Advanced prediction control method for limb movement rehabilitation based on bilateral cooperation

Abstract

The invention discloses an advanced prediction control method for limb movement rehabilitation based on bilateral cooperation. The method comprises the following steps: acquiring healthy side motion information, establishing a prediction model of affected side motion, and performing motion prediction based on the healthy side motion information to obtain prediction information; acquiring motion information of an affected side, performing online feedback correction on the parameters of the prediction model based on the motion information of the affected side, and correcting the parameters of the prediction model and an uninjured side difference value between the motion information of the uninjured side and the motion information of the affected side to obtain a corrected prediction value; controlling the motion of the affected side according to the corrected predicted value, so that the healthy side motion information and the affected side motion information are coordinated. According to the method, the real-time performance of collaborative movement and the attention and coordination of the patient in the training process can be improved, compensatory actions are reduced, and nerve remodeling and limb rehabilitation of impaired brain functions of the patient are facilitated.

Description

technical field [0001] The invention relates to the technical field of hemiplegia exercise rehabilitation, in particular to an advanced predictive control method for limb exercise rehabilitation based on bilateral cooperation. Background technique [0002] Stroke is a common acute cerebrovascular disease, the clinical manifestation is mainly cerebral ischemia caused by cerebral vascular injury or embolism, and stroke patients have different degrees of dysfunction after waking up, and hemiplegia is the most common sequela of stroke , which has a serious impact on the quality of life of patients after stroke. The traditional rehabilitation training method mainly uses the rehabilitation teacher to guide or assist the patient to complete the specified rehabilitation movement, avoiding the acquired disuse of the patient's limbs, and at the same time helping the rehabilitation of the patient's limbs to a certain extent. However, the long-term and continuous rehabilitation trainin...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide an advanced predictive control method for limb movement rehabilitation based on bilateral cooperation, aiming at solving the problem that most rehabilitation machines in the prior art cannot achieve dual Side coordination, there are obvious differences in bilateral limb movements, and poor coordination and coherence of movements

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