30 results about "Coordinated movement" patented technology

The invention provides a patient rehabilitation tracking system, a rehabilitation training regulation and control method based on active perception and environment self-adaption, equipment and a medium, and the method comprises the steps: determining a cooperative motion state of a nerve-muscle-bone system according to a multi-modal physiological data flow of rehabilitation training tracking of a target patient; performing intention-muscle force cooperative identification based on the cooperative motion state to obtain motion intention and muscle force contribution distribution of the target patient; determining a dynamic risk map of the target patient during rehabilitation training; variable universe fuzzy reasoning is carried out on the motion intention, the muscle force contribution distribution and the dynamic risk map, and then a rehabilitation adjustment instruction matched with the rehabilitation state of the target patient is obtained; the rehabilitation progress of the target patient is continuously tracked, and the rehabilitation training robot is controlled to execute self-adaptive power-assisted compensation according to the rehabilitation adjustment instruction. By means of the scheme, motion intention decoding and muscle force contribution analysis can be conducted on rehabilitation training of the patient, and rehabilitation training regulation and control are conducted in combination with the dynamic environment risk.

The invention discloses a cooperative control method for a high-precision cooperative motion system, and the method comprises the steps: obtaining an expected trajectory of a main execution unit, and converting the expected trajectory into prediction sub-trajectories corresponding to a plurality of auxiliary execution units; calculating a local tracking error and a synchronization error according to the predicted sub-trajectory and the actual trajectory of the auxiliary execution unit; calculating a corresponding estimation error through a predictive disturbance observer; local tracking control corresponding to each auxiliary execution unit is obtained through calculation; constructing a self-adaptive cross coupler and performing coupling compensation calculation based on the synchronization error to obtain self-adaptive cross coupling control; and based on adaptive cross-coupling control and local tracking control, generating a total control input, and verifying the generated total control input by using a Lyapunov function. The invention further provides a cooperative control device. The method provided by the invention has the advantages of fast dynamic response, low buffeting, high-precision synchronization and time delay robustness, occupies less computing resources, and is suitable for various edge devices.

The invention discloses a tactile joint of a robot and the robot, and belongs to the technical field of robots. The tactile joint of the robot comprises a joint body and bionic skin, and the skin adhesive force can be improved through protruding structures evenly arranged on the surface of the joint body. The bionic skin is of a multi-layer bionic skin structure, the bionic skin sequentially comprises a supporting layer, a sensing layer and an epidermal layer from inside to outside, the supporting layer, the sensing layer and the epidermal layer are bonded through silicon-based elastomer materials, the durability of the skin can be effectively enhanced through the structure, and the problems of cracking, deformation and the like are effectively solved; meanwhile, the attractiveness of the tactile joint is improved, the bionic skin can deform naturally at the joint without obvious joints, the flexibility of the bionic skin can be kept under the condition that the movement range of the joint is not affected, and it is guaranteed that the robot acts coordinately and smoothly.

The present invention relates to the field of work platform control technology, specifically a working range control method and system, in which a first telescopic arm is used to drive a work platform to rise in a vertical direction. When the length and angle of the first telescopic arm exceed the set working range limit and the work platform has not reached the target position, the second telescopic arm is actuated and cooperates with the first telescopic arm to continue to drive the work platform to rise in the vertical direction until it reaches the target position. When the first telescopic arm does not exceed the set working range limit, the posture of the first telescopic arm is corrected according to the set angle difference. During the coordinated movement of the first telescopic arm and the second telescopic arm, the posture of the second telescopic arm is corrected according to the set angle difference, and the posture of the first telescopic arm is further corrected according to the height change of the work platform from the ground. This method solves the limitations of the traditional control process and stably increases the working range of the work platform within a safe range through the coordinated movement and posture correction of the two telescopic arms, thereby expanding the operating range of the platform.

The invention particularly discloses an original-state stable grabbing method and system for special-shaped parts based on body intelligence, and relates to the technical field of robots. The method comprises the steps that firstly, initial state sensing information of a to-be-grabbed part is obtained through a multi-mode sensing system; then inputting initial state sensing information to dynamically generate an optimal equidistant contact grabbing configuration based on a pre-trained deep reinforcement learning model; then, an under-actuated parallel self-adaptive clamping jaw with the coordinated movement capacity and the clamping force self-closing characteristic is driven, based on the generated optimal equal-distance contact grabbing configuration, the part is approached and grabbed at the preset speed and the preset force control strategy, and real-time regulation and control are conducted through a force control closed loop in the grabbing process; and finally, after grabbing is completed, if the difference between the pose of the part and the initial pose is controlled within the preset threshold value range, secondary pose calibration does not need to be carried out, and subsequent assembling, placing or butt joint operation is directly carried out. According to the method, the assembly efficiency and the system robustness are improved, and the method is suitable for unstructured scenes such as industrial assembly and logistics sorting.

