Control system and method of flexible shoulder and elbow joint rehabilitation robot

Abstract

The invention provides a control system and method of a flexible shoulder and elbow joint rehabilitation robot, and relates to the technical field of rehabilitation robot control, the control system comprises an upper limb joint driver, an upper limb joint attitude sensor, an air pressure sensor, a pneumatic unit and a control unit, the upper limb joint attitude sensor is used for collecting attitude parameters of upper limb joints of a user; the air pressure sensor is used for collecting a pressure feedback value of the upper limb joint driver; the control unit is used for resolving the attitude parameters to obtain the spatial position and the bending angle of the upper limb joint, inputting the spatial position into a torque calculation model to obtain the power-assisted torque required by the upper limb joint, and inputting the power-assisted torque and the bending angle into a driver mathematical model to convert the power-assisted torque and the bending angle into a target pressure value of the upper limb joint; and controlling the pneumatic unit to execute a preset control strategy according to the target pressure value and the pressure feedback value. Therefore, the auxiliary torque provided by the upper limb joint driver can be accurately adjusted, and the control process is simple and convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation robot control, and in particular to a control system and method for a flexible shoulder and elbow joint rehabilitation robot. Background Art

[0002] With the aging of the population and the increase in the number of patients with diseases such as stroke, people's demand for efficient rehabilitation training is also growing. Traditional rehabilitation training methods usually rely on manpower, and have problems such as low efficiency, high cost, and inability to provide continuous high-intensity training. Rehabilitation robots are widely used because they can provide accurate, efficient, and controllable training, and can accurately obtain patient rehabilitation treatment data to facilitate the evaluation of treatment effects.

[0003] At present, rehabilitation exoskeletons are usually used to perform rehabilitation treatment on patients. In addition, in order to improve the portability and wearing comfort of exoskeleton robots, flexible upper limb exoskeleton robots are usually used to perform rehabilitation treatment on patients. However, existing flexible shoulder joint rehabilitation robots have problems such as high control difficulty, low precision, and slow response. In addition, they lack precise real-time control of the patient's shoulder and elbow joint torque, angle, and speed, and cannot accurately feedback the force during the shoulder joint rehabilitation robot training process, resulting in poor rehabilitation effect. Summary of the invention

[0004] The problem solved by the present invention is: how to reduce the control difficulty of a shoulder and elbow joint rehabilitation robot while ensuring its control accuracy and improve the rehabilitation effect.

[0005] In order to solve the above problems, the present invention provides a control system and method for a flexible shoulder and elbow joint rehabilitation robot.

[0006] In a first aspect, the present invention provides a control system for a flexible shoulder and elbow joint rehabilitation robot, comprising an upper limb joint driver, an upper limb joint posture sensor, an air pressure sensor, a pneumatic unit and a control unit, wherein the upper limb joint driver is connected to the pneumatic unit via an air pipe, and the upper limb joint posture sensor, the air pressure sensor and the pneumatic unit are respectively connected to the control unit for communication; The upper limb joint posture sensor is used to collect posture parameters of the user's upper limb joints and send them to the control unit, wherein the upper limb joints include shoulder joints and elbow joints; The air pressure sensor is used to collect the pressure feedback value of the upper limb joint driver; The control unit is used to solve the posture parameters to obtain the spatial position and bending angle of the upper limb joint, and input the spatial position into the torque calculation model to obtain the assist torque required by the upper limb joint, and input the assist torque and the bending angle into the driver mathematical model to convert them into target pressure values ​​of the upper limb joint, and control the pneumatic unit to execute a preset control strategy according to the target pressure value and the pressure feedback value to adjust the auxiliary torque provided by the upper limb joint driver.

[0007] Optionally, the driver mathematical model is: ; Wherein, T is the assist torque of the upper limb joint, P is the gas pressure in the upper limb joint actuator, V is the volume of the inflated part of the upper limb joint actuator, θ is the bending angle of the upper limb joint actuator, It is the derivative of the volume V of the inflatable part of the upper limb joint actuator with respect to the bending angle θ of the upper limb joint actuator.

[0008] Optionally, the preset control strategy includes: comparing the target pressure value and the pressure feedback value; If the pressure feedback value is less than the target pressure value, controlling the pneumatic unit to inflate the upper limb joint driver to increase the auxiliary torque provided by the upper limb joint driver; If the pressure feedback value is greater than the target pressure value, the pneumatic unit is controlled to pump air from the upper limb joint driver to reduce the auxiliary torque provided by the upper limb joint driver.

