A Mirror Rehabilitation Training Method Based on Adaptive Impedance Control

Abstract

The invention discloses a mirror rehabilitation training method based on adaptive impedance control. A closed double loop is formed by an inner loop adaptive impedance control module and an outer loop mirror control module. The input of the outer loop mirror control module is the position of the affected side and the healthy side. , the output is the position deviation between the actual position of the affected side and the desired position of the affected side, and the input of the inner loop adaptive impedance module is the position deviation, which is calculated by the impedance controller as the force / torque output of the motor. The input of the adaptive controller is the state information during the movement of the affected limb, and the output is fed back to the impedance controller to optimize the parameters of the impedance controller. The present invention is based on the traditional impedance control, according to the exercise of the healthy side of the training object. Intent recognition realizes the motion control of the affected side, and adaptively adjusts the control parameters of rehabilitation training according to the motion state of the affected limb, thereby improving the enthusiasm and initiative of patients and achieving better rehabilitation training effect.

Description

technical field [0001] The invention relates to a mirror rehabilitation training method based on adaptive impedance control, which is used for the mirror rehabilitation training of upper limbs of hemiplegic patients, and belongs to the field of medical rehabilitation. Background technique [0002] Stroke, also known as cerebral apoplexy, is a disease caused by the disturbance of blood circulation in the brain, resulting in the loss of local neurological function. Its morbidity and mortality are high, and 50% to 70% of the survivors are accompanied by different degrees of disability. Hemiplegia is a common disability after stroke, which mainly manifests as muscle weakness on the affected side, limb spasm and limitation of activities, which seriously affects the daily life of patients. The recovery of upper limb function in hemiplegic patients has always been a difficult point in rehabilitation treatment. The patient's negative attitude often leads to prolonged rehabilitation...

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