Mirror image rehabilitation training method based on adaptive impedance control

Abstract

The invention discloses a mirror image rehabilitation training method based on adaptive impedance control. An inner loop adaptive impedance control module and an outer loop mirror image control module form closed double loops; the input quantity of the outer loop mirror image control module is the positions of an affected side and an unaffected side, and the output quantity is a position deviation of the practical position of the affected side and the expected position of the affected side; and the input quantity of the inner loop adaptive impedance control module is the position deviation, and the position deviation is calculated into the force / moment output of a motor. The input quantity of an adaptive controller is state information in an affected limb movement process, and the output quantity of the adaptive controller is fed back to an impedance controller so as to optimize the parameter of the impedance controller. On the basis of traditional impedance control, according to the movement intention of the unaffected side of a training object, the movement control of the affected side is realized, according to the movement state of the affected limb, a rehabilitation training control parameter is adaptively regulated so as to improve the enthusiasm and the initiative of a patient, and a better rehabilitation training effect is realized.

Description

technical field [0001] The invention relates to a mirror image rehabilitation training method based on adaptive impedance control, which is used for the mirror image rehabilitation training of upper limbs of hemiplegic patients and belongs to the field of medical rehabilitation. Background technique [0002] Cerebral stroke, also called cerebral apoplexy, is a disease caused by a disorder of blood circulation in the brain, resulting in a loss of local neurological function. Its morbidity and mortality are high, and 50% to 70% of the survivors are accompanied by varying degrees of disability. Hemiplegia is a common disability after stroke, which is mainly manifested as muscle weakness on the affected side, limb spasticity and limited activity, which seriously affects the daily life of patients. The recovery of upper limb function in patients with hemiplegia has always been a difficult point in rehabilitation treatment. The negative attitude of patients often leads to prolong...

AI Technical Summary

Problems solved by technology

[0004] Studies have shown that continuous passive rehabilitation training cannot play a good role in the recovery of patients' motor function, and the active participation and active efforts of patients in rehabilitation training are considered to be one of the important factors to promote the therapeutic effect

The traditional mirror image rehabilitation training mostly adopts the mode of the healthy side leading the affected side, using the collected information of the healthy side to control the movement of the affected side to make it produce a mirror image subordinate movement, only considering the active intention of the healthy side and not the active intention of the affected side, while Mirror image training based on the active intention of the affected side can help improve the rehabilitation effect of the affected side. Therefore, it is of urgent practical significance and high value to develop a mirror image rehabilitation training method that can improve the enthusiasm and initiative of the affected side.

Images