Upper limb rehabilitation robot torque compensation method, system, storage medium and computer

Abstract

The present invention provides an upper limb rehabilitation robot torque compensation method, system, storage medium and computer. The compensation method includes: dividing the effective motion space of the end effector of the upper limb rehabilitation robot, and establishing a coordinate system within the effective motion space; sequentially obtaining the torque function matrices of healthy people and people to be rehabilitated within the effective motion space, and obtaining the compensation force of the end effector according to the torque function matrices; determining the motion trajectory of the people to be rehabilitated according to the compensation force, and establishing a target torque compensation model according to the motion trajectory; obtaining the expected motion trajectory corresponding to the current patient and the corresponding motion trajectory, and substituting the expected motion trajectory and the motion trajectory corresponding to the current patient into the target torque compensation model to obtain the compensation torque of the upper limb rehabilitation robot for the current patient. The torque compensation method provided by the present invention can automatically adjust the compensation torque according to the patient's condition, and has a wide adaptation range.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly 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 functions of the shoulder, elbow, wrist, metacarpophalangeal joint and fingers. Depending on the severity of the patient's condition, upper limb rehabilitation training includes active training by the patient and passive assisted training under the guidance of a rehabilitation therapist.

[0003] Generally, mild patients use active training and can perform corresponding rehabilitation training according to their subjective consciousness. Severe patients use passive assisted training. Currently, there are mainly two common methods for upper limb rehabilitation treatment. One is to fix the upper limb of the patient to the end of the rehabilitation robot and set the movement trajectory of the rehabilitation robot to train the patient's upper limb. However, the movement trajectory of the rehabilitation robot is pre-set and lacks interaction with the patient, making it difficult to meet the actual needs of the patient. The other is for a nurse to lead the patient in exercise training and interact with the patient to help the patient complete the rehabilitation work. However, rehabilitation training assisted by a nurse requires high experience of the nurse and is difficult to popularize. 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 includes a four-bar planar frame and a rotating rod. One end of the rotating rod away from the four-bar planar frame is connected to a fixed rod through a first joint, and one end of the rotating rod close to the four-bar planar frame is rotatably connected to the end points of two connecting rods intersecting with the four-bar planar frame through a second joint. The torque compensation method for the upper limb rehabilitation robot includes:

[0006] Dividing the effective motion space of the end effector of the upper limb rehabilitation robot and establishing a coordinate system within the effective motion space;

[0007] Successively obtaining a first torque function matrix and a second torque function matrix of a healthy population and a population to be rehabilitated within the effective motion space, and obtaining the compensation force of the end effector according to the first torque function matrix and the second torque function matrix;

[0008] Determine the motion trajectory of the population to be rehabilitated according to the compensation force, determine the motion parameters of the rotating rod and the 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;

[0009] 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, and substitute the expected motion trajectory and the motion trajectory corresponding to the current patient into the target torque compensation model to obtain the compensation torque of the upper limb rehabilitation robot for the current patient.

[0010] Preferably, the step of sequentially obtaining 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 obtaining the compensation force of the end effector according to the first torque function matrix and the second torque function matrix includes:

[0011] Based on the range of the effective motion space and the number of divided grids, perform coordinate point labeling on the coordinate system, and take the trajectory points enclosed within the spherical surface with a preset radius centered on each coordinate point as the sample points of the coordinate point;

[0012] Obtain 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 respectively, and allocate them to the corresponding sample points in sequence to construct the first torque function matrix and the second torque function matrix;

[0013] Construct a torque difference matrix based on the first torque function matrix and the second torque function matrix, and determine the compensation force of the end effector according to the torque difference matrix.

[0014] 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 includes:

[0015] 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 difference matrix based on all torque difference variances, where , is the number of grids divided in the effective motion space;

[0016] Starting from the initial element position of the torque difference matrix, sequentially select the diagonal elements in the torque difference matrix and the torque difference variance minimum values in the row vectors and column vectors corresponding to the diagonal elements;

[0017] According to The minimum value of the variance of the torque difference determines the optimal path with the smallest matching distance between the first torque function matrix and the second torque function matrix;

[0018] 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, calculate the difference of 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;

[0019] Obtain the structural transmission relationship of the upper limb rehabilitation robot, and determine the compensation force of the end effector based on the torque compensation values corresponding to the rotating rod and the two connecting rods and the structural transmission relationship.

[0020] Preferably, the expression of the coordinate point is:

[0021] , ,

[0022] In the formula, are the minimum and maximum values of the effective motion space in the direction of the coordinate system respectively, are the minimum and maximum values of the effective motion space in the direction of the coordinate system respectively; are the minimum and maximum values of the effective motion space in the direction of the coordinate system respectively, are the number of grids divided by the effective motion space in the direction respectively, is the label of the coordinate point in the direction;

[0023] The expression of the preset radius is:

[0024]

[0025] The first torque function matrix is , and the second torque function matrix is denoted as ,

[0026] The expressions of the elements in the torque difference matrix are:

[0027]

[0028] In the formula, is the variance of the torque difference corresponding to the element in the th row and the th column of the torque difference matrix, is the the torque value corresponding to the element is the torque value corresponding to the th element of the second torque function matrix;

[0029] The expression of the optimal path is:

[0030]

[0031] wherein is the minimum value of the variance of the kth torque difference;

[0032] The expression of the compensation force is:

[0033]

[0034] wherein is the compensation force, are the torque compensation values corresponding to the rotating rod and the two connecting rods respectively, and F is the conversion function of the compensation force and the torque compensation.

