabilitation training

An exoskeleton and robotic arm technology, applied in the field of rehabilitation medicine, can solve the problems of narrow application of rehabilitation training trajectory and low accuracy of human body intention recognition.

Inactive Publication Date: 2019-09-17
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to overcome the deficiencies in the prior art of low accuracy in recognition of human body intentions and narrow application of rehabil

Method used

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  • Upper limb exoskeleton mechanical arm and control method of rehabilitation training
  • Upper limb exoskeleton mechanical arm and control method of rehabilitation training
  • Upper limb exoskeleton mechanical arm and control method of rehabilitation training

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Embodiment Construction

[0088] This embodiment is a three-degree-of-freedom wearable upper limb exoskeleton rehabilitation robot arm, including a connecting rod shaft 1, a linear motor 2, a linear motor frame 3, a connecting plate 4, a big arm outer plate 5, and a damper connecting shaft 6 , stepping motor 7, stepping motor frame 8, stepping motor bushing 9, stepping motor gear 10, inner side plate of the big arm 11, supporting plate of the big arm 12, inner side plate of the small arm 13, supporting plate of the small arm 14, small Arm outer plate 15, wrist outer ring 16, wrist stop ring 17, wrist inner ring 18, wrist gear 19, steering gear connection block 20, steering gear bracket 21, steering gear 22 and hand pull bar 23. There are two respectively of the boom support plates 12 and the forearm support plates 11 . in:

[0089] The wrist stop ring 17 is embedded in a slot at the upper end of the outer circumferential surface of the wrist inner ring 18 . The wrist gear 19 is sleeved on the outer p...

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Abstract

The invention discloses an upper limb exoskeleton mechanical arm and a control method of rehabilitation training, and the rehabilitation training is guided by medical staff and self-adaptive to patient limbs. According to the invention, the movement trajectory of rehabilitation training is recorded by a teaching mode, patient exercise intensity is identified by a deep learning framework, the identified results are embedded into an overall rehabilitation training control strategy based on deep reinforcement learning, and the adjusted joint movement rate signals are output to the mechanical arm to complete the rehabilitation training. On the premise of preventing secondary injuries of patients from the rehabilitation training, the method can eliminate the influence of hysteretic nature of movement signals and individual differences of bioelectric signals, improve the identification accuracy of exercise intensity and broaden the application area of rehabilitation movement trajectory by the vector fusion of movement signals and biological signals, so as to achieve advantages of reducing the burden of medical staff and optimizing the rehabilitation cycle of patients, thus improving the safety and applicability of the rehabilitation training.

Description

technical field [0001] The invention relates to the field of rehabilitation medicine, in particular to an upper limb exoskeleton rehabilitation mechanical arm and a control method for performing rehabilitation training using the upper limb exoskeleton mechanical arm. Background technique [0002] Rehabilitation training is an important means of rehabilitation medicine. It is mainly to restore the normal self-care function of the patient's affected limb through training, and use the training method to restore the physical and psychological recovery of the disabled as much as possible to achieve the therapeutic effect. Common methods of rehabilitation training include: a. Passive activity: it is performed entirely by external force without any active muscle contraction. External forces can be generated by gravity, machinery, other people or another body action of oneself. b. Active and active assisting activities: complete the movement of the limbs by oneself or with the help...

Claims

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Application Information

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IPC IPC(8): A61H1/02A63B23/12
CPCA61H1/0274A61H2201/1207A61H2201/1638A61H2230/085A61H2230/625A63B23/12
Inventor 王文东褚阳张鹏梁超红秦雷史仪凯
Owner NORTHWESTERN POLYTECHNICAL UNIV
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