280 results about "Muscles tension" patented technology

The invention relates to a digital acupuncture dynamic control optimization method. According to the technical scheme, the method comprises the steps that real-time physiological data, including the heart rate, the oxyhemoglobin saturation, the skin temperature and the muscle tension, of a patient are collected through a wearable device and a sensor; performing cleaning, denoising and feature extraction on the multi-modal physiological data by using a data preprocessing algorithm; a personalized digital acupuncture model is established, and the physical condition and acupoint sensitivity of a patient are dynamically evaluated; adjusting acupuncture output parameters, control frequency, pulse width and current intensity according to real-time feedback of a patient by adopting a self-adaptive fuzzy control algorithm through the obtained personalized digital acupuncture model; multi-channel biofeedback equipment including EEG, EMG and ECG is integrated, and instant response of a patient is monitored; through a closed-loop control algorithm, biological feedback data are input into the control model in real time, and dynamic adjustment of acupuncture and moxibustion parameters is controlled; a deep reinforcement learning algorithm is introduced into acupuncture therapy.

The invention discloses an acupuncture stimulation evaluation method based on multi-physiological signal fusion real-time monitoring, relates to the technical field of acupuncture medical treatment, and aims to accurately judge a phase locking state through correlation analysis of an absolute value of a myoelectricity attenuation slope and a skin temperature phase difference standard deviation, break through the limitation of a single signal dimension and improve the judgment accuracy to 90% or above. A linear prediction model is constructed based on clinical data, and dynamic correction is performed in combination with a compensation coefficient when a beta wave ratio exceeds a standard, so that personalized needle retaining time prediction is realized, and the prediction deviation rate is effectively reduced; when the accumulated phase locking time reaches a predicted value, a needle retaining adjustment instruction is triggered automatically, a'monitoring-prediction-execution 'closed loop is formed, invalid treatment time is shortened by about 15%, and acupuncture operation efficiency is improved; model parameters are corrected in real time through beta wave anomaly monitoring, curative effect deviation caused by muscle tension or nerve imbalance is inhibited, the system false alarm rate is reduced to 3% or below, and robustness is remarkably superior to that of a traditional method.

The invention provides an intelligent control system and method for a massage device, and relates to the technical field of massage devices, and the system comprises an identity authentication module which is used for obtaining the identity authentication information of a target user; the intelligent sensing module is used for sensing the body posture and massage requirements of a target user in real time, including pressure distribution and muscle tension, so as to automatically adjust the massage strength, speed and position parameters of the massage device; and the personalized setting module is used for performing intelligent analysis by using a wolf pack algorithm according to user preferences and historical data, and formulating a massage scheme for a target user, including massage duration, massage intensity upper limit values and massage modes of all parts. By integrating the functions of identity authentication, intelligent induction, personalized setting, execution control, fatigue degree determination, health monitoring and the like, customized, safe and efficient massage service is provided for a user, meanwhile, the health condition is monitored in real time, the user experience is improved, and the user safety is guaranteed.

The invention relates to the technical field of muscle tension non-invasive detection, in particular to a muscle tension detection method, system and device, and the method comprises the steps: obtaining a muscle surface micro-vibration signal through a millimeter wave radar array, generating a time-frequency diagram, extracting characteristic parameters such as a main vibration frequency amplitude, fusing the characteristic values, and outputting a preliminary grade through a pre-training model; the method combines a Hill muscle model to verify deviation, and if the deviation exceeds the limit, reconstructs a muscle three-dimensional model based on a CT image, calculates a radar wave attenuation coefficient for compensation, and outputs a final grade, thereby solving the problems of insufficient traditional detection precision and poor individual difference adaptability, improving the precision and individuation of muscle tension detection, and providing a reliable basis for clinical diagnosis.