[0009] Optionally, the torque calculation model uses a deep learning method to calculate the assist torque.

[0010] Optionally, the upper limb joint posture sensor includes a shoulder joint posture sensor and an elbow joint posture sensor; The shoulder joint posture sensor is used to collect the angle and angular velocity of the shoulder joint and send them to the control unit; The elbow joint posture sensor is used to collect the angle and angular velocity of the elbow joint and send them to the control unit.

[0011] Optionally, the upper limb joint driver includes a shoulder joint driver and an elbow joint driver, and the air pressure sensor includes a first pressure sensor and a second pressure sensor; The first pressure sensor is used to collect a first pressure feedback value of the shoulder joint driver; The second pressure sensor is used to collect a second pressure feedback value of the elbow joint driver.

[0012] Optionally, the control unit is used to solve the angle and angular velocity of the shoulder joint to obtain the spatial position and bending angle of the shoulder joint, and input the spatial position of the shoulder joint into the torque calculation model to obtain the assist torque required by the shoulder joint, and input the assist torque and bending angle of the shoulder joint into the driver mathematical model to convert them into a first target pressure value of the shoulder joint, and control the pneumatic unit to execute a first preset control strategy according to the first target pressure value and the first pressure feedback value to adjust the magnitude of the assist torque provided by the shoulder joint driver; The control unit is also used to solve the angle and angular velocity of the elbow joint to obtain the spatial position and bending angle of the elbow joint, and input the spatial position of the elbow joint into the torque calculation model to obtain the assist torque required by the elbow joint, and input the assist torque and bending angle of the elbow joint into the driver mathematical model to convert them into a second target pressure value of the elbow joint, and control the pneumatic unit to execute a second preset control strategy according to the second target pressure value and the second pressure feedback value to adjust the magnitude of the assist torque provided by the elbow joint driver.

[0013] Optionally, the pneumatic unit includes an air pump, an air tank and a pneumatic control valve. The air pump is connected to the air tank via an air pipe and is used to input compressed air into the air tank. The air tank is connected to the pneumatic control valve via an air pipe. The pneumatic control valve is electrically connected to the control unit and is used to inflate or deflate the upper limb joint driver according to instructions issued by the control unit so that the gas pressure in the upper limb joint driver meets the target pressure value.

[0014] Optionally, the shoulder joint driver comprises a first airbag and a first strap, the first airbag is connected to the pneumatic unit via an air tube, and the first airbag is fixed to the shoulder joint of the user via the first strap and is located under the armpit of the user; The elbow joint driver includes a second airbag and a second strap, the second airbag is connected to the pneumatic unit through an air tube, and the second airbag is fixed to the elbow joint of the user through the second strap.

[0015] In a second aspect, the present invention provides a control method for a flexible shoulder and elbow joint rehabilitation robot, comprising the following steps: Obtaining posture parameters of the user's upper limb joints and pressure feedback values ​​of the upper limb joint drivers; Determining the spatial position and bending angle of the upper limb joint according to the posture parameters of the upper limb joint; Determining the assist torque of the upper limb joint according to the spatial position of the upper limb joint and a preset torque calculation model; Determining a target pressure value of the upper limb joint driver according to the assist torque of the upper limb joint, the bending angle and a preset driver mathematical model; The target pressure value is compared with the pressure feedback value, and the pneumatic unit is controlled to execute a preset control strategy according to the comparison result to adjust the auxiliary torque provided by the upper limb joint driver.

[0016] The control system of the flexible shoulder and elbow joint rehabilitation robot of the present invention has the beneficial effects of: the posture parameters of the user's upper limb joints can be collected in real time through the upper limb joint posture sensor and sent to the control unit to sense the movement intention of the user's arm, and the pressure of the compressed air in the upper limb joint driver can be collected in real time through the air pressure sensor and sent to the control unit. After receiving the posture parameters of the upper limb joint, the control unit solves the posture parameters to obtain the spatial position and bending angle of the upper limb joint, and inputs the spatial position into the torque calculation model to obtain the assist torque required by the upper limb joint, and converts the assist torque and bending angle into the driver mathematical model to the target pressure value of the upper limb joint, and controls the pneumatic unit to execute the preset control strategy according to the target pressure value and the pressure feedback value to adjust the auxiliary torque provided by the upper limb joint driver. In this way, the auxiliary torque provided by the upper limb joint driver is more in line with the torque required by the patient during rehabilitation training, so that the appropriate amount of auxiliary torque can be accurately applied to the patient's shoulder and elbow joints, which helps the patient to obtain appropriate support and guidance during rehabilitation training. Moreover, the entire control process is simple and convenient with high precision, so that the control system can better assist the user in rehabilitation training and improve the rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a principle block diagram of the control system of the flexible shoulder and elbow joint rehabilitation robot in the first embodiment of the present invention; Figure 2 It is a principle block diagram of the control system of the flexible shoulder and elbow joint rehabilitation robot in the second embodiment of the present invention; Figure 3 is a principle block diagram of a torque calculation model in an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a control system when a user wears and uses a flexible shoulder and elbow joint rehabilitation robot according to an embodiment of the present invention; Figure 5 It is a schematic diagram of the structure of the shoulder joint driver in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of an elbow joint driver in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the pneumatic unit in an embodiment of the present invention; Figure 8This is a flow chart of a control method for a flexible shoulder and elbow joint rehabilitation robot in an embodiment of the present invention.

