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

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...

AI Technical Summary

Problems solved by technology

However, these methods only encode the trajectory of a specific task, and do not consider the interaction force and impedance information between the patient and the upper limb rehabilitation robot.

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