Closed-loop control system for wrist rehabilitating exoskeleton based on force feedback

Abstract

The invention provides a closed-loop control system for a wrist rehabilitating exoskeleton based on force feedback. The closed-loop control system comprises a driving force closed-loop control module, the exoskeleton and a pressure sensor; the exoskeleton comprises a linear motor and a spring steel sheet; the exoskeleton drives the spring steel sheet through the linear motor, and then the spring steel sheet drives the wrist to move; the pressure sensor is used for collecting actual driving force of the exoskeleton; the driving force closed-loop control module is used for setting control cycles and expected driving force, and the actual driving force is collected once in each control cycle in the wrist moving process; and the magnitude of the expected driving force and the actual driving force is compared in the current control cycle, and according to the expected driving force and the actual driving force, the stroke increment of the linear motor is calculated and superimposed to the stroke amount of the linear motor in the previous control cycle to serve as the stroke amount of the linear motor in the current control cycle to be output. Force feedback can be achieved, thus the driving force of the exoskeleton reaches the specified force value, and the risk of secondary damage to the wrist is reduced.

Description

technical field [0001] The invention relates to rehabilitation training equipment, in particular to a closed-loop control system of a wrist rehabilitation exoskeleton based on force feedback. Background technique [0002] Cerebral stroke, also known as "stroke", the incidence rate continues to rise in recent years. Stroke patients often have limb motor dysfunction, and about 80% of them suffer from different degrees of hand motor dysfunction. The wrist is the main load-bearing joint of the hand. In order to restore the function of the wrist, physical therapy with continuous multi-degree-of-freedom rehabilitation exercises is required, which increases the cost of physical therapy and the labor burden of the physical therapist. To solve this problem, the wrist Exoskeleton robots came into being. However, most of the existing wrist exoskeletons are open-loop control schemes, which do not include force feedback. Without force feedback, it is impossible to monitor the force exe...

AI Technical Summary

Problems solved by technology

The disadvantage of rigid rehabilitation robots is that they are large in size and weight, making it difficult to use them in daily rehabilitation.

The biggest disadvantage is that due to the fixed center of rotation in the structure, the rigid rehabilitation robot cannot fully adapt to the posture change of the wrist (according to anatomical research, the center of the wrist will move by 5mm during the movement of the wrist), which increases the risk of secondary injuries. risk

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