[0018] Description of reference numerals: 10. Upper limb joint driver; 11. Shoulder joint driver; 111. First airbag; 112. First strap; 12. Elbow joint driver; 121. Second airbag; 122. Second strap; 20. Upper limb joint posture sensor; 21. Shoulder joint posture sensor; 22. Elbow joint posture sensor; 30. Air pressure sensor; 40. Pneumatic unit; 41. Air pump; 42. Air tank; 43. Pneumatic control valve; 44. Housing; 50. Control unit; 60. Power supply. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0020] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0021] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0022] Combination Figure 1 , Figure 2 and Figure 4As shown, a control system of a flexible shoulder and elbow joint rehabilitation robot provided by an embodiment of the present invention includes an upper limb joint driver 10, an upper limb joint posture sensor 20, an air pressure sensor 30, a pneumatic unit 40 and a control unit 50, wherein the upper limb joint driver 10 is connected to the pneumatic unit 40 through an air pipe, and the upper limb joint posture sensor 20, the air pressure sensor 30 and the pneumatic unit 40 are respectively connected to the control unit 50 for communication; The upper limb joint posture sensor 20 is used to collect the posture parameters of the user's upper limb joints and send them to the control unit 50, wherein the upper limb joints include shoulder joints and elbow joints; The air pressure sensor 30 is used to collect the pressure feedback value of the upper limb joint driver 10 and send it to the control unit 50; The control unit 50 is used to solve the posture parameters to obtain the spatial position and bending angle of the upper limb joints, and input the spatial position into the torque calculation model to obtain the assist torque required by the upper limb joints, and input the assist torque and bending angle into the driver mathematical model to convert them into target pressure values ​​of the upper limb joints, and control the pneumatic unit 40 to execute a preset control strategy according to the target pressure value and pressure feedback value to adjust the size of the assist torque provided by the upper limb joint driver 10.

[0023] Specifically, the upper limb joint driver 10 is usually a pneumatic driver, which is mainly used to assist the user's shoulder to perform lateral extension movement and assist the user's elbow to perform flexion movement. The inflatable part of the upper limb joint driver 10 is connected to the pneumatic unit 40 through an air pipe, so that the pneumatic unit 40 can be used to inflate and evacuate the inflatable part of the upper limb joint driver 10. The air pressure sensor 30 is usually arranged on the upper limb joint driver 10, and is used to collect the pressure of the compressed air in the upper limb joint driver 10 in real time, that is, the pressure feedback value, and send the collected pressure feedback value to the control unit 50. The upper limb joint posture sensor 20 is usually arranged on the user's upper limb, and is used to collect the posture parameters of the user's upper limb joint (such as angle and angular velocity, etc.) to sense the movement intention of the user's arm. At the same time, the upper limb joint posture sensor 20 also sends the collected posture parameters to the control unit 50; wherein, the installation positions of the posture sensors of different joints are also different, for example Figure 4 As shown, the shoulder joint posture sensor 21 (described later) is usually fixed on the user's upper arm to collect the posture parameters of the user's shoulder joint in real time, and the elbow joint posture sensor 22 (described later) is usually fixed on the user's forearm to collect the posture parameters of the user's elbow joint in real time.

