A motion abnormality protection method and rehabilitation equipment based on multi-sensor information

An abnormal motion, multi-sensor technology, applied in passive exercise equipment, physiotherapy and other directions, can solve the problems of not being able to avoid accidents in time, single abnormal detection method, and increasing equipment costs.

Active Publication Date: 2022-04-12
SHANGHAI ELECTRICGROUP CORP
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Problems solved by technology

[0005] Existing robots mostly use the alarm information of the driver itself to collect abnormal information, and the abnormal detection method is relatively simple, and generally cannot avoid accidents after abnormality in time
Some people have studied installing additional sensors (such as cameras, etc.) on the device to collect information, and using the method of setting thresholds for anomaly detection, but this method will increase the cost of the device itself, and the effect is not very satisfactory

Method used

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  • A motion abnormality protection method and rehabilitation equipment based on multi-sensor information
  • A motion abnormality protection method and rehabilitation equipment based on multi-sensor information
  • A motion abnormality protection method and rehabilitation equipment based on multi-sensor information

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Embodiment Construction

[0053] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0054] The embodiment of the present invention provides a motion abnormality protection method based on multi-sensor information, such as figure 1 As shown, specifically, the following steps may be included:

[0055] S101. Obtain motion information in the joint driver and interaction force information in the torque sensor, where the motion information includes position information, speed information, and current information;

[0056] S102. Perform shake detec...

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Abstract

The present invention relates to the field of robot control, and discloses a motion abnormality protection method and rehabilitation equipment based on multi-sensor information, including: acquiring motion information in a joint driver and interaction force information in a torque sensor, the motion information including position information, speed information and current information; according to the position information, speed information and current information in the motion information, perform shake detection; according to the position information, speed information and current information in the motion information, perform motion value overrun detection; according to the The above interaction force information is used to perform interaction force anomaly detection; when any of the jitter detection, motion value overrun detection, and interaction force anomaly detection is in an abnormal state, the security protection action is initiated. The invention improves the accuracy and reliability of abnormal state detection, and effectively reduces the detection development cost.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a motion abnormality protection method and rehabilitation equipment based on multi-sensor information. Background technique [0002] With the aggravation of the aging society in our country, the number of patients with upper limb motor dysfunction caused by stroke is constantly increasing, and the number of stroke patients is huge. About 75% of stroke patients will have sequelae of varying degrees after the onset of stroke, which seriously affects the quality of life of patients and brings great burden to patients' families and society. Among the numerous sequelae, the incidence of hemiplegia is the highest, and in the rehabilitation of hemiplegia, the recovery of upper limb function is the most difficult. Medical theory and clinical medicine have proved that in addition to surgical treatment and drug treatment, scientific rehabilitation training plays an extremely importa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02
CPCA61H1/02A61H2201/5007A61H2201/0173
Inventor 徐颖俊郭凤仙邢留涛汪从礼范渊杰
Owner SHANGHAI ELECTRICGROUP CORP
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