On-demand auxiliary self-adaptive control method and system for lower limb rehabilitation robot

Abstract

The invention belongs to the technical field of control and relates to an on-demand auxiliary self-adaptive control method and system for a lower limb rehabilitation robot, and aims to solve the problem that an existing rehabilitation robot control method cannot adaptively adjust a training task according to enthusiasm changes and recovery effect changes of a user, and cannot prevent the secondaryinjury of the affected limb of the user. The method comprises the steps that: a preset training task is obtained and executed, active interaction force of a user on the lower limb rehabilitation robot in the task execution process is read in real time, the active interaction force is converted into tangential force, and the effective range of the tangential force is set; the tangential force is converted into the angular frequency adjustment amount of the lower limb rehabilitation robot, and the tangential adjustment speed, the normal adjustment speed and the damping coefficient are adjustedbased on the tangential force. According to the method and system, on-demand assistance of the rehabilitation training of the user is achieved, the assistance effect of the rehabilitation robot is better, the rehabilitation robot is truly guided by the user, and the rehabilitation effect is improved.

Description

technical field [0001] The invention belongs to the technical field of control, and in particular relates to an on-demand auxiliary adaptive control method and system for a lower limb rehabilitation robot. Background technique [0002] Studies have shown that compared with long-term mechanical repetitive passive training, rehabilitation training that requires active participation and active output of users can effectively promote neuroplasticity and motor function recovery. Therefore, the use of robots to provide rehabilitation training for users should not only increase the training time and repetitions, but also promote the active participation of users in training as much as possible. In order to stimulate the active participation of users, the "on-demand assistance" rehabilitation training control method was proposed and became a research hotspot in the control of rehabilitation robots. [0003] "Assist on demand" active rehabilitation training emphasizes that the rehab...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, that is, the existing rehabilitation robot control method can only carry out rehabilitation training according to the preset tasks, and cannot adaptively adjust the training tasks according to the changes in user enthusiasm and recovery effects, and cannot To prevent the secondary injury of the user's affected limb, the present invention provides an on-demand auxiliary adaptive control method for a lower limb rehabilitation robot. The control method includes:

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