User upper limb posture estimation method and device for weakly connected rehabilitation robot

Abstract

The application discloses a user upper limb posture estimation method for a weak connection rehabilitation robot, relates to the field of medical instruments, and can be used for the weak connection rehabilitation robot with an auxiliary arm and a user not fixedly connected. The method can quickly calculate and estimate the upper limb posture of the user in real time through the end posture of the mechanical arm of the rehabilitation robot, that is, the shoulder joint internal-external rotation, internal-adduction-external-abduction, forward-flexion-backward-extension and elbow joint angle. The method is fast in calculation and simple in principle, and can estimate the upper limb posture of the user in real time and quickly without adding extra equipment.

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