[0024] When the upper limb joint posture sensor 20 detects that the user is about to perform lateral extension or elbow bending, the control unit 50 processes the posture parameters collected by the upper limb joint posture sensor 20 through the torque calculation model and the driver mathematical model to determine the power torque required by the user's upper limb joint, and converts it into a corresponding target pressure value, and then controls the pneumatic unit 40 to execute a preset control strategy according to the collected pressure feedback value and the target pressure value, so as to use the pneumatic unit 40 to fill the upper limb joint driver 10 with an appropriate amount of compressed air, and provide power for the user's shoulder joint and / or elbow joint, so as to assist the user to perform shoulder lateral extension and / or elbow bending, and, as the user's arm is gradually raised during the lateral extension process, the auxiliary torque required by the user is also gradually increased. When the upper limb joint posture sensor 20 detects that the user's upper limb is about to return to the initial state, the control unit 50 determines that the power torque required by the user's upper limb joint according to the posture parameters collected by the upper limb joint posture sensor 20 is gradually reduced, and the corresponding target pressure value is also gradually reduced. At this time, the pneumatic unit 40 pumps air into the upper limb joint driver 10 to assist the user's upper limb to slowly return to the initial state.

[0025] The control system of the flexible shoulder and elbow joint rehabilitation robot in this embodiment can collect the posture parameters of the user's upper limb joints in real time through the upper limb joint posture sensor 20, and send them to the control unit 50 to sense the movement intention of the user's arm. In addition, the pressure of the compressed air in the upper limb joint driver 10 is collected in real time through the air pressure sensor 30, and sent to the control unit 50. After receiving the posture parameters of the upper limb joint, the control unit 50 solves the posture parameters to obtain the spatial position and bending angle of the upper limb joint, and inputs the spatial position into the torque calculation model to obtain the assist torque required by the upper limb joint. By The mathematical model of the input driver is converted into a target pressure value for the upper limb joint, and the pneumatic unit 40 is controlled to execute a preset control strategy according to the target pressure value and the pressure feedback value to adjust the auxiliary torque provided by the upper limb joint driver 10. In this way, the auxiliary torque provided by the upper limb joint driver 10 is more in line with the torque required by the patient for rehabilitation training, so that the appropriate amount of auxiliary torque can be accurately applied to the patient's shoulder and elbow joints, which helps the patient to obtain proper support and guidance during rehabilitation training. Moreover, the entire control process is simple and convenient, with high precision, so that the control system can better assist users in rehabilitation training and improve rehabilitation effects.

[0026] Optionally, the drive mathematical model is: ; Wherein, T is the assist torque of the upper limb joint, P is the gas pressure in the upper limb joint driver 10, V is the volume of the inflated part of the upper limb joint driver 10, θ is the bending angle of the upper limb joint driver 10, It is the derivative of the volume V of the inflatable part of the upper limb joint driver 10 with respect to the bending angle θ of the upper limb joint driver 10 .

[0027] In this optional embodiment, the bending angle θ of the upper limb joint driver 10 is also the bending angle of the upper limb joint, wherein, for the shoulder joint driver 11, the bending angle of the driver is the angle between the upper arm and the body of the user, and for the elbow joint driver 12, the bending angle of the driver is the angle between the upper arm and the forearm of the user, and the bending angle of the upper limb joint can be determined by the posture parameter collected by the upper limb joint posture sensor 20. The driver mathematical model is constructed based on the principle of virtual work, and its core idea is that the work done by the driver torque is equal to the work done by the expansion of the gas inside the driver. When the driver mathematical model is used, according to the specific size and geometry of the driver, the derivative of the volume V of the inflatable part of the driver relative to the bending angle θ of the driver is calculated, and then the pressure value P required for the driver to output this assist torque is calculated according to the assist torque T given by the torque calculation model, and the pressure value P is the target pressure value of the driver. In this way, the target pressure value calculated by the driver mathematical model is more in line with the pressure value corresponding to the auxiliary torque required by the patient during actual training, thereby improving the control accuracy of the control system and achieving precise control.

[0028] Optionally, the preset control strategy includes: Compare the target pressure value with the pressure feedback value; If the pressure feedback value is less than the target pressure value, the pneumatic unit 40 is controlled to inflate the upper limb joint driver 10 to increase the auxiliary torque provided by the upper limb joint driver 10; If the pressure feedback value is greater than the target pressure value, the pneumatic unit 40 is controlled to pump air from the upper limb joint driver 10 to reduce the auxiliary torque provided by the upper limb joint driver 10 .

