Upper limb rehabilitation training method, system and device as well as storage medium

Abstract

The invention discloses an upper limb rehabilitation training method, system and device as well as a storage medium. The method comprises the following steps: acquiring first posture data of each joint on a mechanical arm driven by upper limbs of a patient, and obtaining first upper limb feature information of the patient according to the first posture data; selecting a first training prescriptionfrom a preset rehabilitation training prescription library according to the first upper limb feature information; obtaining a first training parameter of the first training prescription, and controlling the mechanical arm to drive the upper limbs of the patient for rehabilitation training according to the first training parameter; and obtaining second posture data and a torque value of each jointon the mechanical arm, adjusting the first training parameter according to the second posture data and the torque values to obtain a second training parameter, and then controlling the mechanical armto drive the upper limbs of the patient for rehabilitation training according to the second training parameter. According to the upper limb rehabilitation training method, system and device, the training parameter is adjusted by collecting the posture data and torque values of the joints in real time, so that the efficiency and safety of rehabilitation training are improved. The upper limb rehabilitation training method, system and device can be widely used in the technical field of rehabilitation training.

Description

technical field [0001] The present invention relates to the technical field of rehabilitation training, in particular to an upper limb rehabilitation training method, system, device and storage medium. Background technique [0002] At present, most of the rehabilitation training for the upper limbs is performed manually or with simple equipment. It is difficult for patients with muscle strength below grade 3 to get sufficient exercise. The disadvantage of manual training is that it relies solely on the therapist to drive the patient to exercise. This method has poor sustainability and consumes a lot of physical energy for the therapist. The disadvantage of simple equipment training is that the movable dimension is small, and the patient cannot get sufficient exercise. Most of the upper limb training robots on the market are not driven by motors, and can only rely on patients to do training independently, or only have one or two degrees of freedom, and can only do some simple...

AI Technical Summary

Problems solved by technology

[0002] At present, most of the rehabilitation training for the upper limbs is carried out manually or with simple equipment. It is difficult for patients with muscle strength below level 3 to get sufficient exercise.

The disadvantage of manual training is that it relies solely on the therapist to drive the patient to exercise. This method has poor sustainability and consumes a lot of physical energy for the therapist; the disadvantage of simple equipment training is that the movable dimension is small, and the patient cannot get sufficient exercise.

Most of the upper limb training robots on the market are not driven by motors, and can only rely on patients to do training independently, or only have one or two degrees of freedom, and can only do some simple passive training, and cannot do passive training at any angle in three dimensions. train

[0003] A six-degree-of-freedom upper limb rehabilitation robot and training method are disclosed in the prior art, which can drive the mechanical arm to move to record the trajectory, and perform training according to the recorded trajectory. In the process of trajectory, not only will there be large jitter, instability, unsmoothness, and inability to accurately reach the required angle, but also prone to redundant movements and uncontrollable movement speed, resulting in the recorded trajectory not being able to achieve good recovery The training effect limits the efficiency of the patient's rehabilitation training; on the other hand, during the subsequent rehabilitation training process of the patient, the trajectory and speed of the robotic arm are fixed and cannot be adjusted according to the actual situation of the patient's limbs. This further limits the efficiency of rehabilitation training; moreover, this method does not take into account the stress on the joints of the patient during the rehabilitation training process, which is likely to cause spasm or even limb damage in the patient, and the safety is not high

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