Torque compensation method and system for upper limb rehabilitation robot, storage medium and computer

Abstract

The invention provides an upper limb rehabilitation robot torque compensation method and system, a storage medium and a computer, and the compensation method comprises the steps: dividing an effective motion space of a tail end execution device of an upper limb rehabilitation robot, and building a coordinate system in the effective motion space; torque function matrixes of the healthy crowd and the crowd to be recovered in the effective motion space are sequentially obtained, and compensation force of a tail end execution device is obtained according to the torque function matrixes; determining a motion track of the to-be-recovered crowd according to the compensation force, and establishing a target torque compensation model according to the motion track; and acquiring an expected movement track corresponding to the current patient and a corresponding movement track, and substituting the expected movement track and the movement track corresponding to the current patient into the target torque compensation model to obtain a compensation torque of the upper limb rehabilitation robot to the current patient. According to the torque compensation method, the compensation torque can be automatically adjusted according to the condition of the patient, and the application range is wide.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a torque compensation method, system, storage medium and computer for an upper limb rehabilitation robot. Background Art

[0002] Upper limb rehabilitation training mainly focuses on training the shoulder, elbow, wrist, and metacarpophalangeal and finger functions. Depending on the severity of the patient's illness, upper limb rehabilitation training includes active training of the patient and passive assisted training under the guidance of a rehabilitation trainer.

[0003] Normally, patients with mild symptoms receive active training, and corresponding rehabilitation training can be carried out according to the patient's subjective consciousness. Patients with severe symptoms receive passive assisted training. Currently, there are two main common upper limb rehabilitation treatment methods. One is to fix the patient's upper limbs to the end of the rehabilitation robot, and set the movement trajectory of the rehabilitation robot to train the patient's upper limbs. However, the movement trajectory of the rehabilitation robot is set in advance, and there is a lack of interaction between the robot and the patient, making it difficult to meet the patient's actual needs. The other is for nurses to take the patients for exercise training, and the patients interact with the nurses to help them complete the rehabilitation work. However, rehabilitation training with nurses requires a high level of experience for the nurses, and is difficult to promote. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide a torque compensation method, system, storage medium and computer for an upper limb rehabilitation robot to solve the technical problems existing in the prior art.

[0005] The present invention provides a torque compensation method for an upper limb rehabilitation robot, the upper limb rehabilitation robot comprises a four-link plane frame and a rotating rod, one end of the rotating rod away from the four-link plane frame is connected to a fixed rod through a first joint, and one end of the rotating rod close to the four-link plane frame is rotatably connected to the end points of two connecting rods intersecting the four-link plane frame through a second joint. The torque compensation method for the upper limb rehabilitation robot comprises: Dividing the effective motion space of the end effector of the upper limb rehabilitation robot and establishing a coordinate system in the effective motion space; Sequentially obtaining a first torque function matrix and a second torque function matrix of a healthy population and a population to be rehabilitated in the effective motion space, and obtaining a compensation force of the end effector according to the first torque function matrix and the second torque function matrix; Determine the motion trajectory of the person to be rehabilitated according to the compensation force, determine the motion parameters of the rotating rod and two connecting rods connected to the rotating rod based on the motion trajectory, and establish a target torque compensation model according to the motion parameters; The rehabilitation needs of the current patient are obtained, the expected motion trajectory is determined according to the rehabilitation needs, the motion trajectory corresponding to the current patient is obtained, the expected motion trajectory and the motion trajectory corresponding to the current patient are substituted into the target torque compensation model, and the compensation torque of the upper limb rehabilitation robot for the current patient is obtained.

[0006] Preferably, the step of sequentially acquiring the first torque function matrix and the second torque function matrix of the healthy population and the population to be rehabilitated in the effective motion space, and acquiring the compensation force of the end effector according to the first torque function matrix and the second torque function matrix comprises: The coordinate system is marked with coordinate points based on the range of the effective motion space and the number of divided grids, and each coordinate point is taken as the center of a sphere, and the trajectory points enclosed within a sphere with a preset radius are taken as sample points of the coordinate point; The torque values ​​of the rotating rod and the two connecting rods of the healthy population and the population to be rehabilitated under the preset trajectory are respectively obtained, and the torque values ​​are sequentially allocated to the corresponding sample points to construct a first torque function matrix and a second torque function matrix; A torque difference matrix is ​​constructed based on the first torque function matrix and the second torque function matrix, and a compensation force of an end effector is determined according to the torque difference matrix.

[0007] Preferably, the step of constructing a torque difference matrix based on the first torque function matrix and the second torque function matrix, and determining the compensation force of the end effector according to the torque difference matrix comprises: Calculate the torque difference variance of each element in the first torque function matrix and each element in the second torque function matrix, and construct a torque function matrix based on all torque difference variances. Torque difference matrix, where , The number of grids used to divide the effective motion space; Starting from the initial element position of the torque difference matrix, select the diagonal elements in the torque difference matrix and the row vectors and column vectors corresponding to the diagonal elements in turn. The minimum value of the variance of the torque difference; according to The torque difference variance minimum value determines an optimal path with the smallest matching distance between the first torque function matrix and the second torque function matrix; Determine the coordinate points in the second torque function matrix corresponding to the coordinate points in the first torque function matrix according to the optimal path, perform difference calculation on the torque values ​​at the corresponding coordinate points, determine the torque compensation matrix of each coordinate point in the effective motion space, and determine the torque compensation values ​​corresponding to the rotating rod and the two connecting rods based on the torque compensation matrix; The structural transmission relationship of the upper limb rehabilitation robot is obtained, and the compensation force of the end effector is determined based on the torque compensation value and the structural transmission relationship corresponding to the rotating rod and the two connecting rods.