[0029] In this optional embodiment, when the pressure feedback value is less than the target pressure value, the control unit 50 sends a signal to increase the gas pressure to the pneumatic unit 40, and controls the pneumatic control valve 43 in the pneumatic unit 40 to increase the valve opening, so as to increase the amount of compressed air in the upper limb joint driver 10, thereby increasing the gas pressure in the driver, and further increasing the auxiliary torque provided by the upper limb joint driver 10; conversely, when the pressure feedback value is greater than the target pressure value, the control unit 50 sends a signal to reduce the gas pressure to the pneumatic unit 40, and controls the pneumatic control valve 43 in the pneumatic unit 40 to evacuate the upper limb joint driver 10, so as to reduce the amount of compressed air in the upper limb joint driver 10, thereby reducing the gas pressure in the driver, and further reducing the auxiliary torque provided by the upper limb joint driver 10. In this way, the size of the auxiliary torque can be adjusted by adjusting the gas pressure in the upper limb joint driver 10, thereby achieving precise control.

[0030] Optionally, combined Figure 3 As shown, the torque calculation model uses a deep learning method to calculate the assist torque.

[0031] In this optional embodiment, the entire torque calculation model is an end-to-end framework, and the calculated value of the assist torque can be output based on the posture sensor related data of the input model. Specifically, the torque calculation model uses a time convolutional neural network to estimate the user's total joint torque, including biological joint torque and exoskeleton torque, based on the kinematic data of the posture sensor. The data set input is the posture sensor data (i.e., posture parameters), the label is the joint assist torque, and a time convolutional neural network is built for model training to obtain a torque calculation model. In this way, the required assist torque is calculated by using a deep learning method, so that the torque calculation model can calculate the assist torque in real time based on the posture sensor data collected in real time, and input it into the driver mathematical model to calculate the target pressure value in real time, so as to facilitate the control of the pneumatic unit 40 to perform subsequent pressure control according to the target pressure value, thereby accurately adjusting the size of the assist torque provided by the upper limb joint driver 10.

[0032] Optionally, combined Figure 2 and Figure 4 As shown, the upper limb joint posture sensor 20 includes a shoulder joint posture sensor 21 and an elbow joint posture sensor 22; the shoulder joint posture sensor 21 is used to collect the angle and angular velocity of the shoulder joint and send it to the control unit 50; the elbow joint posture sensor 22 is used to collect the angle and angular velocity of the elbow joint and send it to the control unit 50.

[0033] In this optional embodiment, the shoulder joint posture sensor 21 is usually fixed on the upper arm of the user, and the elbow joint posture sensor 22 is usually fixed on the lower arm of the user. In this way, the shoulder joint posture sensor 21 is used to collect the angle and angular velocity of the shoulder joint to sense whether the user's shoulder is about to perform a lateral extension movement, and the elbow joint posture sensor 22 is used to collect the angle and angular velocity of the elbow joint to sense whether the user's elbow is about to perform a bending movement, so that the posture sensors are used to sense the movement intentions of the user's shoulder joint and elbow joint, respectively, to ensure the accuracy of the posture parameter collection of each joint, thereby improving the accuracy of control.

[0034] Optionally, combined Figure 2 and Figure 4As shown, the upper limb joint driver 10 includes a shoulder joint driver 11 and an elbow joint driver 12, and the air pressure sensor 30 includes a first pressure sensor and a second pressure sensor; the first pressure sensor is used to collect a first pressure feedback value of the shoulder joint driver 11; the second pressure sensor is used to collect a second pressure feedback value of the elbow joint driver 12. In this way, by using the pressure sensors to collect the pressure feedback values ​​of the shoulder joint driver 11 and the elbow joint driver 12, the accuracy of the pressure feedback values ​​of each joint driver is guaranteed, thereby improving the accuracy of control.

[0035] Optionally, the control unit 50 is used to solve the angle and angular velocity of the shoulder joint to obtain the spatial position and bending angle of the shoulder joint, and input the spatial position of the shoulder joint into the torque calculation model to obtain the assist torque required by the shoulder joint, and input the assist torque and bending angle of the shoulder joint into the driver mathematical model to convert them into a first target pressure value of the shoulder joint, and control the pneumatic unit 40 to execute a first preset control strategy according to the first target pressure value and the first pressure feedback value to adjust the magnitude of the assist torque provided by the shoulder joint driver 11; The control unit 50 is also used to solve the angle and angular velocity of the elbow joint to obtain the spatial position and bending angle of the elbow joint, and input the spatial position of the elbow joint into the torque calculation model to obtain the assist torque required by the elbow joint, and input the assist torque and bending angle of the elbow joint into the driver mathematical model to convert them into a second target pressure value of the elbow joint, and control the pneumatic unit 40 to execute a second preset control strategy according to the second target pressure value and the second pressure feedback value to adjust the magnitude of the assist torque provided by the elbow joint driver 12.

