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Upper limb multi-joint constant-speed training method based on spinor theory control

A training method and multi-joint technology, applied in the field of speed training, can solve problems that do not necessarily have a closed solution, complex model construction, etc., and achieve the effect of simple and effective control of joint motion speed and torque, and simplified kinematics and dynamics analysis

Inactive Publication Date: 2020-02-21
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to solve the complex model construction in the multi-joint constant velocity control in the prior art, which does not necessarily have a closed solution. training method

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  • Upper limb multi-joint constant-speed training method based on spinor theory control
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  • Upper limb multi-joint constant-speed training method based on spinor theory control

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Embodiment Construction

[0039] The following describes a preferred embodiment of the present invention with reference to the accompanying drawings to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.

[0040] In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is appropriately exaggerated in some places in the drawings.

[0041] Such as figure 1 Shown is a kinematic joint axis analysis diagram of the upper limb multi-joint isokinetic training device adopted in a p...

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Abstract

The invention discloses an upper limb multi-joint constant-speed training method based on spinor theory control, which relates to the field of robot control and medical rehabilitation instruments, andthe method comprises the following steps: step 1, obtaining joint parameters and motion spinor coordinates of a multi-joint constant-speed training device based on the a spinor theory; step 2, obtaining a screw coordinate transformation relationship among the joints based on the motion spinor coordinates; step 3, based on an exponential product method, obtaining a speed relationship between the joints; and step 4, obtaining constant-speed training control parameters of each joint through constant spinor speed or constant tail end speed. By means of the method, kinematics and dynamics analysisof an existing multi-joint constant-speed control system is simplified, singular solutions during inverse solutions are avoided, and upper limb constant-speed training control of multi-joint trainingis simple and effective.

Description

technical field [0001] The invention relates to the field of robot control and medical rehabilitation equipment, in particular to a multi-joint isokinetic training method for upper limbs based on screw theory control. Background technique [0002] Isokinetic exercise is a newly proposed concept of test training. The main way of existing muscle training is that the limbs rotate around a certain axis of their joints at a constant angular velocity caused by muscle contraction, and the length of muscle fibers is shortened or stretched, causing obvious joint activities. It is a dynamic contraction, similar to Isotonic contraction. In isokinetic exercise, what the isokinetic instrument provides is a kind of compliance resistance, and the magnitude of the resistance changes with the tension of muscle contraction, similar to isometric contraction. Isokinetic exercises are more suitable for recovering and strengthening muscles during rehabilitation or testing. [0003] At present,...

Claims

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Application Information

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IPC IPC(8): A61H1/02B25J9/16
CPCA61H1/0274A61H2201/5007A61H2205/06B25J9/16B25J9/1628B25J9/1679
Inventor 刘洪海周子良刘金标陈汉威
Owner SHANGHAI JIAO TONG UNIV
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