A control method and control system for a target-driven upper limb exoskeleton rehabilitation robot

Abstract

The present 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 extremity exoskeleton rehabilitation robot. The target to be grasped for training is placed within the patient's touch range, and the patient gazes at the target to produce a grasping effect. Get the intention, and the doctor will issue a system start command on the host computer. The system will track and locate the target in real time based on Azure Kinect, obtain its spatial coordinates and send it to the host computer, and convert the coordinates of the target object from the Azure Kinect coordinate system to the robot through coordinate conversion. Under the coordinate system, the motion parameters of each joint of the robot body are calculated by the robot’s forward and inverse solution and trajectory planning, and communicate with the PLC through the Snap-7 protocol to drive the exoskeleton rehabilitation robot body to drive the affected limb to grab the target, realizing the patient’s subjective Movement intention and give patients visual and tactile feedback. The invention improves the patient's subjective participation, integrates the patient's subjective movement awareness with objectively acquired sensory information, and better realizes the interaction between the patient and the robot.

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 of a target-driven upper limb exoskeleton rehabilitation robot. Background technique [0002] Stroke is the first cause of death and disability among adults in my country. It is caused by persistent cerebral hemisphere or brainstem local neurological deficit due to acute cerebrovascular circulation disorder. It has high morbidity, disability and mortality. and high recurrence rate. Stroke patients usually have upper extremity dysfunction. Repetitive stimulation training and certain intensity of specific task training for patients are important means of upper extremity functional rehabilitation. Because the upper limb rehabilitation robot has the advantages of no fatigue, quantification and individualization, on the one hand, it can provide high-dose, high-repetition exercise training, and on the other hand, it can provid...

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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