[0035] Preferably, 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 the 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:

[0036] Obtain the first function relationship between the motion displacement, speed and acceleration of the end effector at time t when the person to be rehabilitated uses it and the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods;

[0037] Establish a second function relationship between the motion displacement, speed and acceleration of the end effector at time t+Δt and the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods according to the compensation force and the first function relationship;

[0038] Determine the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt according to the second function relationship;

[0039] Establish a target torque compensation model according to the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t and the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt.

[0040] Preferably, the expression of the first function relationship is:

[0041]

[0042]

[0043]

[0044] Wherein, 、 、 are respectively the motion displacement, velocity and acceleration of the end effector at time t, are respectively the rotation angles of the servo motors corresponding to the rotating rod and the two connecting rods at time t, are respectively the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t, are respectively the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t, and G, H, N represent the functional relationships between the motion displacement and the rotation angle, the velocity and the angular acceleration, and the acceleration and the angular acceleration;

[0045] The expression of the second functional relationship is:

[0046]

[0047]

[0048]

[0049] Wherein, are respectively the motion displacement, velocity and acceleration of the end effector at time t+Δt, is the compensation force at time t, and m represents the equivalent mass of the end effector;

[0050] The expression of the target torque compensation model is:

[0051]

[0052] Wherein, are the torque values of the rotating rod and the two connecting rods at time t, is the equivalent torque radius of the end effector;

[0053] , , , are respectively the rotation angles of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt, are respectively the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt, are respectively 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.

[0054] Preferably, after obtaining the compensation torque of the upper limb rehabilitation robot, the upper limb rehabilitation robot torque compensation method further includes:

[0055] After the patient has undergone several trainings, obtain the actual motion trajectory of the patient without the assistance of the upper limb rehabilitation robot;

[0056] Based on the VR virtual scene, design the virtual motion ideal path corresponding to the patient;

[0057] Determine the rehabilitation effect evaluation index according to the actual motion trajectory and the virtual motion ideal path;

[0058] The expression of the rehabilitation effect evaluation index is:

[0059] In the formula, is the rehabilitation evaluation index, is the actual motion trajectory, is the virtual motion ideal path.

[0060] The present invention also proposes an upper limb rehabilitation robot torque compensation system. The upper limb rehabilitation robot includes a four-bar planar frame and a rotating rod. One end of the rotating rod far from the four-bar planar frame is connected to a fixed rod through a first joint. One end of the rotating rod close to the four-bar planar frame is rotatably connected to the end points of two connecting rods intersecting with the four-bar planar frame. The upper limb rehabilitation robot torque compensation system includes:

[0061] A division module, configured to divide the effective motion space of the end effector of the upper limb rehabilitation robot and establish a coordinate system within the effective motion space;

[0062] An acquisition module, configured to sequentially acquire the first torque function matrix and the second torque function matrix of a healthy population and a population to be rehabilitated within the effective motion space, and acquire the compensation force of the end effector according to the first torque function matrix and the second torque function matrix;

[0063] A establishment module, configured to determine the motion trajectory of the population to be rehabilitated according to the compensation force, determine the motion parameters of the rotating rod and the 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;

[0064] A compensation module, configured to acquire the rehabilitation needs of the current patient, determine the expected motion trajectory according to the rehabilitation needs, acquire the motion trajectory corresponding to the current patient, and substitute the expected motion trajectory and the motion trajectory corresponding to the current patient into the target torque compensation model to obtain the compensation torque of the upper limb rehabilitation robot for the current patient.

[0065] The present invention also provides a storage medium, on which a computer program is stored. When the program is executed by a processor, the above-mentioned torque compensation method for the upper limb rehabilitation robot is implemented.

[0066] The present invention also provides a computer, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the above-mentioned torque compensation method for the upper limb rehabilitation robot is implemented.

[0067] The beneficial effects of the present invention compared with the prior art are as follows: For the torque compensation method for the upper limb rehabilitation robot proposed in this application, the upper limb of the patient is fixed at the end of the upper limb rehabilitation robot for movement. First, the effective movement space of the patient is divided, and a coordinate system is established. The torque function matrices of healthy people and patients to be rehabilitated in the effective movement space are obtained to calculate the compensation force of the end effector. Based on the compensation force, the movement trajectory of the patients to be rehabilitated and the movement parameters of the rotating rod and the two connecting rods connected to the rotating rod in the upper limb rehabilitation robot are determined. A target torque compensation model is established according to the movement parameters before and after compensation; according to the rehabilitation needs of the current patient, the expected movement trajectory of rehabilitation and the movement trajectory of the current patient himself are determined. After substituting the expected trajectory and the self-movement trajectory into the established target torque compensation model, the compensation torque corresponding to the current patient can be obtained; the torque compensation of the upper limb rehabilitation robot provided in this application can adaptively perform torque compensation according to the rehabilitation needs of the patient, so that the upper limb of the patient moves along the expected trajectory, achieving the purpose of exercising the patient's muscles and being suitable for wide promotion.

[0068] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0069] Figure 1 It is a flowchart of the torque compensation method for the upper limb rehabilitation robot in Embodiment 1 of the present invention;

[0070] Figure 2 It is a schematic structural diagram of the upper limb rehabilitation robot in Embodiment 1 of the present invention;

[0071] Figure 3 It is a structural block diagram of the computer in Embodiment 4 of the present invention.