[0036] Among them, the first preset control strategy is: compare the first target pressure value and the first pressure feedback value; if the first pressure feedback value is less than the first target pressure value, control the pneumatic unit 40 to inflate the shoulder joint driver 11 to increase the auxiliary torque provided by the shoulder joint driver 11; if the first pressure feedback value is greater than the first target pressure value, control the pneumatic unit 40 to deflat the shoulder joint driver 11 to reduce the auxiliary torque provided by the shoulder joint driver 11.

[0037] The second preset control strategy is: compare the second target pressure value and the second pressure feedback value; if the second pressure feedback value is less than the second target pressure value, control the pneumatic unit 40 to inflate the elbow joint driver 12 to increase the auxiliary torque provided by the elbow joint driver 12; if the second pressure feedback value is greater than the second target pressure value, control the pneumatic unit 40 to deflat the elbow joint driver 12 to reduce the auxiliary torque provided by the elbow joint driver 12.

[0038] In this way, the control unit 50 can accurately control the auxiliary torque provided by each joint driver.

[0039] Optionally, combined Figure 2 , Figure 4 and Figure 7 As shown, the pneumatic unit 40 includes an air pump 41, an air tank 42 and a pneumatic control valve 43. The air pump 41 is connected to the air tank 42 through an air pipe and is used to input compressed air into the air tank 42. The air tank 42 is connected to the pneumatic control valve 43 through an air pipe. The pneumatic control valve 43 is electrically connected to the control unit 50 and is used to inflate or exhaust the upper limb joint driver 10 according to the instructions issued by the control unit 50 so that the gas pressure in the upper limb joint driver 10 meets the target pressure value.

[0040] In this optional embodiment, the air pump 41, the air storage tank 42 and the pneumatic control valve 43 of the pneumatic unit 40 are usually arranged in the housing. Furthermore, the control system of the flexible shoulder and elbow joint rehabilitation robot also includes a power supply 60, which is used to supply power to the air pump 41, the pneumatic control valve 43 and the control unit 50. The pneumatic unit 40 also includes a housing 44, and the air pump 41, the air tank 42, the pneumatic control valve 43, the control unit 50 and the power supply 60 are all arranged in the housing 44. Among them, a strap is usually provided on the housing 44. In this way, the control unit 50, the power supply 60 and the various components of the pneumatic unit 40 are integrated in the housing 44 to facilitate portability, so that patients can use it conveniently at home, in a rehabilitation center or outdoors, which improves the convenience of use in daily life, and no additional equipment support is required, which increases the flexibility of use.

[0041] Optionally, combined Figure 4 , Figure 5 and Figure 6 As shown, the shoulder joint driver 11 includes a first airbag 111 and a first strap 112 . The first airbag 111 is connected to the pneumatic unit 40 through an air tube, and the first airbag 111 is fixed to the user's shoulder joint through the first strap 112 and is located under the user's armpit.

[0042] In this optional embodiment, the first airbag 111 and the first strap 112 are respectively the inflation part and the connection part of the shoulder joint driver 11, wherein the first airbag 111 is usually made of soft fabric material by hot pressing, and can be expanded into a columnar structure such as a cylinder after inflation, and the first strap 112 and the first airbag 111 are usually connected by sewing, and the first strap 112 is usually provided with Velcro, so that the shoulder joint driver 11 can be fixed to the user's shoulder joint by Velcro. Moreover, when wearing, a part of the first airbag 111 is usually fixed to the side of the user's body through the first strap 112, and the other part is fixed to the user's upper arm through the first strap 112, and the shoulder joint driver 11 is located under the user's armpit as a whole. In this way, it is ensured that the shoulder joint driver 11 can provide upward assistance to the user's upper arm after inflation, thereby facilitating the user to perform side extension training.

[0043] Optionally, combined Figure 4 , Figure 5 and Figure 6 As shown, the elbow joint driver 12 includes a second airbag 121 and a second strap 122 . The second airbag 121 is connected to the pneumatic unit 40 through an air tube, and the second airbag 121 is fixed to the user's elbow joint through the second strap 122 .

