Control method of rehabilitation robot based on pressure sensor to identify motion intention
A rehabilitation robot and pressure sensor technology, applied in passive exercise equipment, medical science, physical therapy, etc., can solve the problems of rising cost and high price of six-dimensional force sensor, and achieve cost reduction, strong practicability, and high dexterity. Effect
Active Publication Date: 2022-06-03
湖北英特搏智能机器有限公司
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[0004] Based on the technical problems existing in the background technology, the present invention proposes a control method for a rehabilitation robot based on a pressure sensor to identify motion intentions, which has the ability to obtain the patient's motion intention through the pressure sensor, and convert the motion intention into the torque of the joint to obtain the speed of the drive motor , in order to realize that the manipulator responds to the movement of the patient, and has the characteristics of high cost performance, which solves the problem that the existing six-dimensional force sensor recognizes the movement intention of the patient. Problems that lead to a substantial increase in costs
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[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0028] see Figure 1-2 , the present invention provides a technical solution: a control method for a rehabilitation robot based on a pressure sensor to identify motion intentions, comprising the following steps:
[0029] S1. Provide an underactuated rehabilitation robot. The shoulder of the underactuated rehabilitation robot is equipped with a motion intention recognition device, and the number of drive motors and joint drive disks of...
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The present invention relates to the technical field of exoskeleton robot control, and in particular to a control method for a rehabilitation robot based on a pressure sensor to identify motion intentions, comprising the following steps: S1, providing an underactuated rehabilitation robot equipped with a motion intention identification device, determining the number and Number of joint drive discs; S2, determine the positional relationship between the joint drive discs; S3, determine the connecting rod parameter table of each joint drive disc; S4, determine the positional relationship between the motion intention recognition device and the drive disc; S5, convert the force vector Form the composite vector of force and moment of each joint; S6, calculate the axial moment of each joint below the shoulder joint; S7, obtain the projection matrix from the joint space to the driving space; S8, form the moment vector of the joint axis and multiply it by the projection matrix to obtain the rotational speed vector of the driving motor. The invention acquires the movement intention of the patient through the pressure sensor, calculates the speed of the driving motor, responds to the movement of the patient, and reduces the cost at the same time.
Description
technical field [0001] The invention relates to the technical field of exoskeleton robot control, in particular to a control method of a rehabilitation robot based on a pressure sensor to identify motion intentions. Background technique [0002] At present, there are three main types of upper limb rehabilitation robots. The first type is based on end-guided rehabilitation robots, the second type is exoskeleton rehabilitation robots, and the third type is a combination of the above two types. The first kind of rehabilitation robot can only realize the rehabilitation training of the hand or the forearm; the second kind of rehabilitation robot overcomes the disadvantages of the first kind, but because the robot may move the patient to an uncomfortable position, there are potential safety hazards; The third type of rehabilitation robot has not completely avoided the shortcomings of the first two. [0003] Most of the rehabilitation robots can only complete passive training task...
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IPC IPC(8): A61H1/02
CPCA61H1/0274A61H2201/1207A61H2230/625
Inventor 何杰柳锴张昊何畅孙容磊
Owner 湖北英特搏智能机器有限公司