The utility model belongs to the technical field of rehabilitation auxiliary equipment, and particularly relates to an orthopedic rehabilitation training device. The thigh sheath and the shank sheath in the orthopedic rehabilitation training device can be worn on the thigh and the shank of a patient respectively, the thigh sheath and the shank sheath are restrained by the orthopedic rehabilitation training device, in the initial state, the shank of the patient bends towards the rear portion of the thigh to form a V shape, in the training process, the patient does not need assistance of other people, and the training efficiency is improved. When in use, a good exercise effect can be achieved only by means of cooperative movement of muscles of the shank and the thigh, overcoming of tension of the elastic part for stretching, driving of the shank to act by means of restoring force of the elastic part after relaxation, recovery to the initial state and repeating of the steps.

1. The name of the design product: upper and lower limb passive rehabilitation training equipment (LoopGO-Air). 2. The use of the design product: for the rehabilitation of patients with upper and lower limb dysfunction and coordination movement disorder. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The invention discloses a moving posture real-time correction system and method for animation generation, relates to the technical field of posture correction, and solves the technical problem that the animation quality is affected due to the fact that adjustment information is difficult to comprehensively consider, overall coordination of animations is not matched with overall action styles of roles and the like. The node preprocessing module calculates the motion amplitude mean value of each skeleton node on each axis of a three-dimensional space, and compares the motion amplitude mean value with a preset value set by an operator according to animation character characteristics and requirements, so that main body nodes and auxiliary nodes can be accurately distinguished, a basis is provided for subsequent targeted deviation analysis, and the accuracy of animation character analysis is improved. The analysis efficiency and accuracy are improved, after the adjustment information is generated, the coordination between the adjustment information and the whole animation is strictly evaluated from multiple aspects, including the cooperative movement between the adjusted node and the adjacent node and the matching degree between the adjusted node and the whole action style and the gravity center distribution of the role, and it is ensured that the movement posture of the adjusted animation is more natural and smoother; and the animation quality is improved.

The present invention provides a nine-degree-of-freedom upper limb rehabilitation robot, which adds two active degrees of freedom of the sternoclavicular joint to simulate the movement of the shoulder girdle, so that the rehabilitation robot can better match the movement of the human upper limb. The redundant control algorithm classifies tasks based on the null space projection of the Jacobian matrix. Low-priority tasks do not affect the execution of high-priority tasks. The redundant degrees of freedom of the upper limb exoskeleton can be fully utilized to ensure coordinated movement between the joints of the robotic arm, thereby improving the treatment effect.

This invention provides a training device for limb rehabilitation, belonging to the field of rehabilitation therapy equipment technology. It includes a base plate, with a limb training component at one top end. The limb training component includes an L-shaped plate, an electric push rod on the side wall of the L-shaped plate, and a mounting plate fixedly connected to the telescopic end of the electric push rod. A foot pedal is elastically connected to the outer wall of the mounting plate. T-shaped blocks are symmetrically slidably connected to both sides of the top of the L-shaped plate. Locking bolts for locking the T-shaped blocks are provided on the L-shaped plate. A ties are located at the top of the T-blocks, with an elastic rope attached to the ties, and a hand loop attached to the other end of the elastic rope. In this invention, the patient sits on the cushion, steps on the elastic foot pedal with both feet, and pulls the hand loop with both hands. Through alternating flexion and extension movements of the upper and lower limbs, the central nervous system pathways are reconstructed. The upper and lower limbs are linked with the foot pedals via the elastic rope, simulating the coordinated movements of the limbs during daily walking. The limb linkage training enhances trunk stability and limb coordination through synchronized stepping and stretching movements.

The application belongs to the field of ankle assistance and training devices, and specifically discloses a bionic external tendon device and method for ankle assistance and training, which comprises a forefoot palm protective sleeve, a rear heel protective sleeve, a lower leg protective sleeve, an external tendon rope group, a limiting mechanism and a power mechanism; one end of each of two first external tendon ropes is connected with the bottom of the forefoot palm protective sleeve, and the two first external tendon ropes are connected with the power mechanism after sequentially passing through the guide holes in the rear heel protective sleeve and the rear side of the lower leg protective sleeve; one end of a second external tendon rope is connected with the top of the forefoot palm protective sleeve, and the second external tendon rope is connected with the power mechanism after passing through the guide hole in the front side of the lower leg protective sleeve. The application can realize multidimensional coordinated movement of the foot and the ankle joint, and can realize hierarchical control of the foot bottom tension and the ankle joint auxiliary force. Through the coordinated movement of the foot and the ankle, the assistance and training effect are improved. In the application, the two first external tendon ropes of the foot bottom are cross arranged, and when the first external tendon ropes are pulled, the arch of the foot is pressed, and the training on the arch of the foot is enhanced.

The invention discloses a body-building stool for exercising hip joint and perianal muscles, and belongs to the technical field of body-building stools. The fitness stool comprises a hard seat disc (1), a metal rotating disc (2), a metal spring assembly (3) and a semispherical hard supporting base disc (4), all the assemblies are sequentially and fixedly connected from top to bottom through stainless steel reinforcing screws (6), the surface of the hard seat disc (1) is subjected to anti-skid treatment, and the bottom of the semispherical hard supporting base disc (4) is a smooth arc-shaped contact surface (5). The fitness stool enables a user to rotate hip joints in a kneeling posture through cooperative movement of multi-directional swinging of the hemispherical supporting chassis (4), horizontal plane 360-degree rotation of the metal turntable (2) and vertical plane elastic expansion and contraction of the spring assembly (3), so that precise exercise of hip joint peripheral muscle groups and perianal muscles is realized. The fitness stool is simple in structure and safe and convenient to use, materials and sizes of all parts can be flexibly adjusted, and the fitness stool can adapt to people with different body types and different exercise requirements and is suitable for various scenes such as families and gymnasiums.

The wearable robot mainly comprises a movable bottom frame and a waist protection support, the bottom of the waist protection support is rotationally connected with two symmetrically-arranged leg exoskeletons through bearings, and the top of the waist protection support is fixedly connected with a mounting frame through a flexible belt. The robot has the advantages that when a patient wears the robot, the body is fixed through the hook-and-loop fastener bandages of the waist protection support and the chest protection support, and the upper limbs are placed in the upper limb locking frame; during training, a patient drives the upper limb locking frame to rotate, the rotating shaft synchronously drives the cam to rotate, the cam extrudes the pressure sensor in the extension frame, the pressure sensor transmits a signal to the controller, and the controller controls the leg exoskeleton to move cooperatively according to the pressure signal. The whole control process does not need to depend on brain signals, pressure sensing is triggered through active movement of the upper limbs of the patient, control signal disorder caused by emotion, fatigue and other factors is avoided, the robot is more accurate in response and more coordinated in action, and the safety and reliability of rehabilitation training are improved.

The invention relates to the field of humanoid robots, in particular to a human leg simulating mechanical lower limb based on parallel and serial mechanisms. The invention aims to provide the human leg-imitating mechanical lower limb based on parallel and serial mechanisms, and the leg-imitating mechanical lower limb can simulate the collaborative movement of the lower limb of the human body at hip, knee and ankle joints, and has the characteristics of large working space and high rigidity. According to the technical scheme, the invention discloses a human leg simulating mechanical lower limb based on parallel and serial mechanisms. The hip joint is characterized by comprising a lower driving shell, a driving assembly arranged on the double-leg connecting shell and used for driving the lower driving shell, a thigh body with the top end hinged to the lower driving shell and a first linear driver installed on the lower driving shell and used for driving the thigh body; the two mechanical single legs are connected with the double-leg connecting shell through the driving assemblies respectively.

The invention relates to a five-finger exercise rehabilitation training device which comprises a finger exercise rehabilitation assembly and a rack assembly. The finger movement rehabilitation assembly comprises a thumb driving mechanism, an index finger driving mechanism, a middle finger driving mechanism, a ring finger driving mechanism, a little finger driving mechanism, a push rod motor set, a holding rod and a ball cover, the ball cover is fixedly installed at the top of the holding rod, and the bottom of the holding rod is fixedly connected with the rack assembly; the two ends of the thumb driving mechanism, the index finger driving mechanism, the middle finger driving mechanism, the ring finger driving mechanism and the little finger driving mechanism are hinged to five push rod motors of the push rod motor set and the holding rod correspondingly, and the push rod motor set drives the single finger to bend / stretch and the five fingers move cooperatively. By means of the ingenious structural design, the system is simple in structure, driving force is provided from the interiors of the fingers, action training such as stretching and grabbing of the fingers can be conducted more effectively, the rehabilitation training effect can be improved, and therefore the rehabilitation process of a patient is accelerated.

The golf training device (100) features a housing (110), a first elongated handle (120), and a second elongated handle (122). Each handle has a geometrical center, defining a longitudinal axis along its length. Both handles are rotatably mounted to allow free rotation around their longitudinal axes and a second rotation about their respective centers. The second elongated handle (122), identical to the first, is spaced apart therefrom, with its center and axis similarly defined. The rotations of both handles (120) and (122) are coplanar, allowing coordinated movement. The elongated handles (120) and (122) are designed to be individually held by each human hand, facilitating proper wrist and arm motion during golf training.

The auxiliary device comprises a base, a lifting assembly, a rotating assembly, a transverse moving assembly and a grabbing assembly, the base is located below the lifting assembly, one side of the rotating assembly is connected to the side face of the lifting assembly, the other side of the rotating assembly is connected with the transverse moving assembly, and the grabbing assembly is hung below the transverse moving assembly. According to the utility model, the lifting assembly replaces the manual lifting action, and the stable grabbing of the grabbing assembly avoids the non-uniform force during the cooperation of multiple persons. The rotating assembly and the transverse moving assembly cooperate to achieve the operation of first rotating obstacle avoidance and then fine adjustment alignment in a narrow space, and component deviation caused by space congestion during double-person operation is avoided. Through multi-degree-of-freedom cooperative movement of lifting, rotating and transverse moving, the device can plan an optimal dismounting path, the number of manual repeated adjustment times is reduced, the collision probability is reduced, and the technical problems that the load of a single person is large in manual mounting and dismounting, and the precision cannot be controlled in the dismounting process are solved.

The invention provides a knee joint exercise recovery device and a using method thereof.The knee joint exercise recovery device solves the problem of cooperative movement of the waist, the hip and the knees.The knee joint exercise recovery device comprises a supporting frame body and a leg fixing assembly movably installed on the supporting frame body, and a swing assembly and a moving assembly are arranged between the leg fixing assembly and the supporting frame body; the swinging assembly is used for driving the leg fixing assembly to swing around three mutually perpendicular shafts, and the moving assembly is used for driving the leg fixing assembly to translate along the three mutually perpendicular shafts. The method has the advantages of good adaptability, high flexibility and the like.

The invention belongs to the field of upper limb coordination exercise training, and provides a training device and method for coordination exercise of two upper limbs, the training device comprises a bottom protection pad, a counterweight training mechanism is arranged on the upper surface of the bottom protection pad, the counterweight training mechanism comprises a support frame, a seat mechanism is arranged below the support frame, and a seat is arranged below the seat mechanism. A coordination training mechanism is arranged on the surface of the bottom protection pad on one side of the supporting frame, and a counterweight assembly and a stretching assembly are arranged at the two ends of the steel wire rope correspondingly. According to the device, noise generated when the balancing weight falls can be reduced, impact force generated when the balancing weight falls is reduced through a plurality of shock absorbers arranged at the bottom of the moving plate and a buffer pad, then the service life of the whole device is prolonged, and the coordination ability of the two upper limbs of a user can be trained.

The invention relates to a ligament training device based on physical education and a using method thereof, and belongs to the technical field of physical training. The ligament training device based on physical education comprises a seat cushion support, a ligament training device and a ligament training device, the leaning frame is hinged to one end of the cushion bracket; the pillow cushion is hinged to one end of the leaning frame; the angle adjusting mechanism is connected to the other end of the cushion bracket in a sliding manner; the number of the telescopic moving frames is two, and the two telescopic moving frames are fixedly connected to the two ends of the angle adjusting mechanism correspondingly. The angle adjusting mechanism drives the telescopic moving frame to move oppositely to drive the two feet to stretch outwards to complete the straight horse action, the ratchet wheel and pawl one-way locking piece fixes the stretching angle, and the first coil spring provides progressive resistance to enhance the elasticity of the hip joint ligament. Knee joint and ankle joint training is linked, a lower limb stability foundation is laid, and the multi-joint cooperative movement ability is improved.

The invention discloses linkage type electrical stimulation gait training equipment for spinal cord injury, and belongs to the technical field of medical rehabilitation instruments. The equipment comprises an I-shaped frame, the I-shaped frame is symmetrically sleeved with a supporting frame and a movable frame, the movable frame is connected with a thigh connecting rod through a bearing support, and the thigh connecting rod is hinged to a length-adjustable shank connecting rod and a sole supporting plate; the left and right thigh connecting rods are linked with a traction rope through a pulley to realize collaborative movement of double lower limbs, and a detachable clamping block is arranged at the end part of the traction rope to switch a linkage / independent training mode; an electrical stimulation controller, an integrated electrode patch and a myoelectricity sensor patch are mounted on the outer side of the thigh and shank connecting rod, and electrical stimulation parameters are dynamically adjusted by combining a control module; the H-shaped frame and the movable frame are respectively provided with a width adjusting mechanism and a height adjusting mechanism to adapt to patients with different body types. Through fusion of mechanical linkage and electrical stimulation, a patient is assisted in gait training, neuromuscular control is enhanced, the training intensity can be dynamically adjusted, and the rehabilitation effect is improved.

This application relates to the field of neurorehabilitation engineering and discloses a rehabilitation system based on central-peripheral fusion decoding and trajectory closed-loop correction. The system's training subsystem collects EEG signals from the affected side, peripheral electromyography (EMG) signals from the healthy side, and peripheral kinematic signals, constructing a "fusion-type teacher signal" of peripheral EMG and peripheral kinematic signals. A deep learning model is then trained to learn the mapping from EEG signals to this fusion signal. The system's application subsystem, based on real-time EEG signals, simultaneously predicts coordinated EMG patterns and coordinated movement trajectories using the model. The coordinated EMG patterns are used to generate feedforward instructions for functional electrical stimulation to reproduce physiological coordination patterns; the coordinated movement trajectory serves as a dynamic target trajectory, compared with the actual kinematic signals from the affected side, and the trajectory error is calculated to generate feedback correction instructions for functional electrical stimulation. This application achieves natural, precise, and personalized motor assistance.

The invention discloses a three-degree-of-freedom linear drive humanoid robot ankle joint system, and belongs to the technical field of humanoid robot precision joint driving. The system comprises three torque output units fixed to a shank frame in a concentrated mode, four sets of independent transmission cables, an actively-driven toe joint structure and a dynamic tensioning structure. Through deployment of an overhead driving unit, design of a precision line transmission path and integration of a toe driving framework, three-degree-of-freedom cooperative movement of ankle introversion / extroversion, heel dorsiflexion / plantar flexion and toe dorsiflexion / plantar flexion is realized; according to the invention, the defects of lack of active toe joints, heavy structure and large tail end inertia in the prior art are overcome, the active toe joint has the characteristics of compact structure, light weight and low inertia, the dynamic response performance, the energy efficiency and the terrain adaptability of the robot can be obviously improved, and the active toe joint is suitable for high-dynamic motion scenes.

Provided is an upper limb exercise apparatus including: a table (T); a first link (L1) and a second link (L2) which are disposed above the table and are used for a left arm exercise and a right arm exercise, respectively; and handles (100) provided at ends of the first link and the second link so as to be gripped by the left hand and the right hand, respectively, and comprising: cameras (160) provided inside the handles (100) so as to capture images of fingers holding the handles; and a control determination unit configured to detect and determine an action of a user gripping the handles on the basis of the images captured by the cameras. It maximizes the opportunity to use the upper limbs by means of coordinated movement of the pair of arms, and improves the upper limb function of stroke patients with disabilities caused by a stroke.

The application discloses a human body coordination movement quality evaluation training device and method, and relates to the technical field of sports training and evaluation devices. The device comprises an intelligent terminal, a plurality of variable color grooves and a plurality of variable color balls. The intelligent terminal is used for controlling each variable color ball to change color and controlling each variable color groove to change color. When a user throws a variable color ball, it is determined whether the current color of the variable color ball thrown by the user is consistent with the current color of the variable color groove to be thrown. A judgment result is obtained, and the time length between the starting time when the user is allowed to throw and the time when the variable color ball thrown by the user is thrown into the variable color groove to be thrown is obtained. Until a plurality of judgment results and the time length corresponding to each judgment result are obtained, the evaluation result of the human body coordination movement quality of the user is obtained. The application is suitable for human body coordination movement quality evaluation training of people of all ages, especially for adult and elderly people who need rehabilitation training.

The invention relates to a robot arrangement (1) with at least one movable gripper arm (10), which has at least one joint (12) and at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom, at least one end effector (16), which is arranged at the distal end of the at least one movable gripper arm (10) and has at least two degrees of freedom and at least one drive for executing the at least two degrees of freedom, and at least one evaluation and control unit (20), which is communicatively coupled and designed to the at least one movable gripper arm (10) and the at least one end effector (16), in a learning mode to individually switch the at least one movable gripper arm (10) and / or the at least one end effector (16),so that the at least one end effector (16) can be manually moved to at least one specific position in the soft-switched state, and thereby at least one coordinated movement sequence can be learned.

This invention discloses a swing-type inverted traction rehabilitation device with integrated AI monitoring, belonging to the field of medical device technology. It includes a support frame with height-adjustable lifting plates symmetrically inserted at its top; a pivot fixedly connected between the two lifting plates; a back support plate with one end rotatably connected to the pivot; an inverted adjustment assembly symmetrically mounted on the pivot and located outside the back support plate, used to adjust the angle of the back support plate relative to the pivot; a lumbar support plate located above and spaced apart from the back support plate; and a swing assembly installed between the back support plate and the lumbar support plate, used to drive the lumbar support plate to swing back and forth in the left-right direction relative to the back support plate. This invention achieves coordinated movement of inverted traction and lumbar swing, providing users with multi-dimensional and safe spinal rehabilitation training and improving training flexibility.

The utility model discloses a friction-free tendon rope driven bionic hand, which is suitable for the field of bionic hand development and comprises a palm, fingers connected with the palm, a driving structure and a finger resetting structure, the driving structure and the finger resetting structure are arranged between the palm and the fingers, and the fingers comprise a thumb, an index finger and a middle finger. The driving structure comprises a main driving unit for driving the index finger and the thumb and a driven driving unit for driving the index finger and the middle finger, and the index finger and the middle finger are connected in a matched mode through a rotary plug arranged at the finger root; the bionic hand is novel in design and reasonable in structure, the middle finger, the ring finger and the little finger of the bionic hand are connected in a plug-in mode through the plug, the index finger and the middle finger are connected in a matched mode through the rotary connector, coordination actions of the five fingers are smoothly achieved, assembly is convenient, and connection is firm and reliable; under the combined action of the driving tendon rope and the locking unit, multiple functions of the bionic hand are smoothly achieved, practicability is good, friction between the driving tendon rope and the bionic hand is avoided in the whole driving process, and the service life of the bionic hand is prolonged.

The invention relates to the technical field of robots, and provides a wrist and hand exoskeleton robot which comprises a plurality of first driving mechanisms, and each first driving mechanism comprises a first driving assembly, a pair of first Bowden cables, a first motor, a second driving assembly, a pair of second Bowden cables and a second motor. Two ends of each first Bowden cable are respectively connected with the first driving assembly and the first motor; the first motor is used for driving the first driving assembly to move up and down; the second driving assembly is connected with the first driving assembly; the first end of each second Bowden cable is connected with the second driving assembly; the second motor is connected with the second end of the second Bowden cable and is used for driving the second driving assembly to swing left and right; when the first motor and the second motor operate at the same time, the fingers can be driven to do cooperative movement in the orthogonal direction. According to the wrist and hand exoskeleton robot, the fingers can move up and down, swing left and right and move cooperatively, and therefore automatic training of cooperative actions such as flexion and extension, adduction and abduction of the fingers is achieved.

The invention relates to the field of neural rehabilitation engineering, and discloses a rehabilitation system based on central-peripheral fusion decoding and track closed-loop correction. A training subsystem of the system collects an affected side electroencephalogram signal, an uninjured side peripheral electromyographic signal and a peripheral kinematics signal, a fusion type teacher signal of the peripheral electromyographic signal and the peripheral kinematics signal is constructed, and a deep learning model is trained to learn mapping from the electroencephalogram signal to the fusion signal. An application subsystem of the system predicts a coordinating myoelectricity mode and a coordinating movement track at the same time through the model according to real-time electroencephalogram signals. The coordinating myoelectricity mode is used for generating a feedforward instruction of functional electrical stimulation to reproduce the physiological coordinating mode; the coordinated motion trajectory is used as a dynamic target trajectory and compared with an actual kinematics signal of the affected side, and a trajectory error is calculated to generate a feedback correction instruction of functional electrical stimulation. According to the method and the device, natural, accurate and personalized exercise assistance is realized.