On-demand assistance adaptive control method and system for lower limb rehabilitation robot
A rehabilitation robot and self-adaptive control technology, applied in the field of control, can solve problems such as the inability to prevent secondary injuries of affected limbs and the inability to adjust training tasks, so as to enhance interactivity and entertainment, improve rehabilitation effects, and avoid secondary injuries Effect
Active Publication Date: 2021-05-04
INST OF AUTOMATION CHINESE ACAD OF SCI
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[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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[0081] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, not to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.
[0082] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.
[0083] The invention provides an on-demand auxiliary adaptive control method of a lower limb rehabilitation robot, the method comprising:
[0084] Step S100, acquire and execute a preset training task, the training task includes the user's reference trajectory, reference tangential ...
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The invention belongs to the field of control technology, and specifically relates to an on-demand auxiliary adaptive control method and system for a lower limb rehabilitation robot, aiming to solve the problem that the existing rehabilitation robot control method cannot adapt to the change in the user's enthusiasm and recovery effect. The training task is adjusted, and the problem of secondary injury of the user's affected limb cannot be prevented. The present invention includes: acquiring and executing preset training tasks, and reading in real time the active interaction force of the user on the lower limb rehabilitation robot during task execution, converting the active interaction force into a tangential force, and setting the effective range of the tangential force ; Convert the tangential force into the angular frequency adjustment of the lower limb rehabilitation robot, and adjust the tangential adjustment speed, normal adjustment speed and damping coefficient based on the tangential force. The invention realizes the on-demand assistance to the user's rehabilitation training, makes the assistance effect of the rehabilitation robot better, is truly led by the user, and improves the rehabilitation effect.
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...
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IPC IPC(8): A63B23/04A63B22/08A63B21/00A63B24/00A63B71/06
CPCA63B21/00181A63B22/0605A63B23/04A63B24/0062A63B24/0075A63B24/0087A63B71/0622A63B2024/009A63B2024/0093A63B2024/0096A63B2071/0638A63B2220/30A63B2220/34
Inventor 王卫群侯增广梁旭任士鑫石伟国
Owner INST OF AUTOMATION CHINESE ACAD OF SCI