[0072] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. Specific Embodiments

[0073] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are shown 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, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0074] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the specification of the present invention herein 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.

[0075] Embodiment 1

[0076] Please refer to Figure 1 , which shows the torque compensation method of the upper limb rehabilitation robot in Embodiment 1 of the present invention. The end device of the upper limb rehabilitation robot has three degrees of freedom, and three servo motors drive the mechanical system to complete the upper limb rehabilitation training movement. The end effector holds 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 gives corresponding torque compensation to help them complete upper limb rehabilitation. As Figure 2 shown in the structure schematic diagram of the upper limb rehabilitation robot provided in this embodiment, the upper limb rehabilitation robot includes a fixed rod 1, a rotating rod 2, and a four-bar planar frame composed of connecting rods 3 to 6. The patient's upper limb is fixed to the end of connecting rod 6; the fixed rod 1 is fixedly connected to the base, and the fixed rod 1 is rotatably connected to the rotating rod 2 through joint a, and the rotating rod 2 rotates around the z-axis; connecting rods 3 and 5 are rotatably connected to the rotating rod 2 at joints b and b', and joints b and b' are overlapping joints in the vertical plane. Connecting rod 3 is located between joint b and joint f, and connecting rod 5 is located between joint b' and joint d. The end device of the upper limb rehabilitation robot has three degrees of freedom, and three servo motors drive the mechanical system to complete the upper limb rehabilitation training movement. In this embodiment, the three servo motors act on the rotating rod 2, connecting rod 3, and connecting rod 5 respectively, and through the cooperation of the four-bar planar frame and the rotating rod, the movement of the end of connecting rod 6 is realized. The upper limb rehabilitation robot also includes a speed reducer and a torque sensor adapted to the servo motor, and the torque sensor is used to measure the torque of the servo motor acting on the rotating rod 2, connecting rod 3, and connecting rod 5 respectively.

[0077] Specifically, the torque compensation method of the upper limb rehabilitation robot specifically includes steps S10 to S40:

[0078] S10. Divide the effective motion space of the end effector of the upper limb rehabilitation robot, and establish a coordinate system within the effective motion space;

[0079] To improve the compensation accuracy of the torque value, first divide the effective motion space of the end effector of the upper limb rehabilitation robot. The effective motion space is the space that the end effector can reach with the patient's arm, and establish a coordinate system within the effective motion space to facilitate the representation of the space. Optionally, the effective motion space can be divided into parts, and each part can be regarded as a grid.

[0080] S20. Sequentially obtain the first torque function matrix and the second torque function matrix of the healthy population and the population to be rehabilitated within the effective motion space, and obtain the compensation force of the end effector according to the first torque function matrix and the second torque function matrix;

[0081] The steps of sequentially obtaining the first torque function matrix and the second torque function matrix of the healthy population and the population to be rehabilitated within the effective motion space, and obtaining the compensation force of the end effector according to the first torque function matrix and the second torque function matrix include:

[0082] Based on the range of the effective motion space and the number of divided grids, label the coordinate points of the coordinate system. Taking each coordinate point as the center of the sphere, the trajectory points enclosed within the sphere with a preset radius are used as the sample points of the coordinate point;

[0083] Respectively obtain 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, and sequentially assign them to the corresponding sample points to construct the first torque function matrix and the second torque function matrix;

[0084] Based on the first torque function matrix and the second torque function matrix, construct a torque difference matrix, and determine the compensation force of the end effector according to the torque difference matrix.

[0085] The steps 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 include:

[0086] Calculate the variance of the torque difference between each element in the first torque function matrix and each element in the second torque function matrix, and construct a torque difference matrix based on all the torque difference variances, where , is the number of grids divided in the effective motion space;

[0087] Starting from the initial element position of the torque difference matrix, successively select the diagonal elements in the torque difference matrix, as well as the minimum values of the torque difference variances in the row vectors and column vectors corresponding to the diagonal elements; minimum values of the torque difference variances;

[0088] According to the minimum values of the torque difference variances, determine the optimal path with the smallest matching distance between the first torque function matrix and the second torque function matrix;

[0089] According to the optimal path, determine the coordinate points in the second torque function matrix corresponding to the coordinate points in the first torque function matrix, perform a difference calculation on the torque values at the corresponding coordinate points, determine the torque compensation matrix for each coordinate point in the effective motion space, and based on the torque compensation matrix, determine the torque compensation values corresponding to the rotating rod and the two connecting rods;

[0090] Obtain the structural transmission relationship of the upper limb rehabilitation robot, and based on the torque compensation values corresponding to the rotating rod and the two connecting rods and the structural transmission relationship, determine the compensation force of the end effector.

[0091] Coordinate point The expression is:

[0092] , ,

[0093] In the formula, are respectively the minimum value and the maximum value of the effective motion space in the direction, are respectively the minimum value and the maximum value of the effective motion space in the direction; are respectively the minimum value and the maximum value of the effective motion space in the direction, are respectively the number of grids divided by the effective motion space in the direction, is the label of the coordinate point in the direction;

[0094] The expression of the preset radius is:

[0095]

[0096] The first torque function matrix is , and the second torque function matrix is denoted as ,

[0097] The expression of each element in the torque difference matrix is:

[0098]

[0099] In the formula, is the variance of the torque difference corresponding to the element in the th row and th column of the torque difference matrix, is the torque value corresponding to the th element of the first torque function matrix, is the torque value corresponding to the th element of the second torque function matrix;

[0100] The expression of the optimal path is:

[0101]

[0102] In the formula, is the minimum value of the kth torque difference variance;

[0103] The expression of the compensation force is:

[0104]

[0105] In the formula, is the compensation force, are the torque compensation values corresponding to the rotating rod and the two connecting rods respectively, and F is the conversion function of the compensation force and the torque compensation.