The invention relates to the technical field of spine correction, in particular to a spine correction traction force control method and system, and the safety, effectiveness and intelligent level of spine correction treatment are improved. The method comprises the following steps: dividing a spine into at least three sub-regions according to an anatomical structure of the spine; the at least three sub-regions comprise a cervical vertebra region, a thoracic vertebra region and a lumbar vertebra region; performing biomechanical data acquisition on each sub-region to obtain a spine state feature set corresponding to each sub-region; the spine state feature set at least comprises a pressure distribution feature, a bending angle feature and a muscle tension feature; for different sub-regions, inputting the spine state feature set into a corresponding spine correction state evaluation model to obtain a spine correction state score of each sub-region; the anatomical structure and functional importance of the spine are considered, and the comprehensive influence weight of each sub-region is obtained from a preset weight database;

The utility model discloses an adjustable negative pressure vacuum cupping device which comprises a cupping device body, the cupping device body comprises a cupping body, a functional mechanism and a negative pressure meter are arranged, a silica gel ring serves as a carrier of a red light physiotherapy light bar and is tightly attached to the cupping body, warm stimulation of a traditional cupping jar is simulated through red light irradiation, blood circulation is promoted, and muscular tension is relieved. The wiring port is convenient to connect with an external power supply, stable operation of the physical therapy function is ensured, a user can flexibly adjust the therapy mode, the red light physical therapy lamp strips are annularly arranged at equal intervals, uniform and comprehensive irradiation is ensured, and meanwhile, due to the arrangement of the air exhaust head and the negative pressure meter, the therapy effect of the cupping device is improved. A user can quickly extract air in the cup and form required negative pressure, discomfort or safety risks are avoided, the treatment effect and user experience of the cupping device are jointly improved through the settings, and the cupping device is safer, more convenient and more efficient.

The invention relates to the field of neurological rehabilitation medicine teaching instruments, in particular to a device and a system for simulating abnormal muscular tension of a human body, comprising a main body, partitions and a fourth driving device arranged in the main body, the device comprises a main body, a partition arranged in the main body, a first driving device arranged in the partition, a second driving device arranged in the partition and a third driving device arranged in the partition, and the main body and the partition are connected and used for simulating the upper body and arms of a human body. The first driving device, the second driving device, the third driving device and the fourth driving device are sequentially and rotatably connected, so that the problem that an existing human body muscle tension testing device still cannot meet the training requirement of dynamic muscle tension characteristics in the actual use process is solved; and a measured value is higher than a true value due to the fact that the movement of the component is not supported by the auxiliary support during detection.

The invention discloses a multi-modal fusion muscular tension dynamic assessment method and system, relates to the technical field of biological dynamic assessment, and is used for solving the problem that muscle activity grade classification errors are increased due to dependence on single surface myoelectricity or joint angle sensor data. Joint angle variation, resistance variation and force feedback intensity are extracted, an evaluation mechanism is constructed in combination with region division and historical threshold values, and muscle activity evaluation levels are calculated; and comparing a preset threshold value to identify a flexibility level, entering a resistance evaluation mechanism when a condition is met, analyzing a muscular tension change trend in resistance data, completing dynamic refined judgment of a flexible state, realizing staged, regionalized and trended fusion evaluation, and improving muscular tension state identification and flexibility level judgment precision.

The invention discloses a device with a function of relieving pain after hepatobiliary surgery, which comprises a waistband body, two ends of the waistband body are movably sleeved with an adjusting frame, two end faces of the adjusting frame are respectively provided with massage grooves, the front side surface of the adjusting frame is fixedly provided with a massage assembly, and the rear side surface of the adjusting frame is pasted with a disposable auxiliary assembly. A cold compress mesh belt is arranged at the position, between the two adjusting frames, of the waistband body, and a cold compress assembly is fixedly installed on the surface of the cold compress mesh belt; the device can be used for cold compress, massage and traditional Chinese medicine hot compress on the surgical site at the same time, pain and swelling are relieved at the same time, blood circulation is promoted, muscular tension is relieved, and the comfort of a patient is improved.

The invention relates to the technical field of medical instruments, in particular to a limb restraint strap self-adaptive pressure adjusting device and method.The limb restraint strap self-adaptive pressure adjusting device comprises a pressure sensing unit, a multi-stage pressure sensor detects the pressure value between a limb of a patient and a restraint strap and generates a pressure signal, and a pressure signal processing module filters the pressure signal and identifies the activity state of the patient; the pressure data processing module performs multi-window pressure analysis based on the processed pressure data, identifies a pressure change trend, predicts a pressure change and generates a prediction result, and the adaptive threshold adjustment module dynamically adjusts a pressure threshold based on patient activity intensity, constraint duration and muscle tension. And the decision control module generates a pressure adjustment control instruction based on the prediction result and the adjusted pressure threshold value, and the pressure adjustment execution module comprises an air bag, an inflation device and an exhaust device and achieves dynamic adjustment of the tightness of the restraint strap.

