Upper Limb Rehab Robot Control Using Force and Posture Sensing
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Solution Overview
Problem
Current rehabilitation robots face challenges in accurately recognizing limb motion intentions due to the inconvenience and instability of electromyography and electroencephalogram signals, necessitating a more reliable and user-friendly method for controlling upper limb rehabilitation training.
Innovation Solution
A method utilizing a six-dimensional force sensor and three posture sensors to detect human body motion intentions and posture information, processed by a controller through a specific intention recognition model, allowing the robot to respond accordingly, with the force sensor fixed on a rocker and the patient's arm interacting through straps and modules.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If electromyography or electroencephalogram signals are used for motion intention recognition, then the robot can recognize limb motion intentions, but the method is inconvenient to wear and the signals are unstable
Solution Approach 1:
The patent replaces the physiological signal-based detection system (electromyography/electroencephalogram) with a mechanical detection system using force sensors and posture sensors. This substitution eliminates the need for wearable electrodes while providing stable mechanical signal acquisition through direct force and position measurement.
Solution Approach 2:
The patent introduces force sensors and posture sensors as intermediary devices between the patient's limb and the robot controller. These sensors serve as mediators that convert physical force and position information into electrical signals, providing a stable interface for motion intention recognition without requiring direct physiological signal measurement.
2Ease of operation
If traditional motion intention recognition methods are used, then the robot can control limb motion, but the method lacks ease of use and signal stability
Solution Approach 1:
The patent replaces complex physiological signal processing with simple mechanical sensing through force sensors and posture sensors. This mechanical approach is easier to use as it requires no special preparation or wearing of electrodes, while simultaneously providing stable signals through direct physical measurement.
3Measurement precision
If a six-dimensional force sensor is used to detect motion intention, then signal stability and precision are improved, but the device complexity increases
Solution Approach 1:
The patent combines multiple sensing functions into an integrated system where the six-dimensional force sensor works together with three posture sensors and the robot's own sensors. This merging of sensing capabilities allows comprehensive motion intention recognition while sharing processing logic in the controller, thereby managing complexity through integration rather than separate systems.
Solution Approach 2:
The six-dimensional force sensor serves multiple functions: detecting force magnitude, force direction, and by extension, inferring motion intention. This multi-functionality reduces the need for separate sensors for each measurement type, thereby managing device complexity while maintaining high measurement precision.
Data Source
AI summary
A method for controlling a limb motion intention recognizing and rehabilitation training robot based on force sense information includes: acquiring data of a three-dimensional force and a three-dimensional moment by a six-dimensional force sensor held in a hand; calculating forces and moments produced by a palm, a forearm and an upper arm of a human body according to a constructed human arm model to achieve recognition of limb motion intention; fixing the six-dimensional force sensor on a rocker at an end of the three-degree-of-freedom upper limb rehabilitation training robot, acquiring motion intention of an arm of the human body according to the motion intention recognition method, and controlling the rehabilitation training robot to achieve auxiliary active training under a weak active force.