[0008] Preferably, the coordinate points The expression is: , ,

[0009] In the formula, The effective motion space in the coordinate system is The minimum and maximum values ​​of the direction, The effective motion space in the coordinate system is Directional minimum and maximum values; The effective motion space in the coordinate system is The minimum and maximum values ​​of the direction, The effective motion space The number of grids divided in the direction, The coordinate point is Direction number; The expression of the preset radius is:

[0010] The first torque function matrix is , the second torque function matrix is ​​recorded as , The expressions of the elements in the torque difference matrix are:

[0011] In the formula, is the first Line The variance of the torque difference corresponding to the column elements, is the first torque function matrix The torque value corresponding to the element is is the second torque function matrix The torque value corresponding to each element; The expression of the optimal path is:

[0012] In the formula, is the minimum value of the variance of the kth torque difference; The expression of the compensation force is:

[0013] In the formula, For compensation force, are the torque compensation values ​​corresponding to the rotating rod and the two connecting rods respectively, and F is the conversion function between compensation force and torque compensation.

[0014] Preferably, the step of determining the motion trajectory of the person to be rehabilitated according to the compensation force, determining the motion parameters of the rotating rod and two connecting rods connected to the rotating rod based on the motion trajectory, and establishing the target torque compensation model according to the motion parameters includes: Obtaining a first functional relationship between the motion displacement, velocity and acceleration of the end effector at time t when used by the rehabilitation population and the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods; A second functional relationship between the motion displacement, velocity and acceleration of the end effector at time t+Δt and the rotation angle, angular velocity and angular acceleration of the servo motor corresponding to the rotating rod and the two connecting rods is established according to the compensation force and the first functional relationship; Determine the rotation angle, angular velocity and angular acceleration of the servo motor corresponding to the rotating rod and the two connecting rods at time t+Δt according to the second functional relationship; A target torque compensation model is established according to the servo motor rotation angle, angular velocity and angular acceleration corresponding to the rotating rod and the two connecting rods at time t and the servo motor rotation angle, angular velocity and angular acceleration corresponding to the rotating rod and the two connecting rods at time t+Δt.

[0015] Preferably, the expression of the first functional relationship is:

[0016]

[0017]

[0018] In the formula, , , are the motion displacement, velocity and acceleration of the end effector at time t, They are the rotation angles of the servo motor corresponding to the rotating rod and the two connecting rods at time t, are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t, are the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t, respectively; G, H, and N represent the functional relationships between motion displacement and rotation angle, velocity and angular acceleration, and acceleration and angular acceleration; The expression of the second functional relationship is:

[0019]

[0020]

[0021] In the formula, are the motion displacement, velocity and acceleration of the end effector at time t+Δt, is the compensation force at time t, m represents the equivalent mass of the end effector; The expression of the target torque compensation model is:

[0022] In the formula, is the torque value of the rotating rod and the two connecting rods at time t, is the equivalent torque radius of the end effector; , , , They are the rotation angles of the servo motor corresponding to the rotating rod and the two connecting rods at time t+Δt, They are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt, They are the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt, is the inertia matrix of the upper limb rehabilitation robot, is the damping matrix of the upper limb rehabilitation robot, is the target stiffness matrix.

[0023] Preferably, after obtaining the compensation torque of the upper limb rehabilitation robot, the torque compensation method of the upper limb rehabilitation robot further includes: After the patient has undergone several training sessions, the actual movement trajectory of the patient without the assistance of the upper limb rehabilitation robot is obtained; Design the ideal virtual movement path for the patient based on the VR virtual scene; Determine the rehabilitation effect evaluation index based on the actual movement trajectory and the ideal path of virtual movement; The expression of the rehabilitation effect evaluation index is:

[0024] In the formula, As rehabilitation evaluation index, is the actual motion trajectory, It is the ideal path for virtual movement.

[0025] The present invention also proposes a torque compensation system for an upper limb rehabilitation robot, the upper limb rehabilitation robot comprising a four-link plane frame and a rotating rod, one end of the rotating rod away from the four-link plane frame is connected to a fixed rod through a first joint, and one end of the rotating rod close to the four-link plane frame is rotatably connected to the end points of two connecting rods intersecting the four-link plane frame through a second joint, the torque compensation system for the upper limb rehabilitation robot comprises: A division module, used to divide the effective motion space of the end effector of the upper limb rehabilitation robot and establish a coordinate system in the effective motion space; An acquisition module, used for sequentially acquiring a first torque function matrix and a second torque function matrix of a healthy population and a population to be rehabilitated in the effective motion space, and acquiring a compensation force of the end effector according to the first torque function matrix and the second torque function matrix; An establishment module is used to determine the motion trajectory of the person to be rehabilitated according to the compensation force, determine the motion parameters of the rotating rod and two connecting rods connected to the rotating rod based on the motion trajectory, and establish a target torque compensation model according to the motion parameters; The compensation module is used to obtain the rehabilitation needs of the current patient, determine the expected motion trajectory according to the rehabilitation needs, obtain the motion trajectory corresponding to the current patient, substitute the expected motion trajectory and the motion trajectory corresponding to the current patient into the target torque compensation model, and obtain the compensation torque of the upper limb rehabilitation robot for the current patient.

[0026] The present invention also provides a storage medium on which a computer program is stored. When the program is executed by a processor, the torque compensation method of the upper limb rehabilitation robot is implemented.

