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Rehabilitation robot control method and device and rehabilitation robot

A technology of a rehabilitation robot and a control method, which is applied in the field of rehabilitation robots and can solve problems such as redundancy of joint degrees of freedom of rehabilitation robots

Pending Publication Date: 2022-05-13
SHENZHEN WISEMEN MEDICAL TECH CO LTD
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Problems solved by technology

[0004] The present invention solves the problem that existing rehabilitation robots have joint degrees of freedom redundancy

Method used

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  • Rehabilitation robot control method and device and rehabilitation robot
  • Rehabilitation robot control method and device and rehabilitation robot
  • Rehabilitation robot control method and device and rehabilitation robot

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Embodiment Construction

[0051] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0052] With the development of robot technology, there are more and more controllable degrees of freedom of upper limb rehabilitation robots. At present, mainstream upper limb rehabilitation robots usually have more than 6 controllable joint degrees of freedom, which are greater than the required degrees of freedom of the task, that is, joint freedom appears. degree of redundancy.

[0053] The embodiment of the present invention adopts a technique based on a null space projection to solve the problem of redundancy of joint degrees of freedom. The vector space formed by the solution of the...

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Abstract

According to the rehabilitation robot control method and device and the rehabilitation robot, task grading is carried out through null-space projection, different task requirements such as the position / posture requirement, the speed / angular speed requirement or the acceleration / angular acceleration requirement can be met, low-priority tasks are located in the null space of high-priority tasks, and the task classification efficiency is improved. The problem of joint freedom degree redundancy can be effectively solved by performing task classification based on null-space projection and performing rehabilitation robot inverse dynamics control based on feedback linearization due to the fact that the task classification is performed on the basis of null-space projection, and task classification execution is efficient.

Description

technical field [0001] The present invention relates to the technical field of rehabilitation robots, in particular to a control method and device for a rehabilitation robot and a rehabilitation robot. Background technique [0002] At present, the commonly used treatment plan for rehabilitation robots is to set a certain target position and require the patient's limbs to reach the target position with the assistance of the robot. Usually, only three controllable joint degrees of freedom are needed to reach any position in the three-dimensional task space. [0003] With the development of robot technology, rehabilitation robots have more and more controllable degrees of freedom. At present, mainstream rehabilitation robots usually have more than 6 controllable joint degrees of freedom, which are greater than the required degrees of freedom for the task, that is, joint degrees of freedom appear redundant. In addition, there is currently a lack of related technologies to deal w...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02
CPCA61H1/0274A61H1/0277A61H1/0281A61H1/0285A61H2201/1659A61H2205/06A61H2205/062A61H2205/065A61H2201/50A61H2201/5058
Inventor 黄冠孙维
Owner SHENZHEN WISEMEN MEDICAL TECH CO LTD
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