A collaborative rehabilitation method, system, terminal, and storage medium based on upper limb exoskeleton task-driven approach for healthy and affected sides.

By using a collaborative rehabilitation method based on an upper limb exoskeleton device, which utilizes surface-mounted electromyography sensors and a DMP model, the healthy and affected sides can work together. This solves the applicability problem of mirror rehabilitation method for patients with bilateral injuries and improves rehabilitation effect and limb coordination.

CN120260820BActive Publication Date: 2026-05-26SHENZHEN TECH UNIV
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Patent Information

Application Number
CN202510410955.2
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2025-04-02
Publication Date
2026-05-26
Estimated Expiration
2045-04-02

AI Technical Summary

Technical Problem

The existing mirror rehabilitation method has limited applicability to patients with bilateral injuries, poor rehabilitation effects, and requires precise synchronization control and personalized parameter adjustment, which may lead to over-reliance on the healthy limb and weaken the independent movement ability of the injured limb.

Method used

By acquiring patient disease information, assessing upper limb functional status, matching upper limb exoskeleton devices and wearing surface-mounted electromyography (EMG) sensors, collecting EMG signals from the healthy side, establishing a muscle model, estimating movement intention, using the DMP model to generate movement trajectories on the affected side, setting up bi-arm collaborative rehabilitation tasks, and achieving collaboration between the healthy and affected sides.

Benefits of technology

It promotes the recovery of function in damaged limbs, enhances motor control and bilateral limb coordination, improves rehabilitation outcomes through asymmetrical movement exercises, meets individualized needs, and aligns with the patient's rehabilitation process.

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Abstract

This invention discloses a method, system, terminal, and storage medium for collaborative rehabilitation of the healthy and affected sides based on task-driven upper limb exoskeleton. The method includes: having the target patient wear an exoskeleton and a surface-mounted electromyography (EMG) sensor; using the movement characteristics of the healthy arm, providing different task scenarios, and learning the movement trajectory of the affected side with the goal of completing the task; simultaneously performing rehabilitation rating based on the EMG signals; assigning impedance parameters for the interaction between the exoskeleton and the arm based on the rating; and also estimating the movement intention through a muscle model and compensating and correcting the imitated movement trajectory in real time. This allows the patient to achieve collaboration between the healthy and affected sides during task completion, promoting functional recovery of the damaged limb. Through repeated practice of asymmetrical movements, the patient's motor control ability and bilateral limb coordination ability are enhanced during later rehabilitation, restoring basic motor function of the damaged limb, making the rehabilitation training process more consistent with the patient's rehabilitation process, and improving rehabilitation effectiveness.
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