[0027] The present invention also proposes a computer, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the torque compensation method for an upper limb rehabilitation robot when executing the computer program.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: in the torque compensation method for an upper limb rehabilitation robot proposed in the present application, the patient's upper limbs are fixed at the end of the upper limb rehabilitation robot for movement, the patient's effective motion space is first divided, and a coordinate system is established, the torque function matrix of healthy people and patients to be rehabilitated in the effective motion space is obtained to calculate the compensation force of the end actuator, the motion trajectory of the group to be rehabilitated and the motion parameters of the rotating rod and two connecting rods connected to the rotating rod in the upper limb rehabilitation robot are determined based on the compensation force, and a target torque compensation model is established according to the motion parameters before and after compensation; the expected motion trajectory of rehabilitation and the current patient's own motion trajectory are determined according to the current patient's rehabilitation needs, and the compensation torque corresponding to the current patient can be obtained by substituting the expected trajectory and the own motion trajectory into the established target torque compensation model; the torque compensation of the upper limb rehabilitation robot provided by the present application can perform torque compensation according to the patient's rehabilitation needs adaptably, so that the patient's upper limbs move along the expected trajectory, thereby achieving the purpose of exercising the patient's muscles, and is suitable for large-scale promotion.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a flow chart of the torque compensation method for an upper limb rehabilitation robot in Embodiment 1 of the present invention; Figure 2 Schematic diagram of the structure of the upper limb rehabilitation robot in Embodiment 1 of the present invention; Figure 3 This is a structural block diagram of a computer in Embodiment 4 of the present invention.

[0031] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0032] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0034] Embodiment 1 See also Figure 1 , shown is the torque compensation method for the upper limb rehabilitation robot in the first embodiment of the present invention. The upper limb rehabilitation robot terminal device has three degrees of freedom. Three servo motors drive the mechanical system to complete the upper limb rehabilitation training movement. The terminal actuator supports the patient's upper limb and moves along the desired trajectory to achieve the purpose of exercising the patient's muscles. This compensation method is mainly used for hemiplegic patients with certain motor abilities. By predicting the patient's active movement intention, the motor will give a certain torque compensation to help them complete upper limb rehabilitation. Figure 2 The figure shows the structural schematic diagram of the upper limb rehabilitation robot provided by the present embodiment, the upper limb rehabilitation robot comprises a fixed rod 1, a rotating rod 2 and a four-link planar frame composed of connecting rods 3 to 6, the patient's upper limb is fixed to the end of the connecting rod 6; the fixed rod 1 is fixedly connected to the base, the fixed rod 1 is rotationally connected to the rotating rod 2 through a joint a, and the rotating rod 2 rotates around the z-axis; the connecting rod 3 and the connecting rod 5 are rotationally connected to the rotating rod 2 at joints b and b', and the joints b and b' are overlapping joints in the vertical plane, the connecting rod 3 is located between the joint b and the joint f, and the connecting rod 5 is located between the joint b' and the joint d, the end device of the upper limb rehabilitation robot has three degrees of freedom, and the mechanical system is driven by three servo motors to complete the upper limb rehabilitation training movement. In the present embodiment, the three servo motors act on the rotating rod 2, the connecting rod 3 and the connecting rod 5 respectively, and the movement of the end of the connecting rod 6 is realized through the cooperation of the four-link planar frame and the rotating rod. The upper limb rehabilitation robot also includes a reducer and a torque sensor adapted to the servo motor. The torque sensor is used to measure the torque of the servo motor acting on the rotating rod 2, the connecting rod 3 and the connecting rod 5 respectively.

[0035] Specifically, the torque compensation method of the upper limb rehabilitation robot includes steps S10 to S40: S10, dividing the effective motion space of the end effector of the upper limb rehabilitation robot and establishing a coordinate system in the effective motion space; In order to improve the compensation accuracy of the torque value, the effective motion space of the end effector of the upper limb rehabilitation robot is first divided. The effective motion space is the space that the effector can reach with the patient's arm, and a coordinate system is established in the effective motion space to facilitate the representation of the space; optionally, the effective motion space can be divided into Each portion can be considered as a grid.

[0036] S20 sequentially obtains a first torque function matrix and a second torque function matrix of a healthy population and a population to be rehabilitated in the effective motion space, and obtains a compensation force of the end effector according to the first torque function matrix and the second torque function matrix; The step of sequentially acquiring the first torque function matrix and the second torque function matrix of the healthy population and the population to be rehabilitated in the effective motion space, and acquiring the compensation force of the end effector according to the first torque function matrix and the second torque function matrix comprises: The coordinate system is marked with coordinate points based on the range of the effective motion space and the number of divided grids, and each coordinate point is taken as the center of a sphere, and the trajectory points enclosed within a sphere with a preset radius are taken as sample points of the coordinate point; The torque values ​​of the rotating rod and the two connecting rods of the healthy population and the population to be rehabilitated under the preset trajectory are respectively obtained, and the torque values ​​are sequentially allocated to the corresponding sample points to construct a first torque function matrix and a second torque function matrix; A torque difference matrix is ​​constructed based on the first torque function matrix and the second torque function matrix, and a compensation force of an end effector is determined according to the torque difference matrix.

[0037] The step of constructing a torque difference matrix based on the first torque function matrix and the second torque function matrix, and determining the compensation force of the end effector according to the torque difference matrix comprises: Calculate the torque difference variance of each element in the first torque function matrix and each element in the second torque function matrix, and construct a torque function matrix based on all torque difference variances. Torque difference matrix, where , The number of grids used to divide the effective motion space; Starting from the initial element position of the torque difference matrix, select the diagonal elements in the torque difference matrix and the row vectors and column vectors corresponding to the diagonal elements in turn. The minimum value of the variance of the torque difference; according to The torque difference variance minimum value determines an optimal path with the smallest matching distance between the first torque function matrix and the second torque function matrix; Determine the coordinate points in the second torque function matrix corresponding to the coordinate points in the first torque function matrix according to the optimal path, perform difference calculation on the torque values ​​at the corresponding coordinate points, determine the torque compensation matrix of each coordinate point in the effective motion space, and determine the torque compensation values ​​corresponding to the rotating rod and the two connecting rods based on the torque compensation matrix; The structural transmission relationship of the upper limb rehabilitation robot is obtained, and the compensation force of the end effector is determined based on the torque compensation value and the structural transmission relationship corresponding to the rotating rod and the two connecting rods.