The present invention discloses a multifunctional, telescopically adjustable, tubal, rectangular exercise and therapeutic myofascial apparatus for treating a person's musculature. The apparatus aids in the relief of muscle tension by simultaneously utilizing the roller and body gliding seat. Embodiments of the present invention include a frame, a sliding seat, two parallel hand grips towards the front, and a cylindrical elongated high-density roller of a selective material and diameter extending through the width of the parallel elongated tubular structure affixed to the rear portion. Linear bearings are enclosed in parallel tubes, which serve as the glider function of the seat stabilizer. Users roll back and forth on the seat stabilizer while rolling an appendage, spine, or other body parts on the high-density foam roller.

The utility model discloses an inflatable lumbago rehabilitation device, and belongs to the technical field of auxiliary rehabilitation equipment. The inflatable lumbago rehabilitation device comprises two inflatable bag cloth belts, a mounting plate is fixedly connected between the two inflatable bag cloth belts, a rear connecting box is fixedly connected to the outer surface of the rear side of the mounting plate, a reciprocating lead screw is rotationally connected between the inner walls of the two sides of the rear connecting box, and a transmission block is in threaded connection with the reciprocating lead screw; the top of the transmission block is fixedly connected with two connecting rods; according to the inflatable lumbago rehabilitation device, the two pressing rollers periodically and repeatedly move close to each other and away from each other and move back and forth relative to the waist of a user, the two pressing rollers massage the waist and the back of the user in all directions and at multiple angles, and a dynamic massage mode can more effectively relieve muscular tension compared with a static massage mode; and the waist massage can be automatically carried out at any time and any place, so that the symptom of lumbago can be greatly relieved.

The invention relates to the field of remote quality control of kinesio, and provides a remote kinesio treatment guidance and quality control system. The image acquisition module is used for acquiring high-definition image data of a to-be-treated area through intelligent terminal equipment and marking anatomical feature points; wherein the high-definition image data comprises a static image and a dynamic muscle movement video stream; the AI analysis engine is used for carrying out feature extraction on the high-definition image data based on a muscle dynamics model of a to-be-treated region constructed by a convolutional neural network, identifying a muscle tension abnormal region and grading a nerve injury degree, and generating an initial sticking path recommendation scheme; the remote auditing interface transmits the recommended scheme generated by the AI to the doctor end interaction interface, obtains a target treatment scheme after the doctor end performs scheme correction based on the medical history data of the patient, and confirms a final treatment instruction through a digital signature; and the block chain quality control module is used for encrypting key operation data in the treatment process and then writing the key operation data into a distributed account book to generate a treatment process traceability chain which cannot be tampered.

The invention discloses an equipment adaptive regulation and control system based on multi-modal neural perception and user feedback, which realizes millisecond-level adaptive regulation of equipment parameters through a multi-modal neural perception feedback and dynamic analysis model, solves the problems of insufficient dynamic evaluation, algorithm lag and the like of traditional equipment, and improves the equipment performance. The user experience (the pressure comfort is improved by 40%, and the temperature stability reaches + / -0.3 DEG C) and the energy efficiency (the energy is saved by 21.3%) are remarkably improved, the response speed is improved by 52.7% compared with a traditional scheme, the method is suitable for scenes such as massage chairs and smart homes, key indexes are improved by more than 40% compared with the prior art through CNAS authentication, and the method has remarkable technical advancement and market value and is worthy of popularization and application. The problems that on one hand, an existing massage equipment regulation and control system lacks dynamic evaluation on real-time states of muscle tension and fatigue degree of a user, and on the other hand, change of nonlinear characteristics of physiological signals is difficult to deal with are solved.

The invention belongs to the technical field of rehabilitation medicine and intelligent education technology, and discloses a muscular tension evaluation-based simulation arm model, which comprises a main body, a motor I, a motor II, a shoulder joint, an elbow joint, a motor III and a motor IV, and further comprises a visualization mechanism arranged on one side of the outer surface of the shoulder joint, the visual mechanism comprises a rotating plate fixedly connected to one side of the elbow joint; according to the device, the elastic piece can be stretched, then the connecting block can push the extrusion plate to slide in the liquid outlet pipe, then the extrusion plate can push liquid in the liquid outlet pipe into the graduated scale, and then the muscular tension grade can be judged according to the flowing distance of the liquid; finally, the rotating plate drives the extrusion plate to push the liquid into the graduated scale through the elbow joint, the muscular tension grade is judged according to the flowing distance of the liquid, students can conveniently and visually observe and feel the evaluation result, the evaluation result is recorded, and the teaching effect is improved.

The invention relates to the technical field of nursing robot control, in particular to a control method and system of a nursing robot. The method comprises the following steps that a 3D camera is used for collecting a posture track when a patient gets up, muscle tension change signals associated with the posture track are obtained through an electromyographic signal sensor, and posture associated muscle tension data are obtained through synchronous association processing. Thirdly, the data are analyzed, the muscle group force line unbalance strength is evaluated, and the gravity center shift trend is obtained in combination with gravity center shift regression analysis; finally, robot auxiliary output parameters are generated based on the gravity center shift regression trend and input into a nursing robot control framework, a control scheme suitable for the nursing robot is designed, a control instruction is sent to a robot terminal, and corresponding nursing operation is executed. According to the invention, the control technology of the nursing robot is optimized, so that the control technology of the nursing robot is more perfect.

The invention relates to a driving performance parameter adjusting method and system, and belongs to the technical field of vehicle control. The method is applied to a vehicle and comprises the steps that electromyographic signals of all passengers in the vehicle are collected; generating a vehicle comfort score based on the electromyographic signals of all passengers; and according to the vehicle comfort level score, the driving performance parameters of the vehicle are adjusted. The electromyographic signals of all passengers serve as an objective input source of comfort, the muscle tension state of the human body caused by jolting, pause or power impact in the vehicle running process is directly reflected, and therefore the actual comfort feeling of the passengers is truly captured in time. On this basis, the system actively adjusts driving performance parameters based on the generated vehicle comfort score to improve ride comfort. According to the mechanism, the problems of driving performance parameter adjustment lag, amplitude failure or direction error and the like caused by lack of human body feedback in a traditional method are effectively solved.

The invention, which relates to the technical field of child development assessment, discloses a child neural development state assessment method for pediatric neurology department, comprising the following steps: collecting basic information and current state information of a child, and analyzing the current emotional state and physical condition of the child; and according to the current emotional state and physical condition of the child, planning a test environment to evaluate the development level of the child. According to the child neural development state evaluation method for the pediatric neurology department, a comprehensive and objective neural development state portrait is provided for the child by integrating data of development level, muscular tension and consciousness expression, the specific expression of the child in a certain aspect is concerned, the relevance and coordination among various abilities are also concerned, and the child neural development state evaluation method is suitable for the pediatric neurology department. The method can comprehensively reflect the neural development condition of the child, helps parents and professionals to timely discover the problems of the child in the aspect of neural development, provides a scientific basis for making a personalized intervention plan, and ensures that intervention measures are more accurate and effective.

The massage physiotherapy bracelet comprises a physiotherapy bracelet body, the physiotherapy bracelet body is composed of a shell, two symmetrically-arranged belts, a metal ring and a fixing needle, the metal ring and the fixing needle are rotationally installed on one of the belts, and adjusting openings are formed in the two belts; a physiotherapy mechanism is arranged in the shell, the physiotherapy mechanism comprises a massage mounting plate, a massage structure and a driving structure, a lubricating structure is detachably mounted on the upper surface of the shell, and an ejector rod which extends into a third oil conveying channel and abuts against the lower surface of a piston block is fixedly mounted at the top end of a reciprocating rod. According to the massage physical therapy bracelet and the using method, the vibratory massage head and essential oil conveying are combined for use, the effects of dredging channels and collaterals and relieving muscle tension and pain are achieved by stimulating acupuncture points through vibration and promoting qi and blood circulation, the essential oil is conveyed to a massage part in a matched massage process, and the essential oil can be better absorbed by skin in combination with the vibratory massage head, so that the massage physical therapy bracelet has a good massage effect. Therefore, the physiotherapy effect is improved.

The invention discloses a wearable pain relieving device which comprises a box body, the box body is provided with a massage mechanism used for massaging the wound of a patient, the box body is further provided with a temperature control applying therapy assembly used for hot compress or cold compress of the wound of the patient, and the temperature control applying therapy assembly can move relative to the box body to adjust the distance between the temperature control applying therapy assembly and the wound of the patient. Fixing belts used for fixing the box body on the body surface of a patient are further arranged on the two sides of the box body; by integrating the hot compress function, the cold compress function and the massage function, multiple effects are organically combined, and the diversified requirements of a patient in the aspects of wound nursing and pain relieving can be met. The temperature-control applying therapy assembly is designed in a detachable mode, replacement and maintenance are convenient, meanwhile, the distance between the temperature-control applying therapy assembly and a wound can be adjusted, and comfort and safety in the using process are guaranteed. The massage mechanism can uniformly and rhythmically massage the periphery of the wound through cooperative work of massage balls, an elastic assembly and a driving assembly, and muscle tension and pain are effectively relieved.

The invention provides a human body posture auxiliary correction method and system based on deep learning, and relates to the technical field of posture correction, and the method comprises the steps: receiving a target posture correction scheme of a target user; when the target user carries out posture correction training, generating a first real-time posture time sequence; calling a correction limit reminder to carry out correction abnormal mode recognition on the first real-time posture time sequence, and generating a posture abnormal mode; if the posture abnormal mode is a first abnormal mode, connecting a surface myoelectricity sensor, and receiving myoelectricity sensing data; and performing muscle tension recognition based on the myoelectricity sensing data, and performing posture correction abnormity early warning according to a muscle tension recognition result. Through the gesture correction method and device, the technical problem that personalized and accurate gesture correction is difficult to realize due to the fact that intelligent feedback is difficult to perform according to the real-time gesture of the user in the prior art can be solved, more accurate gesture correction feedback is provided for the user, and the technical effect of ensuring the safety and effectiveness of gesture correction training is achieved.

The invention relates to the technical field of health-preserving physical therapy, and discloses a vertical moxa-therapy leading-in device which comprises a moxa-moxibustion device, an operation part is installed on the moxa-moxibustion device, a driving part is installed on the operation part, a metal sleeve is installed on the driving part, a moxibustion head part is installed on the metal sleeve, a processing frame is installed on the metal sleeve, and a placement shaft body is arranged in the processing frame. According to the vertical moxa therapy leading-in device, the non-woven fabric which is heated to a proper temperature and is in a wet state is used for covering a moxibustion applying part, on one hand, the acting force of timely sealing an acupuncture point is achieved, and the moxibustion applying part is covered by the non-woven fabric which is heated to a proper temperature and is in a wet state; and on the other hand, the heated non-woven fabric can accelerate the blood flow at the moxibustion applying part and help to disperse residual cold-dampness and pathogenic factors in the body, and meanwhile, the spherical massage head is used for massaging the moxibustion applying part, so that local muscle tension caused by thermal stimulation in the moxibustion process can be relieved, and spasm or stiffness can be prevented.

Device and method for relieving muscle tension. The device includes a tip portion with a first three dimensional geometry, an extension portion with a second three dimensional geometry, and a base portion with a third three dimensional geometry. The device is configured such that a user can attain trigger point release on a muscle or muscle group by positioning the device on a fixed surface, positioning the tip portion of the device to be in contact with the muscle or muscle group, and then selectively applying pressure to the muscle or muscle group using the weight of the user and contact forces.

The present invention is a toilet seat that facilitates people to defecate; the toilet seat is made of plastic; the characteristics of it is that its upper surface is made obviously inclined from its periphery to its center; in addition the left and right two areas of the upper surface are made into two rough surfaces; therefore when someone sits on such a toilet seat for defecation, the left and right two rough surfaces will to “grab” the two muscles of the left and right sides of the person's buttocks respectively, making them unable to slid down and hereby get into two tension states; such two tightened buttock muscles will inevitably to loosen the anus of the person from the left and right sides, and which will resulted in facilitate the person to defecate.

This utility model belongs to the technical field of bus seat armrests, and particularly relates to an adjustable armrest for a bus seat. The armrest includes: multiple fixing blocks, each fixedly connected to both sides of the armrest; two rotating rods rotatably connected between the fixing blocks; slots on the rotating rods; and multiple first support rods fixedly connected to the bottom surface of the rotating rods; a limiting component located inside the armrest and used to fix the two rotating rods; and multiple second support rods provided on one side of the multiple first support rods, each second support rod having a limiting groove communicating with the outside, and a limiting block slidably connected to the limiting groove and fixed to the first support rod. This invention solves the problem that when passengers are physically strong and have thick arms, the contact point between the forearm and the armrest is concentrated in a localized area, increasing the force per unit area, and causing muscle tension and soreness in the arms after prolonged support.

The utility model discloses a skin muscle tension measurer which comprises a columnar main body, a cavity with a hole formed in the bottom face is formed in the columnar main body, a sliding block and a spring are embedded in the cavity, a measuring disc is arranged on the bottom face of the sliding block, a display window is formed in the side face of the columnar main body, and supporting legs are arranged on the outer edge of the bottom face of the columnar main body. According to the utility model, the columnar main body of the measurer is pressed, so that the measuring disc in contact with the surface of the skin is stressed, then upward pushing force is generated on the sliding block, the tension of the skin muscle can be accurately reflected by measuring the upward pushing force, and then the skin muscle sclerosis degree of the skin muscle caused by lymphadenectasis can be obtained.

The invention discloses a teenager scoliosis eight-section brocade guide massage system and a personalized training method, and relates to the technical field of medical rehabilitation. The system comprises a lateral bending parting evaluation module which measures a Cobb angle and a centrum rotation angle through a 3D spine scanner and detects a muscle tension difference through a surface myoelectricity collector; the eight-section brocade improved action library is used for storing asymmetric improved actions aiming at a right chest bend, a left waist bend and an S-shaped bend, the action angle of the concave side is increased by 5-30 degrees, and the action angle of the convex side is correspondingly reduced; the directional massage auxiliary unit is provided with a pressure silicon controlled rubber massage head, the convex side is released by adopting an 8-10 Newton rolling method, and the concave side is activated by adopting a 3-5 Newton point pressing method; and the intelligent motion correction module monitors spinal motion in real time through five inertial measurement units, and provides voice vibration feedback when the deviation exceeds a threshold value. The training method adopts a progressive scheme, is implemented in stages according to the size of a Cobb angle, and comprehensively intervenes through'massage release-guide correction-acupoint activation '.

The utility model provides a hand support which comprises a support body and a block-up block, and the block-up block is movably connected to the support body so as to adjust the supporting height of the hand support. When a user uses the hand support bracket, the hand is placed on the bracket body to be supported, due to the supporting effect of the bracket body, the suspended arm with tense muscles can be relaxed, and when the hand (palm and wrist) needs to be lifted (for example, the hand needs to be lifted to reach a proper viewing angle by holding a mobile phone or a book by hand), the hand can be lifted up by the bracket body, so that the hand can be lifted up. The heightening blocks are pushed by hands to be overlapped on the support body, so that the whole hand-supported support is lifted.

The invention discloses a rehabilitation training spasm detection method based on a servo motor and electronic equipment, and relates to the technical field of rehabilitation medical equipment detection. Comprising the following steps: acquiring observation data of a servo motor and taking the observation data as independent variables, setting prediction data and taking the prediction data as the independent variables, selecting p dependent variables and m independent variables to establish n-time standardized observation data matrixes X and Y of a dependent variable group and an independent variable group, extracting g components from the X, performing weighted summation on the X to obtain T, and calculating regression algorithm coefficients Ci and Pj through the T, updating the independent variable and the dependent variable to finally obtain a muscle tension model parameter, and comparing the muscle tension model parameter with feedback data of the torque sensor; therefore, whether spasm occurs is judged. A muscle tension model is established based on partial least square regression analysis, and whether spasm occurs in rehabilitation training is judged according to a predicted value of the muscle tension model.

The invention relates to a variable impedance control method for a wrist joint rehabilitation training robot, and the method comprises the steps: constructing a self-adaptive reference stiffness correction model, inputting the rehabilitation score of a patient and the real-time muscular tension of each motion dimension of a wrist joint, and outputting the self-adaptive reference stiffness of each motion dimension; constructing a composite cost function which comprises a contact force safety threshold penalty term model and an impedance parameter change rate penalty term model; and constructing an uncertainty weighted correction model, inputting the composite cost value, the state prediction result and the patient rehabilitation score, and outputting the weighted instantaneous cost. Through the composite cost function and the dynamic impedance adjustment strategy, the impedance adjustment characteristic of the human arm is simulated, high-rigidity rapid approaching in the non-contact stage, low-rigidity high-damping buffering in the contact stage and low-rigidity low-damping compliant control in the stable stage are achieved, and the training comfort and safety are improved. According to limb impedance characteristics, rehabilitation stages and training tasks of patients, personalized requirements and dynamic rehabilitation scenes of different patients can be adapted.