Training task generation method of upper limb rehabilitation robot based on impedance variable demonstration learning

A rehabilitation robot and variable impedance technology, applied in the field of rehabilitation training, can solve the problem of not considering the interaction force and impedance information between the patient and the upper limb rehabilitation robot

Active Publication Date: 2020-06-05
SOUTHEAST UNIV
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Problems solved by technology

However, these methods only encode the trajectory of a specific task, and do not consider the inter

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  • Training task generation method of upper limb rehabilitation robot based on impedance variable demonstration learning
  • Training task generation method of upper limb rehabilitation robot based on impedance variable demonstration learning
  • Training task generation method of upper limb rehabilitation robot based on impedance variable demonstration learning

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Embodiment Construction

[0044] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0045] The active motion training strategy referred to in the present invention requires the upper limb rehabilitation robot to be in a compliant control mode, and the human can freely drive the mechanical arm to move. Here, the therapist / technician cooperates with the upper limb rehabilitation robot to teach the task, and the position information and human-computer interaction force information of the upper limb rehabilitation robot at time t are respectively recorded as x t and

[0046] Such as figure 1 As shown, the present invention proposes a method for generating training tasks for upper limb rehabilitation robots based on variable impedance demonstration learning, including the following steps:

[0047] (1) Human-computer interaction model:

[0048] Assume that the interaction model between human and upper limb rehabilitation ro...

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Abstract

The invention discloses a training task generation method of an upper limb rehabilitation robot based on impedance variable demonstration learning. Diversified training tasks are generated through thesteps of man-machine interaction model building, TP-GMM learning, local rigidity estimation, trajectory regression, task generalization and the like in sequence. According to the method, the trajectory, interaction force and impedance information of the task are comprehensively considered, so that the training task generated by the method not only simulates the movement behavior of a therapist/technician, but also simulates the impedance variable strategy in the interaction between the therapist/technician and the upper limb rehabilitation robot. According to the invention, the TP-GMM modeling method is applied to coding of the training task of the upper limb rehabilitation robot for the first time, and the generalization function of the variable starting point/target point of the task can be realized. According to the invention, the problem of complex programming required by diversification of training tasks is solved, boring and tedious workload of adjusting task parameters for a patient in real time by the therapist/technician can be reduced, and rehabilitation training efficiency is improved.

Description

technical field [0001] The invention belongs to the field of rehabilitation training, and in particular relates to a training task generation method for an upper limb rehabilitation robot. Background technique [0002] "China Stroke Prevention Report (2018)" pointed out that stroke is the leading cause of death and disability among adults in my country. Paresthesia, aphasia, cognitive impairment, etc., among which patients with physical impairments (hemiplegic patients) are the majority. Medical theory and clinical practice have proved that the central nervous system of the human brain has a high degree of plasticity. After the onset of nerve injury, repeated rehabilitation exercises for the limbs of the patient can stimulate the cerebral cortex to reorganize and rebuild the damaged brain nerve function. Sports rehabilitation is divided into upper limb and lower limb rehabilitation training. First of all, the recovery of upper limb function is a necessary condition for inde...

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Application Information

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IPC IPC(8): G16H20/30G06F30/20A61H1/02
CPCG16H20/30A61H1/0274A61H2201/1659
Inventor 曾洪李潇余伟杰宋爱国石珂
Owner SOUTHEAST UNIV
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