[0038] Coordinate Point The expression is: , ,

[0039] In the formula, The effective motion space in the coordinate system is The minimum and maximum values ​​of the direction, The effective motion space in the coordinate system is Directional minimum and maximum values; The effective motion space in the coordinate system is The minimum and maximum values ​​of the direction, The effective motion space The number of grids divided in the direction, The coordinate point is Direction number; The expression of the preset radius is:

[0040] The first torque function matrix is , the second torque function matrix is ​​recorded as , The expressions of the elements in the torque difference matrix are:

[0041] In the formula, is the first Line The variance of the torque difference corresponding to the column elements, is the first torque function matrix The torque value corresponding to the element is is the second torque function matrix The torque value corresponding to each element; The expression of the optimal path is:

[0042] In the formula, is the minimum value of the variance of the kth torque difference; The expression of the compensation force is:

[0043] In the formula, For compensation force, are the torque compensation values ​​corresponding to the rotating rod and the two connecting rods respectively, and F is the conversion function between compensation force and torque compensation.

[0044] In specific implementation, each coordinate point in the effective motion space can be expressed as , since the upper limbs cannot move completely along the divided point coordinates during movement, the trajectory points near the coordinate points can be transformed so that the coordinate points divided by the trajectory points correspond to each other. Specifically, with the coordinate point as the center of the circle, the trajectory points within the preset radius near it are fitted, and the torque value of the trajectory point is the sample point of the coordinate point; the torque values ​​of each coordinate point of the healthy population and the population to be rehabilitated under the preset trajectory can be obtained in turn. The first torque function matrix is , the second torque function matrix is ​​recorded as . Matrix A and Matrix B have the same elements, both of which are indivual.

[0045] According to matrix A and matrix B, we can construct Torque difference matrix D, each element in the torque difference matrix is ​​the torque variance of each coordinate point in matrix A and matrix B; schematically, the elements in the torque difference matrix D are The values ​​are:

[0046] From the torque difference matrix D First, get the diagonal elements in the matrix and the row and column vectors corresponding to the diagonal elements in turn. Torque difference variance minimum value; schematically, the first torque difference variance minimum value is The second torque difference variance minimum is , the minimum value among the three elements, and the minimum variance of the third torque difference is , the minimum value of the five elements; and so on. The minimum variance of the torque difference is The minimum value among the elements is obtained The torque difference variance minimum value, each torque difference variance minimum value corresponds to the torque variance in matrix A and matrix B. The above can determine the optimal path with the smallest matching distance between the first torque function matrix and the second torque function matrix. According to the calculated optimal path, the corresponding coordinate point in the second torque function matrix B of the rehabilitation population corresponding to the coordinate point in the first torque function matrix A of the healthy population can be selected; by taking the difference, it can be obtained The torque compensation matrix , the elements in the torque compensation matrix correspond to the compensation values ​​of the rotating rod and the two connecting rods;

[0047] Finally, according to the structural transmission relationship of the upper limb rehabilitation robot, the conversion relationship between the torque compensation values ​​corresponding to the rotating rod and the two connecting rods and the compensation force of the end effector can be established.

[0048] S30, determining a motion trajectory of the person to be rehabilitated according to the compensation force, determining motion parameters of the rotating rod and two connecting rods connected to the rotating rod based on the motion trajectory, and establishing a target torque compensation model according to the motion parameters; The steps of determining the motion trajectory of the person to be rehabilitated according to the compensation force, determining the motion parameters of the rotating rod and two connecting rods connected to the rotating rod based on the motion trajectory, and establishing a target torque compensation model according to the motion parameters include: Obtaining a first functional relationship between the motion displacement, velocity and acceleration of the end effector at time t when used by the rehabilitation population and the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods; A second functional relationship between the motion displacement, velocity and acceleration of the end effector at time t+Δt and the rotation angle, angular velocity and angular acceleration of the servo motor corresponding to the rotating rod and the two connecting rods is established according to the compensation force and the first functional relationship; Determine the rotation angle, angular velocity and angular acceleration of the servo motor corresponding to the rotating rod and the two connecting rods at time t+Δt according to the second functional relationship; A target torque compensation model is established according to the servo motor rotation angle, angular velocity and angular acceleration corresponding to the rotating rod and the two connecting rods at time t and the servo motor rotation angle, angular velocity and angular acceleration corresponding to the rotating rod and the two connecting rods at time t+Δt.

[0049] The expression of the first functional relationship is:

[0050]

[0051]

[0052] In the formula, , , are the motion displacement, velocity and acceleration of the end effector at time t, They are the rotation angles of the servo motor corresponding to the rotating rod and the two connecting rods at time t, are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t, are the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t, respectively; G, H, and N represent the functional relationships between motion displacement and rotation angle, velocity and angular acceleration, and acceleration and angular acceleration; The expression of the second functional relationship is:

[0053]

[0054]

[0055] In the formula, are the motion displacement, velocity and acceleration of the end effector at time t+Δt, is the compensation force at time t, m represents the equivalent mass of the end effector; The expression of the target torque compensation model is:

[0056] In the formula, is the torque value of the rotating rod and the two connecting rods at time t, is the equivalent torque radius of the end effector; , , , They are the rotation angles of the servo motor corresponding to the rotating rod and the two connecting rods at time t+Δt, They are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt, They are the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt, is the inertia matrix of the upper limb rehabilitation robot, is the damping matrix of the upper limb rehabilitation robot, is the target stiffness matrix.

