Recovering training pattern control system

Abstract

The invention relates to a recovering training pattern control system. The recovering training pattern control system comprises a passive recovering training pattern, an intelligent active recovering training pattern and a proprioception assessment pattern, wherein the passive recovering training pattern comprises a constant torque pattern and a constant rotational speed pattern; and the constant rotational speed pattern comprises a PID controller. The control method of the constant rotational speed pattern comprises the following steps of setting a target position; detecting errors between an actual position and the target position; through proportion operation, integral operation and differential operation, determining increased moment required by a servo motor; and enabling the servo motor to drive the equipment to move the actual position of a controlled object to the target position, and in the control process, realizing error feedback. According to the recovering training pattern control system disclosed by the invention, the PID controller is adopted, so that the whole moving process can be smooth and safe; the intelligent active recovering training pattern is adopted, so that when a patient needs help, a recovering robot can give assistance; and the proprioception assessment pattern is adopted, so that the sensing capability of sense organs to the body position, and the compensation capability to passive movement or interference can be inspected.

Description

technical field [0001] The invention relates to the technical field of rehabilitation training intelligent control equipment, in particular to a rehabilitation training mode control system. Background technique [0002] Cerebral stroke, also known as cerebral apoplexy or cerebrovascular accident, is a condition in which ischemic and hemorrhagic damage to the brain leads to hypoxia, brain damage and loss of function. [0003] Rehabilitation training is the most effective and necessary treatment for the recovery of motor deficits caused by stroke. According to the theory of neuroplasticity, through long-term intensive and repeated rehabilitation treatment mechanisms (such as repeatedly providing passive movements to the patient's wrist), new neural connections between the brain and muscles can be established to repair damage. In addition to stroke disabled patients, my country has entered an aging society and has a very large base of chronic disease patients, and these two la...

AI Technical Summary

Problems solved by technology

[0004] The treatment process of rehabilitation training is quite long, which is also the main reason why the supply of rehabilitation resources is in short supply at the technical level