[0044] In this optional embodiment, the second airbag 121 and the second strap 122 are respectively the inflation part and the connection part of the elbow joint driver 12, wherein the second airbag 121 is usually made of soft fabric material by hot pressing, and can be expanded into, for example, an arc-shaped cylindrical shape after being inflated. The second strap 122 and the second airbag 121 are usually connected by sewing, and the second strap 122 is also usually provided with Velcro, so that the elbow joint driver 12 can be fixed to the user's elbow joint by Velcro. Moreover, when worn, a part of the second airbag 121 is usually fixed to the user's upper arm through the second strap 122, and the other part is fixed to the user's forearm through the second strap 122. In this way, it is ensured that the elbow joint driver 12 can provide upward assistance to the user's forearm after being inflated, thereby facilitating the user to perform arm bending training.

[0045] Combination Figure 8 As shown, a control method of a flexible shoulder and elbow joint rehabilitation robot provided by an embodiment of the present invention comprises the following steps: S100, obtaining posture parameters of the user's upper limb joints and pressure feedback values ​​of the upper limb joint driver 10; S200, determining the spatial position and bending angle of the upper limb joint according to the posture parameters of the upper limb joint; S300, determining the assist torque of the upper limb joint according to the spatial position of the upper limb joint and a preset torque calculation model; S400, determining a target pressure value of the upper limb joint driver 10 according to the assist torque, bending angle and a preset driver mathematical model of the upper limb joint; S500, comparing the target pressure value with the pressure feedback value, and controlling the pneumatic unit 40 to execute a preset control strategy according to the comparison result to adjust the magnitude of the auxiliary torque provided by the upper limb joint driver 10.

[0046] In this way, through steps S100 to S500, the magnitude of the auxiliary force provided by the upper limb joint driver 10 can be precisely controlled, so that an appropriate amount of auxiliary torque can be accurately applied to the patient's shoulder and elbow joints, which helps the patient to obtain proper support and guidance during rehabilitation training. Moreover, the entire control process is simple and convenient with high precision, so that the control system can better assist users in rehabilitation training and improve rehabilitation effects.

[0047] Furthermore, the preset control strategy includes: Compare the target pressure value with the pressure feedback value; If the pressure feedback value is less than the target pressure value, the pneumatic unit 40 is controlled to inflate the upper limb joint driver 10 to increase the auxiliary torque provided by the upper limb joint driver 10; If the pressure feedback value is greater than the target pressure value, the pneumatic unit 40 is controlled to pump air from the upper limb joint driver 10 to reduce the auxiliary torque provided by the upper limb joint driver 10 .

[0048] In this way, the size of the auxiliary torque can be adjusted by adjusting the gas pressure in the upper limb joint driver 10, thereby achieving precise control.

[0049] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A control system for a flexible shoulder and elbow joint rehabilitation robot, characterized in that: The device comprises an upper limb joint driver (10), an upper limb joint posture sensor (20), an air pressure sensor (30), a pneumatic unit (40) and a control unit (50), wherein the upper limb joint driver (10) is connected to the pneumatic unit (40) via an air pipe, and the upper limb joint posture sensor (20), the air pressure sensor (30) and the pneumatic unit (40) are respectively connected to the control unit (50) in a communication manner; The upper limb joint posture sensor (20) is used to collect posture parameters of the upper limb joints of the user and send them to the control unit (50), wherein the upper limb joints include shoulder joints and elbow joints; The air pressure sensor (30) is used to collect the pressure feedback value of the upper limb joint driver (10); The control unit (50) is used to solve the posture parameters to obtain the spatial position and bending angle of the upper limb joint, and input the spatial position into a torque calculation model to obtain the assist torque required by the upper limb joint, and input the assist torque and the bending angle into a driver mathematical model to convert them into a target pressure value of the upper limb joint, and control the pneumatic unit (40) to execute a preset control strategy according to the target pressure value and the pressure feedback value to adjust the auxiliary torque provided by the upper limb joint driver (10).

2. The control system of the flexible shoulder and elbow joint rehabilitation robot according to claim 1, characterized in that: The driver mathematical model is: ； In the formula, T is the assist torque of the upper limb joint, P is the gas pressure in the upper limb joint actuator (10), V is the volume of the inflated part of the upper limb joint actuator (10), θ is the bending angle of the upper limb joint actuator (10), It is the derivative of the volume V of the inflatable part of the upper limb joint driver (10) relative to the bending angle θ of the upper limb joint driver (10).

3. The control system of the flexible shoulder and elbow joint rehabilitation robot according to claim 1, characterized in that: The preset control strategy includes: comparing the target pressure value and the pressure feedback value; If the pressure feedback value is less than the target pressure value, controlling the pneumatic unit (40) to inflate the upper limb joint driver (10) to increase the auxiliary torque provided by the upper limb joint driver (10); If the pressure feedback value is greater than the target pressure value, the pneumatic unit (40) is controlled to pump air from the upper limb joint driver (10) to reduce the auxiliary torque provided by the upper limb joint driver (10).