[0057] In the specific implementation, the inertia matrix of the upper limb rehabilitation robot in the target torque compensation model can be calculated through the motion displacement, velocity and acceleration of the end effector at time t and time t+Δt, as well as the rotation angle, rotation angular velocity and rotation angular acceleration of the servo motor corresponding to the rotating rod and the two connecting rods. , the damping matrix of the upper limb rehabilitation robot , the target stiffness matrix .

[0058] S40, obtaining the rehabilitation needs of the current patient, determining the expected motion trajectory according to the rehabilitation needs, obtaining the motion trajectory corresponding to the current patient, substituting the expected motion trajectory and the motion trajectory corresponding to the current patient into the target torque compensation model, and obtaining the compensation torque of the upper limb rehabilitation robot for the current patient.

[0059] Obtain the current patient's rehabilitation needs, determine the expected motion trajectory based on the rehabilitation needs, obtain the current patient's own motion trajectory, convert the servo motor's rotation angle, rotation angular velocity, and rotation angular acceleration based on the expected motion trajectory and the patient's own motion trajectory; calculate the inertia matrix of the upper limb rehabilitation robot in the target torque compensation model , the damping matrix of the upper limb rehabilitation robot , the target stiffness matrix After that, the converted servo motor rotation angle, rotation angular velocity, and rotation angular acceleration are substituted into the target torque compensation model to obtain the compensation torque of the current patient's upper limb rehabilitation robot for the current patient.

[0060] The calculation expression of compensation torque is:

[0061] In the formula, The current patient's compensation torque at time t, are the servo motor rotation angle, rotation angular velocity, and rotation angular acceleration corresponding to the patient's own motion trajectory at time t, They are respectively the servo motor rotation angle, rotation angular velocity, and rotation angular acceleration corresponding to the current patient's expected motion trajectory at time t.

[0062] Furthermore, in this embodiment, in order to understand the patient's rehabilitation status, the torque compensation method of the upper limb rehabilitation robot also includes: After the patient has undergone several training sessions, the actual movement trajectory of the patient without the assistance of the upper limb rehabilitation robot is obtained; Design the ideal virtual movement path for the patient based on the VR virtual scene; Determine the rehabilitation effect evaluation index based on the actual movement trajectory and the ideal path of virtual movement; The expression of the rehabilitation effect evaluation index is:

[0063] In the formula, As rehabilitation evaluation index, is the actual motion trajectory, It is the ideal path for virtual movement.

[0064] Furthermore, in this embodiment, rehabilitation evaluation can also be performed by matching the first torque function matrix and the second torque function matrix corresponding to the current patient with the optimal path with the smallest distance; from the original point of the torque difference matrix D corresponding to the current patient Start to continuously match the optimal path, accumulate and sum the previous paths, and then calculate the total distance of all the optimal paths passed:

[0065] In the formula, It represents the sum of the squares of the torque differences between the healthy population and the current patient path at the i-th row and j-th column coordinate point in the torque difference matrix; when the patient moves in the effective space, the solution can be As an evaluation indicator of the patient's recovery degree, the smaller the value, the better the recovery.

[0066] In summary, in the torque compensation method for an upper limb rehabilitation robot proposed in the present application, the patient's upper limbs are fixed at the end of the upper limb rehabilitation robot for movement. First, the patient's effective motion space is divided, and a coordinate system is established to obtain the torque function matrix of healthy people and patients to be rehabilitated in the effective motion space to calculate the compensation force of the end actuator, and the motion trajectory of the group to be rehabilitated and the motion parameters of the rotating rod and the two connecting rods connected to the rotating rod in the upper limb rehabilitation robot are determined based on the compensation force, and a target torque compensation model is established according to the motion parameters before and after compensation; the expected motion trajectory of rehabilitation and the current motion trajectory of the patient are determined according to the rehabilitation needs of the current patient, and the compensation torque corresponding to the current patient can be obtained by substituting the expected trajectory and the own motion trajectory into the established target torque compensation model; the torque compensation of the upper limb rehabilitation robot provided in the present application can perform torque compensation according to the patient's rehabilitation needs adaptably, so that the patient's upper limbs move along the expected trajectory, thereby achieving the purpose of exercising the patient's muscles, and is suitable for large-scale promotion.

[0067] Embodiment 2 The present embodiment provides a torque compensation system for an upper limb rehabilitation robot, the upper limb rehabilitation robot comprising a four-link plane frame and a rotating rod, one end of the rotating rod away from the four-link plane frame is connected to a fixed rod through a first joint, and one end of the rotating rod close to the four-link plane frame is rotatably connected to the end points of two connecting rods intersecting the four-link plane frame through a second joint, the torque compensation system for the upper limb rehabilitation robot comprises: A division module, used to divide the effective motion space of the end effector of the upper limb rehabilitation robot and establish a coordinate system in the effective motion space; An acquisition module, used for sequentially acquiring a first torque function matrix and a second torque function matrix of a healthy population and a population to be rehabilitated in the effective motion space, and acquiring a compensation force of the end effector according to the first torque function matrix and the second torque function matrix; An establishment module is used to determine the motion trajectory of the person to be rehabilitated according to the compensation force, determine the motion parameters of the rotating rod and two connecting rods connected to the rotating rod based on the motion trajectory, and establish a target torque compensation model according to the motion parameters; The compensation module is used to obtain the rehabilitation needs of the current patient, determine the expected motion trajectory according to the rehabilitation needs, obtain the motion trajectory corresponding to the current patient, substitute the expected motion trajectory and the motion trajectory corresponding to the current patient into the target torque compensation model, and obtain the compensation torque of the upper limb rehabilitation robot for the current patient.

