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Active dragging method and device for mechanical arm and upper limb rehabilitation robot

A mechanical arm and active technology, applied in the field of rehabilitation robots, can solve problems such as low fatigue resistance, instability, and short service life, and achieve the effect of increasing drag smoothness, reducing input sources, and avoiding secondary injuries

Pending Publication Date: 2021-02-19
SHENZHEN WISEMEN MEDICAL TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention solves the problems of instability, short service life and low fatigue resistance in the way that the existing upper limb rehabilitation robot uses admittance control to realize the dragging of the mechanical arm

Method used

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  • Active dragging method and device for mechanical arm and upper limb rehabilitation robot
  • Active dragging method and device for mechanical arm and upper limb rehabilitation robot
  • Active dragging method and device for mechanical arm and upper limb rehabilitation robot

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Embodiment Construction

[0026] In order to make the above objects, features and advantages of the present invention more obvious and understandable, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0027] The fatality rate of stroke (also called apoplexy) remains high. Even if one survives by chance, there is a high probability of causing certain functional deficits, such as hemiplegia and motor dysfunction. This has also led to the fact that in rehabilitation clinics, the number of medical personnel is far lower than the number of patients. The great imbalance of resources makes the average treatment time, treatment efficiency and treatment effect of patients unguaranteed, and the health of patients is greatly affected. big impact.

[0028] The upper limb rehabilitation...

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Abstract

The invention provides an active dragging method and device for a mechanical arm and an upper limb rehabilitation robot, and the method comprises the steps: obtaining motion parameters of a joint motor, wherein the motion parameters comprise position information, speed information and acceleration information; determining expected torque according to the motion information, the minimum parameter set of the mechanical arm and the dynamic torque expression of each joint of the mechanical arm; obtaining a difference value of double encoders of the joint motor; and if the difference value of the double encoders is larger than a preset threshold value, controlling the joint motor to output the expected torque. According to the embodiment of the invention, the motion intention of a patient is sensed through the double encoders of the joint motor, so that additional input sources are reduced, the system stability is improved, the service life is prolonged, the fatigue durability is improved,the system complexity is reduced, and secondary injury to the patient possibly caused by high rigidity of the mechanical arm during operation is avoided.

Description

technical field [0001] The present invention relates to the technical field of rehabilitation robots, in particular to an active dragging method and device of a mechanical arm and an upper limb rehabilitation robot. Background technique [0002] At present, hemiplegia patients caused by stroke account for a large proportion of the rehabilitation patients, and relatively speaking, the number of rehabilitation medical personnel in existing hospitals is insignificant compared with the huge number of patients. The upper limb rehabilitation robot is designed to solve the imbalance between doctors and patients. It uses the power generated by the rotation of the motor to replace the various ranges of motion required by medical personnel to perform rehabilitation on the patient's upper limbs, which can effectively reduce the repeated mechanical dragging of the medical personnel's arms. motion assist. For patients, it can greatly improve the efficiency of treatment and recovery, red...

Claims

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Application Information

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IPC IPC(8): A63B23/12A63B24/00
CPCA63B23/12A63B24/0087
Inventor 不公告发明人
Owner SHENZHEN WISEMEN MEDICAL TECH CO LTD