Rehabilitation robot force interaction control method based on three-dimensional force sensor
A rehabilitation robot and interactive control technology, applied in the direction of measuring force components, passive exercise equipment, physical therapy, etc., can solve problems affecting patient intention recognition, information redundancy, etc., to achieve improved accuracy, high recognition sensitivity, and reduced cost effect
Active Publication Date: 2021-04-30
湖北英特搏智能机器有限公司
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However, due to the coupling structure of the underactuated rehabilitation robot, the information in the six-dimensional force sensor is redundant, and the redundant information is not only useless but also seriously affects the recognition of the patient's intention
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[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0033] A force interactive control method for a rehabilitation robot based on a three-dimensional force sensor, comprising the following steps:
[0034] S1. Provide an underactuated rehabilitation robot, the upper arm of the underactuated rehabilitation robot is equipped with a movement intention recognition device 106, and determine the number of driving motors and joints of the underactuated rehabilitation robot, and determine the structural relationship betw...
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The invention relates to a rehabilitation robot force interaction control method based on a three-dimensional force sensor, and the method comprises the steps: determining the number of joints and the structural relation of an under-actuated rehabilitation robot with a motion intention recognition device; determining a basic coordinate system, each joint coordinate system and a connecting rod parameter table of each joint; determining a conversion matrix of each joint coordinate system based on the basic coordinate system and a robot jacobian matrix of each joint according to the parameter table; determining a position relationship of the recognition device and the joint and a conversion matrix; converting the force collected by the recognition device into a basic coordinate system, and solving an axial torque vector of the joint through a jacobian matrix; solving a projection matrix according to the coupling relationship; and converting the axial torque vector of the joint into a rotating speed vector of a driving motor through a projection matrix and an admittance coefficient. The motion intention of a patient is obtained through the three-dimensional force sensor, the intention is converted into the torque of the joint, and therefore the speed of the driving motor is obtained, and the mechanical arm responds to the motion of the patient.
Description
technical field [0001] The present invention relates to the field of rehabilitation medical equipment, and more specifically, to a force interaction control method for a rehabilitation robot based on a three-dimensional force sensor. Background technique [0002] The human upper limbs have strong motor ability and play an irreplaceable role in daily life and work. However, motor nerve damage caused by stroke may lead to upper limb motor dysfunction. These obstacles often cause patients to be unable to take care of themselves and return to normal life. The life and work of these patients become a psychological pressure and burden for patients and their families. [0003] Rehabilitation training for the upper limbs mainly rebuilds the patient's motor nerves by repeating the actions in daily life, so that the patient can restore most of the movement ability required for daily life. At present, the introduction of rehabilitation robot technology into rehabilitation sports train...
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IPC IPC(8): A61H1/02G01L5/16
CPCA61H1/0274G01L5/16A61H2201/1207A61H2201/5041
Inventor 柳锴何杰陈然熊蔡华孙容磊
Owner 湖北英特搏智能机器有限公司