[0068] Preferably, the step of sequentially acquiring the first torque function matrix and the second torque function matrix of the healthy population and the population to be rehabilitated in the effective motion space, and acquiring the compensation force of the end effector according to the first torque function matrix and the second torque function matrix comprises: The coordinate system is marked with coordinate points based on the range of the effective motion space and the number of divided grids, and each coordinate point is taken as the center of a sphere, and the trajectory points enclosed within a sphere with a preset radius are taken as sample points of the coordinate point; The torque values ​​of the rotating rod and the two connecting rods of the healthy population and the population to be rehabilitated under the preset trajectory are respectively obtained, and the torque values ​​are sequentially allocated to the corresponding sample points to construct a first torque function matrix and a second torque function matrix; A torque difference matrix is ​​constructed based on the first torque function matrix and the second torque function matrix, and a compensation force of an end effector is determined according to the torque difference matrix.

[0069] Preferably, the step of constructing a torque difference matrix based on the first torque function matrix and the second torque function matrix, and determining the compensation force of the end effector according to the torque difference matrix comprises: Calculate the torque difference variance of each element in the first torque function matrix and each element in the second torque function matrix, and construct a torque function matrix based on all torque difference variances. Torque difference matrix, where , The number of grids used to divide the effective motion space; Starting from the initial element position of the torque difference matrix, select the diagonal elements in the torque difference matrix and the row vectors and column vectors corresponding to the diagonal elements in turn. The minimum value of the variance of the torque difference; according to The torque difference variance minimum value determines an optimal path with the smallest matching distance between the first torque function matrix and the second torque function matrix; Determine the coordinate points in the second torque function matrix corresponding to the coordinate points in the first torque function matrix according to the optimal path, perform difference calculation on the torque values ​​at the corresponding coordinate points, determine the torque compensation matrix of each coordinate point in the effective motion space, and determine the torque compensation values ​​corresponding to the rotating rod and the two connecting rods based on the torque compensation matrix; The structural transmission relationship of the upper limb rehabilitation robot is obtained, and the compensation force of the end effector is determined based on the torque compensation value and the structural transmission relationship corresponding to the rotating rod and the two connecting rods.

[0070] Preferably, the coordinate points The expression is: , ,

[0071] In the formula, The effective motion space in the coordinate system is The minimum and maximum values ​​of the direction, The effective motion space in the coordinate system is Directional minimum and maximum values; The effective motion space in the coordinate system is The minimum and maximum values ​​of the direction, The effective motion space The number of grids divided in the direction, The coordinate point is Direction number; The expression of the preset radius is:

[0072] The first torque function matrix is , the second torque function matrix is ​​recorded as , The expressions of the elements in the torque difference matrix are:

[0073] In the formula, is the first Line The variance of the torque difference corresponding to the column elements, is the first torque function matrix The torque value corresponding to the element is is the second torque function matrix The torque value corresponding to each element; The expression of the optimal path is:

[0074] In the formula, is the minimum value of the variance of the kth torque difference; The expression of the compensation force is:

[0075] In the formula, For compensation force, are the torque compensation values ​​corresponding to the rotating rod and the two connecting rods respectively, and F is the conversion function between compensation force and torque compensation.

[0076] Preferably, the step of determining the motion trajectory of the person to be rehabilitated according to the compensation force, determining the motion parameters of the rotating rod and two connecting rods connected to the rotating rod based on the motion trajectory, and establishing the target torque compensation model according to the motion parameters includes: Obtaining a first functional relationship between the motion displacement, velocity and acceleration of the end effector at time t when used by the rehabilitation population and the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods; A second functional relationship between the motion displacement, velocity and acceleration of the end effector at time t+Δt and the rotation angle, angular velocity and angular acceleration of the servo motor corresponding to the rotating rod and the two connecting rods is established according to the compensation force and the first functional relationship; Determine the rotation angle, angular velocity and angular acceleration of the servo motor corresponding to the rotating rod and the two connecting rods at time t+Δt according to the second functional relationship; A target torque compensation model is established according to the servo motor rotation angle, angular velocity and angular acceleration corresponding to the rotating rod and the two connecting rods at time t and the servo motor rotation angle, angular velocity and angular acceleration corresponding to the rotating rod and the two connecting rods at time t+Δt.

[0077] Preferably, the expression of the first functional relationship is:

[0078]

[0079]

[0080] In the formula, , , are the motion displacement, velocity and acceleration of the end effector at time t, They are the rotation angles of the servo motor corresponding to the rotating rod and the two connecting rods at time t, are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t, are the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t, respectively; G, H, and N represent the functional relationships between motion displacement and rotation angle, velocity and angular acceleration, and acceleration and angular acceleration; The expression of the second functional relationship is:

[0081]

[0082]

[0083] In the formula, are the motion displacement, velocity and acceleration of the end effector at time t+Δt, is the compensation force at time t, m represents the equivalent mass of the end effector; The expression of the target torque compensation model is:

[0084] In the formula, is the torque value of the rotating rod and the two connecting rods at time t, is the equivalent torque radius of the end effector; , , , They are the rotation angles of the servo motor corresponding to the rotating rod and the two connecting rods at time t+Δt, They are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt, They are the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt, is the inertia matrix of the upper limb rehabilitation robot, is the damping matrix of the upper limb rehabilitation robot, is the target stiffness matrix.

