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Active Mode Control System of a Planar Upper Limb Rehabilitation Robot on Desktop

A rehabilitation robot, active mode technology, applied in gymnastics equipment, sports accessories, muscle training equipment and other directions, can solve problems such as time-consuming and labor-intensive, and achieve the effect of avoiding uncertainty, saving system costs, and reducing unified collaboration

Active Publication Date: 2022-03-18
NANJING VISHEE MEDICAL TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, at present, there are not many clinical training equipment, and the ever-expanding demand for rehabilitation and the lack of professional rehabilitation personnel have formed a great contradiction; at the same time, the help of professional rehabilitation personnel is time-consuming and labor-intensive.

Method used

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  • Active Mode Control System of a Planar Upper Limb Rehabilitation Robot on Desktop
  • Active Mode Control System of a Planar Upper Limb Rehabilitation Robot on Desktop
  • Active Mode Control System of a Planar Upper Limb Rehabilitation Robot on Desktop

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Embodiment Construction

[0021] The present invention will be specifically introduced below in conjunction with the accompanying drawings and specific embodiments.

[0022] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be understood as indicating or implying relative...

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Abstract

The invention discloses an active mode control system of a planar upper limb rehabilitation robot on a desktop, which includes an external frame, a vertical handle, a two-dimensional force sensor, a moving plate, a Y-direction slide rail, a Y-direction wheel, a Y-direction cable, a Y-direction Servo motor, moving frame, X-direction slide rail, X-direction wheel, X-direction cable and X-direction servo motor; in the process of active mode control, the actual output torque of the system is kept constant, and the direction of the torque applied by the user is detected by the two-dimensional force sensor , adjust the motor output torque to be consistent with the direction of the torque applied by the user; adjust the torque limit so that the motor output torque is the product of the torque limit and the maximum rated output torque. Compared with the method of controlling speed and moment by reading sensor data, the present invention has no overshoot or obvious vibration phenomenon.

Description

technical field [0001] The invention relates to an active mode control system of a planar upper limb rehabilitation robot on a desktop, which is a multi-motor coordinated control system. Background technique [0002] Some patients who appear clinically, such as patients in the recovery period of upper and lower limb motor dysfunction caused by stroke, spinal cord injury, and fracture surgery, need rehabilitation training to maintain or restore human body functions. However, at present, there are not many clinical training equipment, and the ever-expanding demand for rehabilitation and the lack of professional rehabilitation personnel have formed a great contradiction; at the same time, the help of professional rehabilitation personnel is time-consuming and labor-intensive. In order to solve these problems in the process of rehabilitation training, there is an urgent need for new technologies that are safe, quantitative, effective and repeatable. Contents of the invention ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A63B23/12A63B21/005A63B21/00A63B24/00
CPCA63B23/12A63B21/0058A63B21/005A63B21/00058A63B24/0087A63B24/0075A63B2024/0093A63B2220/51
Inventor 盛一宣孙维超徐昊王文斌
Owner NANJING VISHEE MEDICAL TECH