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Control system and control method for upper limb exoskeleton rehabilitation robot

A rehabilitation robot and control system technology, applied in the field of rehabilitation, can solve the problems of poor human-computer interaction and low self-adaptive adjustment ability, and achieve the effects of eliminating force errors, improving self-adaptive adjustment ability, and improving human-computer interaction ability.

Pending Publication Date: 2021-11-12
SHANDONG JIANZHU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a control system and control method for an upper limb exoskeleton rehabilitation robot. The control system can select different training methods according to the training intensity requirements of patients, and solve the problem of the existing upper limb exoskeleton. Poor human-computer interaction and low adaptive adjustment ability of rehabilitation robots

Method used

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  • Control system and control method for upper limb exoskeleton rehabilitation robot
  • Control system and control method for upper limb exoskeleton rehabilitation robot
  • Control system and control method for upper limb exoskeleton rehabilitation robot

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Embodiment 1

[0040] In a typical embodiment of the present invention, as Figure 1-2 As shown in the figure, an upper limb exoskeleton rehabilitation robot control system is proposed, including a host computer 1, a bottom controller 2, a sensing and information acquisition module 3, a motor drive module 4, a physiological index detection module 5, a limit module 6, a mechanical Arm body 7 and power supply module 8 .

[0041] Among them, the power supply module is respectively connected with the motor drive module, the physiological index detection module, the host computer, the bottom controller and the sensing and information collection module to provide power support to maintain the operation of the entire system.

[0042]The sensing and information acquisition module is connected with the underlying controller through the bus, so as to realize the collection and transmission of information. The underlying controller is connected with the upper computer through TCP / IP, and the two can ca...

Embodiment 2

[0053] In another typical embodiment of the present application, as Figure 3-5 As shown, a control method for an upper limb exoskeleton rehabilitation robot control system is provided, as follows:

[0054] The control system selects different training modes for different recovery periods of patients, namely passive training and active training.

[0055] Passive training is carried out in the early stage of training, because in the early stage of training, the patient's affected limb has no ability to exercise at all, and can only rely on the driving of the upper limb rehabilitation robot to carry out rehabilitation training according to the planned trajectory.

[0056] Specifically, according to the characteristics of upper limb damage of hemiplegic patients, the EMG sensor was used to collect the surface electromyogram (sEMG) of the muscles of the unaffected upper limb of the patient as the control signal of the rehabilitation robot, and the feature extraction of the sEMG si...

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Abstract

The invention discloses an upper limb exoskeleton rehabilitation robot control system and method, belongs to the technical field of rehabilitation, can select different training modes according to training intensity requirements of patients, and solves the problems that an existing upper limb exoskeleton rehabilitation robot is poor in man-machine interaction and low in self-adaptive adjustment capacity. According to the technical scheme, the system comprises a sensing and information collecting module used for detecting mechanical arm posture information at joints of the upper limb exoskeleton rehabilitation robot and information representing motion intentions; a bottom layer controller used for receiving the information of the sensing and information acquisition module and transmitting the information to the upper computer; and an upper computer used for selecting a training mode, transmitting an instruction to the bottom layer controller, processing the information obtained by the sensing and information acquisition module to obtain a control torque, forming a control instruction, transmitting the control instruction to the bottom layer controller, and controlling the upper limb exoskeleton rehabilitation robot to move.

Description

technical field [0001] The invention relates to the field of rehabilitation technology, in particular to an upper limb exoskeleton rehabilitation robot control system and control method. Background technique [0002] The statements herein merely provide background related to the present invention and do not necessarily constitute prior art. [0003] Stroke refers to the accidental rupture of cerebral blood vessels accompanied by hemorrhage or acute occlusion, which causes serious damage to the brain, eventually leading to unilateral upper limb numbness, muscle weakness, and even muscle atrophy and loss of muscle ability. The traditional training mode is that physical therapists conduct one-on-one training for patients through experience, but this training mode is not only time-consuming and labor-intensive, but also has poor patient participation, making it difficult to achieve the desired therapeutic effect. With the continuous development of medical rehabilitation technol...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A63B23/12
CPCA61H1/0274A61H1/0218A63B23/12A61H2230/085A61H2201/5069A61H2201/1659
Inventor 鲁守银于世伟隋首刚高诺高焕兵汤承龙
Owner SHANDONG JIANZHU UNIV
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