[0085] Preferably, the torque compensation system for the upper limb rehabilitation robot further comprises: a rehabilitation evaluation module; the rehabilitation evaluation module is used to: After the patient has undergone several training sessions, the actual movement trajectory of the patient without the assistance of the upper limb rehabilitation robot is obtained; Design the ideal virtual movement path for the patient based on the VR virtual scene; Determine the rehabilitation effect evaluation index based on the actual movement trajectory and the ideal path of virtual movement; The expression of the rehabilitation effect evaluation index is:

[0086] In the formula, As rehabilitation evaluation index, is the actual motion trajectory, It is the ideal path for virtual movement.

[0087] Embodiment 3 A third embodiment of the present invention provides a storage medium having a computer program stored thereon, and when the program is executed by a processor, the torque compensation method for an upper limb rehabilitation robot as described above is implemented.

[0088] Embodiment 4 The present invention also provides a computer, see Figure 3 , shown is a computer in Embodiment 4 of the present invention, including a memory 10, a processor 20, and a computer program 30 stored in the memory 10 and executable on the processor 20. When the processor 20 executes the computer program 30, the above-mentioned torque compensation method for the upper limb rehabilitation robot is implemented.

[0089] The memory 10 includes at least one type of storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 10 may be an internal storage unit of a computer, such as a hard disk of the computer. In other embodiments, the memory 10 may also be an external storage device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card, etc. Further, the memory 10 may also include both an internal storage unit of the computer and an external storage device. The memory 10 may be used not only to store application software and various types of data installed in the computer, but also to temporarily store data that has been output or is to be output.

[0090] Among them, in some embodiments, the processor 20 can be an electronic control unit (Electronic Control Unit, abbreviated as ECU, also known as a vehicle computer), a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, a microprocessor or other data processing chip, used to run the program code stored in the memory 10 or process data, such as executing access restriction programs, etc.

[0091] It should be pointed out that Figure 3 The structure shown does not constitute a limitation on the computer. In other embodiments, the computer may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0092] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0093] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0094] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0095] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0096] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A torque compensation method for an upper limb rehabilitation robot, characterized in that: The upper limb rehabilitation robot comprises a four-link plane frame and a rotating rod, wherein one end of the rotating rod away from the four-link plane frame is connected to a fixed rod through a first joint, and one end of the rotating rod close to the four-link plane frame is rotatably connected to the end points of two connecting rods intersecting the four-link plane frame through a second joint. The torque compensation method of the upper limb rehabilitation robot comprises: Dividing the effective motion space of the end effector of the upper limb rehabilitation robot and establishing a coordinate system in the effective motion space; Sequentially obtaining a first torque function matrix and a second torque function matrix of a healthy population and a population to be rehabilitated in the effective motion space, and obtaining a compensation force of the end effector according to the first torque function matrix and the second torque function matrix; Determine the motion trajectory of the person to be rehabilitated according to the compensation force, determine the motion parameters of the rotating rod and two connecting rods connected to the rotating rod based on the motion trajectory, and establish a target torque compensation model according to the motion parameters; The rehabilitation needs of the current patient are obtained, the expected motion trajectory is determined according to the rehabilitation needs, the motion trajectory corresponding to the current patient is obtained, the expected motion trajectory and the motion trajectory corresponding to the current patient are substituted into the target torque compensation model, and the compensation torque of the upper limb rehabilitation robot for the current patient is obtained.

2. The torque compensation method for an upper limb rehabilitation robot according to claim 1, characterized in that: The step of sequentially acquiring the first torque function matrix and the second torque function matrix of the healthy population and the population to be rehabilitated in the effective motion space, and acquiring the compensation force of the end effector according to the first torque function matrix and the second torque function matrix comprises: The coordinate system is marked with coordinate points based on the range of the effective motion space and the number of divided grids, and each coordinate point is taken as the center of a sphere, and the trajectory points enclosed within a sphere with a preset radius are taken as sample points of the coordinate point; The torque values ​​of the rotating rod and the two connecting rods of the healthy population and the population to be rehabilitated under the preset trajectory are respectively obtained, and the torque values ​​are sequentially allocated to the corresponding sample points to construct a first torque function matrix and a second torque function matrix; A torque difference matrix is ​​constructed based on the first torque function matrix and the second torque function matrix, and a compensation force of an end effector is determined according to the torque difference matrix.

3. The torque compensation method for an upper limb rehabilitation robot according to claim 2, characterized in that: The step of constructing a torque difference matrix based on the first torque function matrix and the second torque function matrix, and determining the compensation force of the end effector according to the torque difference matrix comprises: Calculate the torque difference variance of each element in the first torque function matrix and each element in the second torque function matrix, and construct a torque function matrix based on all torque difference variances. Torque difference matrix, where , The number of grids used to divide the effective motion space; Starting from the initial element position of the torque difference matrix, select the diagonal elements in the torque difference matrix and the row vectors and column vectors corresponding to the diagonal elements in turn. The minimum value of the variance of the torque difference; according to The torque difference variance minimum value determines an optimal path with the smallest matching distance between the first torque function matrix and the second torque function matrix; Determine the coordinate points in the second torque function matrix corresponding to the coordinate points in the first torque function matrix according to the optimal path, perform difference calculation on the torque values ​​at the corresponding coordinate points, determine the torque compensation matrix of each coordinate point in the effective motion space, and determine the torque compensation values ​​corresponding to the rotating rod and the two connecting rods based on the torque compensation matrix; The structural transmission relationship of the upper limb rehabilitation robot is obtained, and the compensation force of the end effector is determined based on the torque compensation value and the structural transmission relationship corresponding to the rotating rod and the two connecting rods.

