Target-driven upper limb exoskeleton rehabilitation robot control method and system

Abstract

The invention relates to the technical field of medical rehabilitation robots, in particular to a target-driven upper limb exoskeleton rehabilitation robot control method and system. A to-be-grabbed training target is placed in a patient touch range, a patient watches the target to generate a grabbing intention, and a physician issues a system starting instruction on an upper computer; and the system tracks and positions the target in real time based on Azure Kinect, obtains space coordinates of the target, sends the space coordinates to an upper computer, converts the coordinates of the target from an Azure Kinect coordinate system to a robot coordinate system through coordinate conversion, calculates motion parameters of each joint of a robot body through forward and inverse solutions and trajectory planning of the robot, and communicates with a PLC through a Snap-7 protocol, an exoskeleton rehabilitation robot body is driven to drive the diseased limb to grab the target, the subjective motion intention of the patient is achieved, and visual and tactile feedback is provided for the patient. The subjective participation degree of the patient is improved, the subjective motion consciousness of the patient and objectively obtained sensory information are fused, and interaction between the patient and the robot is better achieved.

Description

technical field [0001] The invention relates to the technical field of medical rehabilitation robots, in particular to a control method and a control system for a target-driven upper limb exoskeleton rehabilitation robot. Background technique [0002] Stroke is the leading cause of death and disability among adults in my country. It is caused by acute cerebrovascular circulation disorder that causes persistent cerebral hemisphere or brainstem localized neurological deficits. It has high morbidity, disability and mortality. and high recurrence rate. Stroke patients usually suffer from upper limb dysfunction. Repetitive stimulation training and specific task training with a certain intensity are important methods for upper limb functional rehabilitation. Due to the advantages of fatigue-free, quantitative, and individualized upper limb rehabilitation robots, on the one hand, it can provide large-dose, high-repetition exercise training, and on the other hand, it can provide obj...

AI Technical Summary

Problems solved by technology

[0004] 1. The control technology of the existing upper extremity exoskeleton rehabilitation robot is mainly based on passive control. The passive control method is to establish a set of fixed motion patterns in advance, which cannot be personalized

Studies have shown that the higher the degree of subjective participation of patients in the rehabilitation treatment process, the better the treatment effect, while pure passive rehabilitation not only has poor treatment effect, but also boring training can easily cause patients' resistance

[0005] 2. A small number of upper limb exoskeleton rehabilitation robots adopt active control methods. In order to reflect the degree of active participation of patients, the movement of the robot is mainly combined with physiological signals such as EMG and EEG to control the movement of the robot in real time. Since the signals are prone to misjudgment, during training It may cause the rehabilitation robot to perform wrong movements, which not only cannot guarantee the training effect, but also causes damage to the patient; on the other hand, the patient needs to wear corresponding sensor equipment, which is not comfortable

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