[0106] In specific implementation, each coordinate point in the effective motion space can be expressed as . Since the upper limb cannot move completely along the divided point coordinates during the movement process, the trajectory points near the coordinate points can be transformed so that the coordinate points divided by the trajectory points correspond. Specifically, with the coordinate point as the center, the trajectory points within a preset radius near it are fitted, and the trajectory point torque value is the sample point of this 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 sequence. The first torque function matrix is , and the second torque function matrix is denoted as . The matrices A and B contain the same elements, both of which are in number.

[0107] According to the matrices A and B, a torque difference matrix D can be constructed. Each element in the torque difference matrix is the torque variance of each coordinate point in the matrices A and B. Schematically, the value of the element in the torque difference matrix D is:

[0108]

[0109] From the Start by sequentially obtaining the diagonal elements in the matrix, as well as the minimum values of the variances of the torque differences in the row vectors and column vectors corresponding to the diagonal elements. The minimum value of the variance of the torque differences; schematically, the first minimum value of the variance of the torque differences is The second minimum value of the variance of the torque differences is The minimum value among the three elements, and the third minimum value of the variance of the torque differences is The minimum value among the five elements; and so on. The th minimum value of the variance of the torque differences is the minimum value among elements, obtaining minimum values of the variances of the torque differences. Each minimum value of the variance of the torque differences corresponds to the torque variance in matrix A and matrix B. Thus, the optimal path with the minimum matching distance between the first torque function matrix and the second torque function matrix can be determined. According to the calculated optimal path, the corresponding coordinate points in the second torque function matrix B of the target rehabilitation population can be selected for the coordinate points in the first torque function matrix A of the healthy population; by taking the difference, the torque compensation matrix can be obtained. The elements in the torque compensation matrix correspond to the compensation values of the rotating rod and the two connecting rods.

[0110]

[0111] Finally, according to the structural transmission relationship of the upper limb rehabilitation robot, the conversion relationship between the compensation values of the rotating rod and the two connecting rods and the compensation force of the end effector can be established.

[0112] S30. Determine the motion trajectory of the target rehabilitation population according to the compensation force, determine the motion parameters of the rotating rod and the 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;

[0113] The steps of determining the motion trajectory of the target rehabilitation population according to the compensation force, determining the motion parameters of the rotating rod and the two connecting rods connected to the rotating rod based on the motion trajectory, and establishing a target torque compensation model include:

[0114] Obtain the first function relationship between the motion displacement, velocity, and acceleration of the end effector at time t when the target rehabilitation population uses it and the rotation angle, angular velocity, and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods;

[0115] Establish the second function 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 motors corresponding to the rotating rod and the two connecting rods according to the compensation force and the first function relationship;

[0116] Determine the rotation angles, angular velocities, and angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at the moment of \(t + \Delta t\) according to the second functional relationship;

[0117] Establish a target torque compensation model based on the rotation angles, angular velocities, and angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at the moment of \(t\) and the rotation angles, angular velocities, and angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at the moment of \(t + \Delta t\).

[0118] The expression of the first functional relationship is:

[0119]

[0120]

[0121]

[0122] In the formula, and and are respectively the motion displacement, velocity, and acceleration of the end effector at the moment of \(t\), are respectively the rotation angles of the servo motors corresponding to the rotating rod and the two connecting rods at the moment of \(t\), are respectively the rotational angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at the moment of \(t\), are respectively the rotational angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at the moment of \(t\), and \(G\), \(H\), and \(N\) represent the functional relationships between the motion displacement and the rotation angle, the velocity and the angular acceleration, and the acceleration and the angular acceleration;

[0123] The expression of the second functional relationship is:

[0124]

[0125]

[0126]

[0127] In the formula, are respectively the motion displacement, velocity, and acceleration of the end effector at the moment of \(t + \Delta t\), is the compensation force at the moment of \(t\), and \(m\) represents the equivalent mass of the end effector;

[0128] The expression of the target torque compensation model is:

[0129]

[0130] In the formula, is the torque value of the rotating rod and the two connecting rods at the moment of \(t\), is the equivalent torque radius of the end effector;

[0131] , , , are the rotation angles of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt, respectively. are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt, respectively. are the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt, respectively. 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.

[0132] In specific implementation, through the motion displacements, velocities and accelerations of the end effector at time t and time t + Δt, as well as the rotation angles, angular velocities and angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods, the inertia matrix of the upper limb rehabilitation robot in the target torque compensation model can be calculated. , the damping matrix of the upper limb rehabilitation robot , the target stiffness matrix .

[0133] S40. Obtain the rehabilitation needs of the current patient, determine the desired motion trajectory according to the rehabilitation needs, obtain the motion trajectory corresponding to the current patient, and substitute the desired motion trajectory and the motion trajectory corresponding to the current patient into the target torque compensation model to obtain the compensation torque of the upper limb rehabilitation robot for the current patient.

[0134] Obtain the rehabilitation needs of the current patient, determine the desired motion trajectory according to the rehabilitation needs, obtain the motion trajectory that the current patient can move by himself, perform conversions of the rotation angles, angular velocities and angular accelerations of the servo motors according to the desired motion trajectory and the motion trajectory that the patient can move by himself; 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; substitute the converted rotation angles, angular velocities and angular accelerations of the servo motors into the target torque compensation model, and the compensation torque of the upper limb rehabilitation robot for the current patient can be obtained.

[0135] The calculation expression of the compensation torque is:

[0136]

[0137] In the formula, is the compensation torque of the current patient at time t, They are respectively the rotation angle, rotation angular velocity, and rotation angular acceleration of the servo motor corresponding to the current patient's own motion trajectory at time t. They are respectively the rotation angle, rotation angular velocity, and rotation angular acceleration of the servo motor corresponding to the current patient's desired motion trajectory at time t.

[0138] Furthermore, in this embodiment, to understand the patient's rehabilitation situation, the torque compensation method of the upper limb rehabilitation robot further includes:

[0139] After the patient has undergone several trainings, obtain the actual motion trajectory of the patient without the assistance of the upper limb rehabilitation robot.

[0140] Based on the VR virtual scene, design the virtual motion ideal path corresponding to the patient.

[0141] Determine the rehabilitation effect evaluation index according to the actual motion trajectory and the virtual motion ideal path.

[0142] The expression of the rehabilitation effect evaluation index is:

[0143] In the formula, is the rehabilitation evaluation index, is the actual motion trajectory, is the virtual motion ideal path.

[0144] Furthermore, in this embodiment, rehabilitation evaluation can also be performed through the first torque function matrix and the optimal path with the smallest matching distance from the second torque function matrix corresponding to the current patient; starting from the original point of the torque difference matrix D corresponding to the current patient continuously match the optimal path, and accumulate and sum the previous paths, then the total distance of all passed optimal paths can be calculated as:

[0145]

[0146] In the formula, represents the sum of the squares of the torque differences between the healthy population and the current patient's path at the coordinate point in the i-th row and j-th column of the torque difference matrix; when the patient moves in the effective space, the can be solved as an evaluation index of the patient's rehabilitation degree, and the smaller this value is, the better the patient's rehabilitation situation.

[0147] In summary, for the torque compensation method of the upper limb rehabilitation robot proposed in this application, the upper limb of the patient is fixed at the end of the upper limb rehabilitation robot for movement. First, the effective movement space of the patient is divided, and a coordinate system is established. The torque function matrices of healthy people and patients to be rehabilitated in the effective movement space are obtained to calculate the compensation force of the end effector. Based on the compensation force, the movement trajectory of the patient to be rehabilitated and the movement parameters of the rotating rod and the two connecting rods connected to the rotating rod in the upper limb rehabilitation robot are determined. A target torque compensation model is established according to the movement parameters before and after compensation; according to the rehabilitation needs of the current patient, the expected movement trajectory of rehabilitation and the movement trajectory of the current patient himself are determined. After substituting the expected trajectory and the self-movement trajectory into the established target torque compensation model, the compensation torque corresponding to the current patient can be obtained. The torque compensation of the upper limb rehabilitation robot provided in this application can adaptively perform torque compensation according to the rehabilitation needs of the patient, so that the upper limb of the patient moves along the expected trajectory, achieving the purpose of exercising the patient's muscles and is suitable for large-scale promotion.

[0148] Embodiment 2

[0149] This embodiment provides an upper limb rehabilitation robot torque compensation system. The upper limb rehabilitation robot includes a four-bar planar frame and a rotating rod. One end of the rotating rod far from the four-bar planar frame is connected to a fixed rod through a first joint. One end of the rotating rod close to the four-bar planar frame is rotatably connected to the endpoints of two connecting rods intersecting with the four-bar planar frame. The upper limb rehabilitation robot torque compensation system includes:

[0150] A division module for dividing the effective movement space of the end effector of the upper limb rehabilitation robot and establishing a coordinate system within the effective movement space;

[0151] An acquisition module for sequentially acquiring the first torque function matrix and the second torque function matrix of healthy people and patients to be rehabilitated in the effective movement space, and obtaining the compensation force of the end effector according to the first torque function matrix and the second torque function matrix;

[0152] A building module for determining the movement trajectory of the patient to be rehabilitated according to the compensation force, determining the movement parameters of the rotating rod and the two connecting rods connected to the rotating rod based on the movement trajectory, and establishing a target torque compensation model according to the movement parameters;

[0153] A compensation module for obtaining the rehabilitation needs of the current patient, determining the expected movement trajectory according to the rehabilitation needs, obtaining the movement trajectory corresponding to the current patient, and substituting the expected movement trajectory and the movement trajectory corresponding to the current patient into the target torque compensation model to obtain the compensation torque of the upper limb rehabilitation robot for the current patient.

[0154] Preferably, the step of sequentially obtaining 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 obtaining the compensation force of the end effector according to the first torque function matrix and the second torque function matrix includes:

[0155] Based on the range of the effective motion space and the number of divided grids, perform coordinate point labeling on the coordinate system. Taking each coordinate point as the center of a sphere, the trajectory points enclosed within a sphere with a preset radius are used as the sample points of this coordinate point;

[0156] Respectively obtain 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, and sequentially assign them to the corresponding sample points to construct the first torque function matrix and the second torque function matrix;

[0157] Based on the first torque function matrix and the second torque function matrix, construct a torque difference matrix, and determine the compensation force of the end effector according to the torque difference matrix.

[0158] 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 includes:

[0159] Calculate the torque difference variance between each element in the first torque function matrix and each element in the second torque function matrix, and construct a torque difference matrix based on all torque difference variances, where , is the number of grids divided in the effective motion space;

[0160] Starting from the initial element position of the torque difference matrix, sequentially select each diagonal element in the torque difference matrix and the minimum values of the torque difference variances in the row vectors and column vectors corresponding to the diagonal elements;

[0161] According to the minimum values of the torque difference variances, determine the optimal path with the smallest matching distance between the first torque function matrix and the second torque function matrix;

[0162] According to the optimal path, determine the coordinate points in the first torque function matrix corresponding to the coordinate points in the second torque function matrix, perform a subtraction calculation on the torque values at the corresponding coordinate points, determine the torque compensation matrix for 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;

[0163] Obtain the structural transmission relationship of the upper limb rehabilitation robot, and determine the compensation force of the end effector based on the torque compensation values corresponding to the rotating rod and the two connecting rods and the structural transmission relationship.

[0164] Preferably, the coordinate point has the following expression:

[0165] , ,

[0166] wherein, are respectively the minimum and maximum values of the effective motion space in the direction of the coordinate system, are respectively the minimum and maximum values of the effective motion space in the direction of the coordinate system; are respectively the minimum and maximum values of the effective motion space in the direction of the coordinate system, are respectively the number of grids divided in the direction within the effective motion space, is the label of the coordinate point in the direction;

[0167] The expression of the preset radius is:

[0168]

[0169] The first torque function matrix is , and the second torque function matrix is denoted as ,

[0170] The expressions of the elements in the torque difference matrix are:

[0171]

[0172] wherein, is the torque difference variance corresponding to the element in the th row and th column of the torque difference matrix, is the torque value corresponding to the th element of the first torque function matrix, is the torque value corresponding to the th element of the second torque function matrix;

[0173] The expression of the optimal path is:

[0174]

[0175] wherein, is the k-th minimum value of the torque difference variance;

[0176] The expression of the compensation force is as follows:

[0177]

[0178] In the formula, is the 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 the compensation force and the torque compensation.

[0179] Preferably, the steps of determining the motion trajectory of the population to be rehabilitated according to the compensation force, determining the motion parameters of the rotating rod and the 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:

[0180] Obtaining a first functional relationship between the motion displacement, velocity and acceleration of the end effector at time t when used by the population to be rehabilitated and the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods;

[0181] Establishing 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 motors corresponding to the rotating rod and the two connecting rods according to the compensation force and the first functional relationship;

[0182] Determining the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt according to the second functional relationship;

[0183] Establishing a target torque compensation model according to the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t and the rotation angle, angular velocity and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt.

[0184] Preferably, the expression of the first functional relationship is:

[0185]

[0186]

[0187]

[0188] In the formula, 、 、 are the motion displacement, velocity and acceleration of the end effector at time t respectively, are the rotation angles of the servo motors corresponding to the rotating rod and the two connecting rods at time t respectively, are the rotational angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t respectively, 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 the motion displacement and the rotation angle, the velocity and the angular acceleration, and the acceleration and the angular acceleration;

[0189] The expression of the second functional relationship is:

[0190]

[0191]

[0192]

[0193] In the formula, are the motion displacement, velocity, and acceleration of the end effector at time t + Δt, respectively, is the compensation force at time t, and m represents the equivalent mass of the end effector;

[0194] The expression of the target torque compensation model is:

[0195]

[0196] In the formula, are the torque values of the rotating rod and the two connecting rods at time t, is the equivalent torque radius of the end effector;

[0197] , , , are the rotation angles of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt, respectively, are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt, respectively, are the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt, respectively, 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.

[0198] Preferably, the torque compensation system of the upper limb rehabilitation robot further includes: a rehabilitation evaluation module; the rehabilitation evaluation module is used for:

[0199] After the patient has undergone several trainings, obtain the actual motion trajectory of the patient without the assistance of the upper limb rehabilitation robot;

[0200] Based on the VR virtual scene, design the virtual motion ideal path corresponding to the patient;

[0201] Determine the rehabilitation effect evaluation index according to the actual motion trajectory and the ideal path of virtual motion;

[0202] The expression of the rehabilitation effect evaluation index is:

[0203] In the formula, is the rehabilitation evaluation index, is the actual motion trajectory, is the ideal path of virtual motion.

[0204] Embodiment III

[0205] Embodiment III of the present invention proposes a storage medium, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned torque compensation method for an upper limb rehabilitation robot is implemented.

[0206] Embodiment IV

[0207] The present invention also proposes a computer. Please refer to Figure 3 , which shows the computer in Embodiment IV of the present invention, including a memory 10, a processor 20, and a computer program 30 stored on 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 an upper limb rehabilitation robot is implemented.

[0208] Among them, the memory 10 includes at least one type of storage medium, and the storage medium includes flash memory, hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. The memory 10 can be an internal storage unit of the computer in some embodiments, such as the hard disk of the computer. The memory 10 can also be an external storage device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 10 can also include both an internal storage unit and an external storage device of the computer. The memory 10 can be used not only to store application software installed on the computer and various types of data, but also to temporarily store data that has been output or will be output.

[0209] Among them, the processor 20 can be an Electronic Control Unit (ECU, also known as a vehicle computer), a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips in some embodiments, and is used to run the program code stored in the memory 10 or process data, such as executing an access restriction program, etc.

[0210] It should be noted that Figure 3 the structures shown do not constitute a limitation on the computer. In other embodiments, the computer may include fewer or more components than shown, or combine certain components, or have a different component arrangement.

[0211] Those skilled in the art will understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a definable sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0212] More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion (electronic device) having one or more wirings, a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other suitable processing as necessary, and then stored in a computer memory.

[0213] 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 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 in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0214] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity in description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0215] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, 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 appended claims.

Claims

1. An upper limb rehabilitation robot torque compensation method, characterized in that, The upper limb rehabilitation robot includes a four-bar planar frame and a rotating rod. One end of the rotating rod away from the four-bar planar frame is connected to a fixed rod through a first joint. One end of the rotating rod close to the four-bar planar frame is rotatably connected to the endpoints of two connecting rods intersecting with the four-bar planar frame through a second joint. The torque compensation method for the upper limb rehabilitation robot includes: Dividing the effective motion space of the end effector of the upper limb rehabilitation robot and establishing a coordinate system within the effective motion space; Successively obtaining the first torque function matrix and the second torque function matrix of healthy people and people to be rehabilitated within the effective motion space, and obtaining the compensation force of the end effector according to the first torque function matrix and the second torque function matrix; Determining the motion trajectory of the people to be rehabilitated according to the compensation force, determining the motion parameters of the rotating rod and the 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; Obtaining the rehabilitation requirements of the current patient, determining the expected motion trajectory according to the rehabilitation requirements, obtaining the corresponding motion trajectory of the current patient, and substituting the expected motion trajectory and the corresponding motion trajectory of the current patient into the target torque compensation model to obtain the compensation torque of the upper limb rehabilitation robot for the current patient; The step of successively obtaining the first torque function matrix and the second torque function matrix of healthy people and people to be rehabilitated within the effective motion space, and obtaining the compensation force of the end effector according to the first torque function matrix and the second torque function matrix includes: Labeling the coordinate points of the coordinate system based on the range of the effective motion space and the number of divided grids. Taking the trajectory points enclosed within the spherical surface with a preset radius centered on each coordinate point as the sample points of the coordinate point; Respectively obtaining the torque values of the rotating rod and the two connecting rods of healthy people and people to be rehabilitated under a preset trajectory, and successively allocating them to the corresponding sample points to construct a first torque function matrix and a second torque function matrix; 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; 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 includes: Calculate the variance of the torque difference between each element in the first torque function matrix and each element in the second torque function matrix, and construct a torque difference matrix based on all the variances of the torque differences, where , is the number of grids for the effective motion space division; Starting from the initial element position of the torque difference matrix, successively select the diagonal elements in the torque difference matrix and the minimum values of the torque difference variances in the corresponding row vectors and column vectors of the diagonal elements; According to determine the optimal path with the smallest matching distance between the first torque function matrix and the second torque function matrix based on the minimum value of the variance of the torque difference Determining the corresponding coordinate points in the second torque function matrix for the coordinate points in the first torque function matrix according to the optimal path, performing a difference calculation on the torque values at the corresponding coordinate points, determining the torque compensation matrix for each coordinate point within the effective motion space, and determining the corresponding torque compensation values for the rotating rod and the two connecting rods based on the torque compensation matrix; Obtaining the structural transmission relationship of the upper limb rehabilitation robot, and determining the compensation force of the end effector based on the corresponding torque compensation values of the rotating rod and the two connecting rods and the structural transmission relationship; The steps of determining the motion trajectory of the population to be rehabilitated according to the compensation force, determining the motion parameters of the rotating rod and the 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 population to be rehabilitated and the rotation angle, angular velocity, and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods; Establishing 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 motors corresponding to the rotating rod and the two connecting rods according to the compensation force and the first functional relationship; Determining the rotation angle, angular velocity, and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt according to the second functional relationship; Establishing a target torque compensation model according to the rotation angle, angular velocity, and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t and the rotation angle, angular velocity, and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t+Δt; The expression of the first functional relationship is: wherein, , , are respectively the motion displacement, velocity and acceleration of the end effector at time t, are respectively the rotation angles of the servo motors corresponding to the rotating rod and the two connecting rods at time t, are respectively the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t, are respectively the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t, and G, H, and N represent the functional relationships between the motion displacement and the rotation angle, the velocity and the angular acceleration, and the acceleration and the angular acceleration; The expression of the second functional relationship is: In the formula, are respectively the motion displacement, velocity and acceleration of the end effector at time t+Δt, is the compensation force at time t, and 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; , , , are the rotation angles of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt, are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt, 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.

2. The upper limb rehabilitation robot torque compensation method according to claim 1, wherein Coordinate point The expression is: ， ， In the formula, are the minimum and maximum values of the effective motion space in the coordinate system direction, are the minimum and maximum values of the effective motion space in the coordinate system direction; are the minimum and maximum values of the effective motion space in the coordinate system direction, are the number of grids divided by the effective motion space in the direction, is the label of the coordinate point in the direction; The expression of the preset radius is: The first torque function matrix is , and the second torque function matrix is denoted as , The expressions of the elements in the torque difference matrix are: In the formula, is the variance of the torque difference corresponding to the element in the th row and th column of the torque difference matrix, is the torque value corresponding to the th element of the first torque function matrix, is the torque value corresponding to the th element of the second torque function matrix; The expression of the optimal path is: In the formula, is the minimum value of the variance of the k-th torque difference; The expression of the compensation force is: In the formula, is the compensation force, are the torque compensation values corresponding to the rotating rod and the two connecting rods respectively, and F is the conversion function of the compensation force and the torque compensation.

3. The torque compensation method for the upper limb rehabilitation robot according to claim 1, wherein After obtaining the compensation torque of the upper limb rehabilitation robot, the upper limb rehabilitation robot torque compensation method further includes: After the patient undergoes several trainings, obtaining the actual motion trajectory of the patient without the assistance of the upper limb rehabilitation robot; Designing a virtual motion ideal path corresponding to the patient based on the VR virtual scene; Determining a rehabilitation effect evaluation index according to the actual motion trajectory and the virtual motion ideal path; The expression of the rehabilitation effect evaluation index is as follows: In the formula, is the rehabilitation evaluation index, is the actual motion trajectory, is the ideal path of the virtual motion.

4. An upper limb rehabilitation robot torque compensation system, characterized in that, The upper limb rehabilitation robot includes a four-bar planar frame and a rotating rod. One end of the rotating rod far from the four-bar planar frame is connected to a fixed rod through a first joint. One end of the rotating rod close to the four-bar planar frame is rotatably connected to the endpoints of two connecting rods intersecting with the four-bar planar frame through a second joint. The upper limb rehabilitation robot torque compensation system includes: A partitioning module, configured to partition the effective motion space of the end effector of the upper limb rehabilitation robot and establish a coordinate system within the effective motion space; An acquisition module, configured to sequentially acquire a first torque function matrix and a second torque function matrix of a healthy population and a population to be rehabilitated within the effective motion space, and acquire the compensation force of the end effector according to the first torque function matrix and the second torque function matrix; A building module, configured to determine the motion trajectory of the population to be rehabilitated according to the compensation force, determine the motion parameters of the rotating rod and the 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; A compensation module, configured 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, and substitute the expected motion trajectory and the motion trajectory corresponding to the current patient into the target torque compensation model to obtain the compensation torque of the upper limb rehabilitation robot for the current patient; The step of sequentially obtaining 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 obtaining the compensation force of the end effector according to the first torque function matrix and the second torque function matrix includes: Based on the range of the effective motion space and the number of divided grids, perform coordinate point labeling on the coordinate system, and take the trajectory points enclosed within the spherical surface with a preset radius centered on each coordinate point as the sample points of the coordinate point; Respectively obtain 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, and sequentially allocate them to the corresponding sample points to construct the first torque function matrix and the second torque function matrix; Construct a torque difference matrix based on the first torque function matrix and the second torque function matrix, and determine the compensation force of the end effector according to the torque difference matrix; 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 includes: Calculate the variance of the torque difference between each element in the first torque function matrix and each element in the second torque function matrix, and construct a torque difference matrix based on all the variances of the torque differences, where , is the number of grids for the effective motion space division; Starting from the initial element position of the torque difference matrix, successively select the diagonal elements in the torque difference matrix and the minimum values of the variances of the torque differences in the row vectors and column vectors corresponding to the diagonal elements minima of the torque difference variances; According to determine the optimal path with the smallest matching distance between the first torque function matrix and the second torque function matrix based on the minimum variance of the torque difference 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 a 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; Obtain the structural transmission relationship of the upper limb rehabilitation robot, and determine the compensation force of the end effector based on the torque compensation values corresponding to the rotating rod and the two connecting rods and the structural transmission relationship; The step of determining the motion trajectory of the population to be rehabilitated according to the compensation force, determining the motion parameters of the rotating rod and the 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 includes: Obtain the first functional relationship between the motion displacement, speed, and acceleration of the end effector at time t when the population to be rehabilitated uses it and the rotation angle, angular velocity, and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods; Establish a second functional relationship between the motion displacement, speed, and acceleration of the end effector at time t + Δt and the rotation angle, angular velocity, and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods according to the compensation force and the first functional relationship; Determine the rotation angle, angular velocity, and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt according to the second functional relationship; Establish a target torque compensation model according to the rotation angle, angular velocity, and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t and the rotation angle, angular velocity, and angular acceleration of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt; The expression of the first functional relationship is: Wherein, , , are respectively the moving displacement, velocity and acceleration of the end effector at time t, are respectively the rotation angles of the servo motors corresponding to the rotating rod and the two connecting rods at time t, are respectively the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t, are respectively the angular accelerations of the servo motors corresponding to the rotating rod and the two connecting rods at time t, and G, H, and N represent the functional relationships between the moving displacement and the rotation angle, the velocity and the angular acceleration, and the acceleration and the angular acceleration; The expression of the second functional relationship is as follows: wherein, are respectively the motion displacement, velocity and acceleration of the end effector at the moment of t+Δt, is the compensation force at the moment of t, and m represents the equivalent mass of the end effector; The expression of the target torque compensation model is as follows: wherein, 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; , , , are the rotation angles of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt, are the angular velocities of the servo motors corresponding to the rotating rod and the two connecting rods at time t + Δt, 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.

5. A storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the torque compensation method for the upper limb rehabilitation robot according to any one of claims 1 to 3.

6. A computer, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the torque compensation method for the upper limb rehabilitation robot according to any one of claims 1 to 3.

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