Flexible-driven hand function rehabilitation robot control system and control method

A rehabilitation robot and control system technology, applied in the direction of passive exercise equipment, equipment, sports accessories, etc., can solve the problems of lack of interactive training, poor robustness, high difficulty of control, etc., to achieve the effect of improving the rehabilitation effect and speeding up the rehabilitation process

Active Publication Date: 2020-10-16
SHANGHAI NORMAL UNIVERSITY
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Problems solved by technology

[0009] The purpose of the present invention is to provide a flexible driving device to overcome the defects of high cost, complex mechanical structure, high control difficulty, low precision, slow response, poor robustness, lack of interactive training and lack of remote guidance in the prior art. Hand function rehabilitation robot control system and control method

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  • Flexible-driven hand function rehabilitation robot control system and control method
  • Flexible-driven hand function rehabilitation robot control system and control method
  • Flexible-driven hand function rehabilitation robot control system and control method

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Embodiment Construction

[0061] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0062] like figure 1 As shown in the figure, a flexible-driven hand function rehabilitation robot control system realizes the movement position control and grasping force control of five fingers, making the hand function rehabilitation robot drive the patient's hand for rehabilitation training more smoothly, stably and accurately, including The rehabilitation gloves 1, the Bowden wire transmission mechanism 2, the electric control unit 3, the myoelectric human-machine interface unit 4, the brain-electric human-machine interface unit 5, the rehabilitation training software 6 and the mo...

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Abstract

The invention relates to a flexible-driven hand function rehabilitation robot control system. The flexible-driven hand function rehabilitation robot control system comprises rehabilitation gloves (1),a Bowden cable transmission mechanism (2), an electronic control unit (3), a myoelectricity man machine interface unit (4), an electroencephalogram man machine interface unit (5), rehabilitation training software (6) and a motor driving unit (7) which are in mutual connection through electrical signals, movement position control of fingers and grabbing force gentle and agreeable control are realized, the components are in interaction to complete driven training and interactive training missions which are set, and the flexible-driven hand function rehabilitation robot control system has the functions of long-range guiding of in-line training and off-line training. Compared with the prior art, the flexible-driven hand function rehabilitation robot control system has the advantages of beinghigher in precision, rapider in response, favorable in robustness and the like.

Description

technical field [0001] The invention relates to the technical field of finger rehabilitation robot control, in particular to a control system and control method of a flexible-driven hand function rehabilitation robot. Background technique [0002] The hand training equipment that has been on the market, such as the CPM machine, can perform single-joint training, but the structure is relatively complicated, the system volume and weight are very large, and the operation is inconvenient. In addition to the products already on the market, more are in the stage of laboratory research. In addition to the CPM machine, there is also a type of active repetitive motion hand rehabilitation robot, which is used for rehabilitation training of patients who have reached a certain level of muscle strength. This type of robot generally has a feedback system, and the patient can consciously participate or control the robot to a certain extent. exercise for better recovery. For example, a ha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A63B23/16G06F3/01G16H20/30
CPCA61H1/0288A63B23/16G06F3/015G06F3/011G16H20/30A61H2201/1207A61H2205/067A61H2201/5058A61H2201/5061A61H2201/1269
Inventor 李传江王明月刘洪梅曹晶晶朱燕飞
Owner SHANGHAI NORMAL UNIVERSITY
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