4. The torque compensation method for an upper limb rehabilitation robot according to claim 3, characterized in that: Coordinate Point The expression is: ， ， In the formula, The effective motion space in the coordinate system is The minimum and maximum values ​​of the direction, The effective motion space in the coordinate system is Directional minimum and maximum values; The effective motion space in the coordinate system is The minimum and maximum values ​​of the direction, The effective motion space The number of grids divided in the direction, The coordinate point is Direction number; The expression of the preset radius is: The first torque function matrix is , the second torque function matrix is ​​recorded as , The expressions of the elements in the torque difference matrix are: In the formula, is the first Line The variance of the torque difference corresponding to the column elements, is the first torque function matrix The torque value corresponding to the element is is the second torque function matrix The torque value corresponding to each element; The expression of the optimal path is: In the formula, is the minimum value of the variance of the kth torque difference; The expression of the compensation force is: In the formula, For compensation force, are the torque compensation values ​​corresponding to the rotating rod and the two connecting rods respectively, and F is the conversion function between compensation force and torque compensation.

5. The torque compensation method for an upper limb rehabilitation robot according to claim 4, characterized in that: The steps of determining the motion trajectory of the person to be rehabilitated according to the compensation force, determining the motion parameters of the rotating rod and two connecting rods connected to the rotating rod based on the motion trajectory, and establishing a target torque compensation model according to the motion parameters include: Obtaining a first functional relationship between the motion displacement, velocity and acceleration of the end effector at time t when used by the rehabilitation population and the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods; A second functional relationship between the motion displacement, velocity and acceleration of the end effector at time t+Δt and the rotation angle, angular velocity and angular acceleration of the servo motor corresponding to the rotating rod and the two connecting rods is established according to the compensation force and the first functional relationship; Determine the rotation angle, angular velocity and angular acceleration of the servo motor corresponding to the rotating rod and the two connecting rods at time t+Δt according to the second functional relationship; A target torque compensation model is established according to the servo motor rotation angle, angular velocity and angular acceleration corresponding to the rotating rod and the two connecting rods at time t and the servo motor rotation angle, angular velocity and angular acceleration corresponding to the rotating rod and the two connecting rods at time t+Δt.

6. The torque compensation method for an upper limb rehabilitation robot according to claim 5, characterized in that: The expression of the first functional relationship is: In the formula, , , are the motion displacement, velocity and acceleration of the end effector at time t, They are the rotation angles of the servo motor corresponding to the rotating rod and the two connecting rods at time t, are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t, are the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t, respectively; G, H, and N represent the functional relationships between motion displacement and rotation angle, velocity and angular acceleration, and acceleration and angular acceleration; The expression of the second functional relationship is: In the formula, are the motion displacement, velocity and acceleration of the end effector at time t+Δt, is the compensation force at time t, m represents the equivalent mass of the end effector; The expression of the target torque compensation model is: In the formula, is the torque value of the rotating rod and the two connecting rods at time t, is the equivalent torque radius of the end effector; , , , They are the rotation angles of the servo motor corresponding to the rotating rod and the two connecting rods at time t+Δt, They are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt, They are the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt, is the inertia matrix of the upper limb rehabilitation robot, is the damping matrix of the upper limb rehabilitation robot, is the target stiffness matrix.

7. The torque compensation method for an upper limb rehabilitation robot according to claim 1, characterized in that: After obtaining the compensation torque of the upper limb rehabilitation robot, the torque compensation method of the upper limb rehabilitation robot further includes: After the patient has undergone several training sessions, the actual movement trajectory of the patient without the assistance of the upper limb rehabilitation robot is obtained; Design the ideal virtual movement path for the patient based on the VR virtual scene; Determine the rehabilitation effect evaluation index based on the actual movement trajectory and the ideal path of virtual movement; The expression of the rehabilitation effect evaluation index is: In the formula, As rehabilitation evaluation index, is the actual motion trajectory, It is the ideal path for virtual movement.

8. A torque compensation system for an upper limb rehabilitation robot, characterized in that: The upper limb rehabilitation robot comprises a four-link plane frame and a rotating rod, wherein one end of the rotating rod away from the four-link plane frame is connected to a fixed rod through a first joint, and one end of the rotating rod close to the four-link plane frame is rotatably connected to the end points of two connecting rods intersecting the four-link plane frame through a second joint. The torque compensation system of the upper limb rehabilitation robot comprises: A division module, used to divide the effective motion space of the end effector of the upper limb rehabilitation robot and establish a coordinate system in the effective motion space; An acquisition module, used for sequentially acquiring a first torque function matrix and a second torque function matrix of a healthy population and a population to be rehabilitated in the effective motion space, and acquiring a compensation force of the end effector according to the first torque function matrix and the second torque function matrix; An establishment module is used to determine the motion trajectory of the person to be rehabilitated according to the compensation force, determine the motion parameters of the rotating rod and two connecting rods connected to the rotating rod based on the motion trajectory, and establish a target torque compensation model according to the motion parameters; The compensation module is used to obtain the rehabilitation needs of the current patient, determine the expected motion trajectory according to the rehabilitation needs, obtain the motion trajectory corresponding to the current patient, substitute the expected motion trajectory and the motion trajectory corresponding to the current patient into the target torque compensation model, and obtain the compensation torque of the upper limb rehabilitation robot for the current patient.

9. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the torque compensation method for an upper limb rehabilitation robot as described in any one of claims 1 to 7 is implemented.

10. A computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the torque compensation method for an upper limb rehabilitation robot as described in any one of claims 1 to 7 is implemented.

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