Flexible cable driven waist rehabilitation robot state interval response domain prediction method

A waist rehabilitation and cable-driven technology, applied in passive exercise equipment, complex mathematical operations, physical therapy, etc.

Active Publication Date: 2020-09-08
HEFEI UNIV OF TECH
View PDF6 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to make up for the defects of the prior art, and to provide a method for predicting the state interval response domain of the cable-driven waist rehabilitation robot, so as to solve the problem of how to quickly and efficien

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Flexible cable driven waist rehabilitation robot state interval response domain prediction method
  • Flexible cable driven waist rehabilitation robot state interval response domain prediction method
  • Flexible cable driven waist rehabilitation robot state interval response domain prediction method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0127] see figure 1 and figure 2 , applied to the acquisition of the response domain of the state interval of the cable-driven waist rehabilitation robot, the solution to the problem of the response domain of the state interval of the cable-driven waist rehabilitation robot is carried out according to the above steps. For the specific process of implementing the prediction method of the state interval response domain of the soft cable-driven waist rehabilitation robot in the computer, further description is as follows:

[0128] image 3 It is a schematic diagram of the equivalent geometric model of the flexible cable-driven waist rehabilitation robot corresponding to this embodiment, wherein the equivalent flexible cable 5-1 on the left side and the equivalent flexible cable 5-2 on the right side are connected to the upper ends of the main frame 1 The fixed bracket is connected, the lower end is connected with the lower limb training platform 3, and the joints of the flexib...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a flexible cable driven waist rehabilitation robot state interval response domain prediction method. The method comprises the following specific steps: 1, establishing an anglestate response equation in a training process according to a flexible cable driven waist rehabilitation robot geometric model; 2, converting the angle state response equation into an angle state response equivalent equation; 3, establishing an angle state response interval equivalent equation; step 4, approximately expanding an interval vector and an interval matrix at a mean value of the introduced interval vector; step 5, obtaining an angle state response midpoint value and a change interval radius according to a perturbation theory, and step 6, obtaining upper and lower bound values of theangle state response interval vector; and 7, combining the step 5 and the step 6 to obtain an angle and stress state interval response domain. On the basis of solving the problem of redundant mechanism solving, the problem of angle and stress state response domain analysis of the flexible cable driven waist rehabilitation robot system under the condition of containing uncertain interval parameters can be solved, the calculation efficiency is effectively improved, the calculation precision is guaranteed; meanwhile, the calculation process is greatly simplified, and the calculation time is greatly shortened.

Description

Technical field: [0001] The invention relates to the technical field of reliability, and mainly relates to a method for predicting the state interval response domain of a cable-driven waist rehabilitation robot, and is particularly suitable for predicting the state response domain of a cable-driven waist rehabilitation robot with structural parameters in uncertain intervals. Background technique: [0002] With the increasing aging of society and the shortage of rehabilitation physicians, the demand for waist rehabilitation robots is gradually increasing. During the rehabilitation training process of the waist rehabilitation robot, it is often required to quickly and accurately solve the angle and force state response during the training process to ensure the safety and reliability of the rehabilitation training process. Most of the existing solutions to the state response of this type of waist rehabilitation robot regard system parameters as deterministic parameters, but in ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): A61H1/02G06F17/11G06F17/16
CPCA61H1/02A61H1/0237G06F17/11G06F17/16
Inventor 李元訾斌周斌陈兵孙智杨正蒙
Owner HEFEI UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap