Force-position sensing method and system for two-degree-of-freedom limb joints

A degree of freedom and limb technology, applied in passive exercise equipment, physical therapy and other directions, can solve problems such as injury and the inability to realize the perception of human joint force and position, so as to reduce the burden on patients, improve protection and comfort, and improve information interaction. Effect

Active Publication Date: 2022-02-25
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the solutions disclosed in the prior art cannot realize the force-position perception of the human body joints and are easy to cause damage, the present invention provides a force-position sensor for two-degree-of-freedom limb joints. Perception method and system

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  • Force-position sensing method and system for two-degree-of-freedom limb joints
  • Force-position sensing method and system for two-degree-of-freedom limb joints
  • Force-position sensing method and system for two-degree-of-freedom limb joints

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[0071] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

[0072] The first aspect of the present invention provides a force position sensing method for two-degree-of-freedom limb joints, the method includes the following steps: Step S100, based on the expected rotation angle of the mandrel obtained by the first angle detection component And the actual rotation angle of the mandrel obtained by the second angle detection component ,get , - ; Wherein, the mandrel is the connecting shaft of the drive mechanism and the motion actuator; step S200, if , it is judged that the movement part of the two-degree-of-freedom limb joint does not produce blocking force, and the motion trajectory of the two-...

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Abstract

The invention belongs to the technical field of medical devices, and specifically relates to a force-position sensing method and system for two-degree-of-freedom limb joints. Based on the obtained expected rotation angle of the mandrel and the actual rotation angle of the mandrel, judge the size of the two; if they are equal, it is judged that the movement part of the two-degree-of-freedom limb joint does not produce blocking force; if it is judged that it is the motion of the two-degree-of-freedom limb joint The blocking force is generated at the part, and the actual lateral rotation angle, the actual longitudinal rotation angle, the actual lateral rotation moment, and the actual longitudinal rotation moment of the moving part of the two-degree-of-freedom limb joint are obtained to control whether the corresponding motor continues to rotate; the present invention can monitor the joint in real time. Force position perception information to achieve safe and efficient compliance control and rehabilitation training.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and in particular relates to a force-position sensing method and system for two-degree-of-freedom limb joints. Background technique [0002] With the development of society, the problem of population aging is becoming more and more prominent. At the same time, the number of patients with diseases such as stroke and arthritis has greatly increased. These diseases will cause limb movement disorders in patients and seriously affect patients' daily life. . Physical rehabilitation training is essential. Rehabilitation training can increase the exercise intensity of muscles and tendons, repair or reshape damaged nerves by completing motor learning, and reconstruct or improve the motor function of patients' limbs. [0003] However, due to the small number of rehabilitation physicians and the large number of patients in our country, it is necessary to design a rehabilitation robot that can repla...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02
CPCA61H1/0237A61H1/0244A61H1/0274A61H1/0285A61H2201/1207A61H2205/06A61H2205/10A61H2205/102A61H2205/065
Inventor 李国涛高子文杨闳竣孙太任梁旭姜金刚
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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