Rehabilitation movement control method and system based on rehabilitation robot, equipment and medium

Abstract

The invention discloses a rehabilitation movement control method and system based on a rehabilitation robot, equipment and a medium. The rehabilitation movement control method comprises the followingsteps of teaching data are obtained, and the teaching data comprise a smooth movement track of at least one movement joint when a patient is driven to carry out teaching movement; the rehabilitation robot drives the patient to do rehabilitation movement according to the smooth movement track, and real-time movement data of each movement joint of the patient are obtained; expected position data ofa next expected track point of each motion joint are obtained based on the smooth motion track; according to the real-time motion data and the expected position data, torque data which the rehabilitation robot is driven to drive each motion joint to move to the next expected track point are calculated; and the rehabilitation robot is controlled to drive the patient to do rehabilitation exercise according to the torque data. According to the rehabilitation movement control method and system based on the rehabilitation robot, the equipment and the medium, a common position control algorithm is replaced with a force control method to achieve teaching training, interaction force between people and equipment is fully considered, and the patient can conduct training more comfortably.

Description

technical field [0001] The invention belongs to the field of rehabilitation instrument control, and in particular relates to a rehabilitation motion control method, system, equipment and medium based on a rehabilitation robot. Background technique [0002] Robot teaching is to demonstrate some actions through robots to achieve the purpose of education, and the combination of robot teaching and rehabilitation robots can more effectively help patients to carry out rehabilitation training. [0003] At present, the teaching mode training of rehabilitation robots basically adopts the position control method, that is, by obtaining the motion track point information preset by the therapist, and directly sending the track point information to the rehabilitation robot controller to control the motion of the rehabilitation robot. Control is actually to receive the position information command of each joint point, and then send the command directly to the motor driver to make the motor...

AI Technical Summary

Problems solved by technology

[0003] At present, the teaching mode training of rehabilitation robots basically adopts the position control method, that is, by obtaining the motion trajectory point information preset by the therapist, and directly sending the trajectory point information to the rehabilitation robot controller to control the motion of the rehabilitation robot. Control is actually to receive the position information command of each joint point, and then send the command directly to the motor driver to make the motor run to the specified position. The position control mode is the most common way at present, and the implementation is relatively simple, but its disadvantages It is also obvious: the system control lacks flexibility and can only receive position commands. Once a communication failure occurs, it will have a wide range of impacts, and the equipment will suddenly stop moving, causing unpredictable situations, and the consequences are more serious. At the same time, because the position motion control will ignore the intermediate process , with the goal of reaching the target position, lacks good interactivity

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