Upper limb rehabilitation robot system for three-dimensional space motion

Abstract

The invention discloses an upper limb rehabilitation robot system for three-dimensional space motion, and relates to the field of rehabilitation robots, the upper limb rehabilitation robot system comprises a software module, a myoelectricity module, a control module and an interaction module, the software module runs on an upper computer and is configured to realize user information interaction and real-time motion parameter simulation; the myoelectricity module is configured to perform acquisition and processing and feature extraction on surface electromyographic signals and establish a correlation model with action intentions; the control module receives an online control decision from the myoelectricity module and / or a motion parameter set value from the software module, controls the mechanical arm to perform safe upper limb rehabilitation training in a three-dimensional space, and returns real-time motion parameters of the mechanical arm to the software module to update data; and the interaction module comprises a fixing device connecting the upper limb tail end of the patient and the tail end of the mechanical arm. The cooperative robot is adopted, upper limb rehabilitation training can be conducted on patients in all rehabilitation periods, the repeated work intensity is reduced, and the rehabilitation training interestingness is improved.

Description

technical field [0001] The invention relates to the field of rehabilitation robots, in particular to an upper limb rehabilitation robot system with three-dimensional space movement. Background technique [0002] In recent years, the incidence of stroke has been on the rise. The hemiplegia of the upper limbs left by stroke can cause mobility problems in mild cases, and inability to take care of oneself in severe cases. The robot can perform repetitive tasks continuously and controllably, and it can be equipped with numerous sensors, which can be used to record data such as the patient's movement trajectory, speed, force, etc., so as to objectively evaluate the patient's exercise performance. Based on the above advantages, assisted rehabilitation robot becomes an effective and promising treatment method for hemiplegic patients. Most existing rehabilitation robots only perform passive stretching training on patients, or perform feedback control on the motion system based on me...

AI Technical Summary

Problems solved by technology

Exoskeleton equipment is complex to wear, and motion planning is likely to conflict with the motion pattern of stroke patients; while the range of motion of two-dimensional traction equipment cannot cover the three-dimensional motion space of the upper limbs of the human body, which limits the range of motion, rehabilitation actions, and the number of trainable muscles of the patient, which is difficult to meet The training needs of the actual rehabilitation process

For the above reasons, the clinical usage of active rehabilitation equipment based on neuroelectric signals is low

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