4. The control system of the flexible shoulder and elbow joint rehabilitation robot according to claim 1, characterized in that: The torque calculation model uses a deep learning method to calculate the assist torque.

5. The control system of the flexible shoulder and elbow joint rehabilitation robot according to claim 1, characterized in that: The upper limb joint posture sensor (20) comprises a shoulder joint posture sensor (21) and an elbow joint posture sensor (22); The shoulder joint posture sensor (21) is used to collect the angle and angular velocity of the shoulder joint and send them to the control unit (50); The elbow joint posture sensor (22) is used to collect the angle and angular velocity of the elbow joint and send them to the control unit (50).

6. The control system of the flexible shoulder and elbow joint rehabilitation robot according to claim 5, characterized in that: The upper limb joint driver (10) comprises a shoulder joint driver (11) and an elbow joint driver (12); the air pressure sensor (30) comprises a first pressure sensor and a second pressure sensor; The first pressure sensor is used to collect a first pressure feedback value of the shoulder joint driver (11); The second pressure sensor is used to collect a second pressure feedback value of the elbow joint driver (12).

7. The control system of the flexible shoulder and elbow joint rehabilitation robot according to claim 6, characterized in that: The control unit (50) is used to calculate the angle and angular velocity of the shoulder joint to obtain the spatial position and bending angle of the shoulder joint, and input the spatial position of the shoulder joint into the torque calculation model to obtain the assist torque required by the shoulder joint, and input the assist torque and bending angle of the shoulder joint into the driver mathematical model to convert them into a first target pressure value of the shoulder joint, and control the pneumatic unit (40) to execute a first preset control strategy according to the first target pressure value and the first pressure feedback value, so as to adjust the magnitude of the assist torque provided by the shoulder joint driver (11); The control unit (50) is also used to resolve the angle and angular velocity of the elbow joint to obtain the spatial position and bending angle of the elbow joint, and input the spatial position of the elbow joint into the torque calculation model to obtain the assist torque required by the elbow joint, and input the assist torque and bending angle of the elbow joint into the driver mathematical model to convert them into a second target pressure value of the elbow joint, and control the pneumatic unit (40) to execute a second preset control strategy according to the second target pressure value and the second pressure feedback value to adjust the magnitude of the assist torque provided by the elbow joint driver (12).

8. The control system of the flexible shoulder and elbow joint rehabilitation robot according to claim 1, characterized in that: The pneumatic unit (40) comprises an air pump (41), an air tank (42) and a pneumatic control valve (43); the air pump (41) is connected to the air tank (42) via an air pipe and is used to input compressed air into the air tank (42); the air tank (42) is connected to the pneumatic control valve (43) via an air pipe; the pneumatic control valve (43) is electrically connected to the control unit (50) and is used to inflate or exhaust the upper limb joint driver (10) according to an instruction issued by the control unit (50) so that the gas pressure in the upper limb joint driver (10) meets the target pressure value.

9. The control system of the flexible shoulder and elbow joint rehabilitation robot according to claim 6, characterized in that: The shoulder joint driver (11) comprises a first airbag (111) and a first strap (112); the first airbag (111) is connected to the pneumatic unit (40) via an air tube, and the first airbag (111) is fixed to the shoulder joint of the user via the first strap (112) and is located under the armpit of the user; The elbow joint driver (12) comprises a second airbag (121) and a second strap (122); the second airbag (121) is connected to the pneumatic unit (40) via an air tube, and the second airbag (121) is fixed to the user's elbow joint via the second strap (122).

10. A control method for a flexible shoulder and elbow joint rehabilitation robot, characterized in that: The following steps are involved: Obtaining posture parameters of the user's upper limb joints and pressure feedback values ​​of the upper limb joint driver (10); Determining the spatial position and bending angle of the upper limb joint according to the posture parameters of the upper limb joint; Determining the assist torque of the upper limb joint according to the spatial position of the upper limb joint and a preset torque calculation model; Determining a target pressure value of the upper limb joint driver (10) according to the assist torque of the upper limb joint, the bending angle and a preset driver mathematical model; The target pressure value is compared with the pressure feedback value, and the pneumatic unit (40) is controlled to execute a preset control strategy according to the comparison result, so as to adjust the magnitude of the auxiliary torque provided by the upper limb joint driver (10).

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