Flexible control method and flexible control system for arm strength of robot

Abstract

The invention relates to a flexible control method and a flexible control system for the arm strength of a robot, aiming to provide better human-computer interaction experience. The method is used forcontrolling a robot arm that can assist patient's injured limbs to complete rehabilitation training actions, the robot arm can realize multi-dimensional motion, and a motor is arranged correspondingto each dimension. The method is characterized by including acquiring a strength value F2 of a patient's injured limb in a certain dimension; calculating the torque F1 of the motor corresponding to the dimension according to a flexibility formula, wherein the flexibility formula is F1=(F-F2)*fc, wherein fc, namely a flexibility coefficient, is greater than 0 but smaller than 1, and F is an assessed strength value; controlling the corresponding motor according to the calculated motor torque F1 to drive the robot arm to move; when F2 is smaller than F, in other words, the patient's strength becomes smaller, compensating a strength difference value in the same direction as F2 through the robot arm; when F2 is greater than F, in other words, the patient's strength becomes larger, compensatinga strength difference value opposite to F2 through the robot arm. The flexible control method and the flexible control system are applicable to the field of medical instruments.

Description

technical field [0001] The invention relates to a method and system for flexible control of the force of a robot arm. Applicable to the field of medical devices. Background technique [0002] In recent years, the number of stroke patients in my country has been increasing year by year. There are about 2.7 million new patients with cerebrovascular disease every year, and about 1.3 million patients die of cerebrovascular disease every year. Among all survivors, about 70% to 80% Many people suffer from different degrees of arm and hand motor dysfunction, unable to complete simple daily operations, which brings a heavy economic and living burden to the patient's family. [0003] Using rehabilitation robots to assist or replace rehabilitation doctors in training not only plays an important role in the recovery of patients' limb functions, but also greatly relieves the pressure caused by the shortage of rehabilitation doctors and can improve the effect of rehabilitation training. ...

AI Technical Summary

Problems solved by technology

[0004] Most of the existing rehabilitation robots are complex in structure and relatively clumsy, and cannot adapt well to the patient's limbs, which not only affects the effect of rehabilitation training, but may also cause secondary injuries to the patient

This is because traditional robots only consider a single motion control and do not have compliant force control and impedance control, so they cannot perform human-computer interaction well.

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