Recovery robot system for providing mechanical assistant by using myoelectric signal and the training method thereof

一种肌电信号、肌电的技术，应用在康复机器人系统领域，能够解决没有机械帮助、运动质量限制、提供患者等问题，达到提高运动空间、加快康复、加强信心的效果

Active Publication Date: 2007-10-31
THE HONG KONG POLYTECHNIC UNIV
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Problems solved by technology

However, these devices only provide a visual or audio feedback to the patient based on the detected EMG signal, and provide no actual mechanical assistance to the patient.
Therefore, although it helps to improve the active participation of patients, it still cannot help patients to perform rehabilitation training well due to the difficulty in exercise of the patients themselves, which leads to great restrictions on the quality of exercise.

Method used

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  • Recovery robot system for providing mechanical assistant by using myoelectric signal and the training method thereof
  • Recovery robot system for providing mechanical assistant by using myoelectric signal and the training method thereof
  • Recovery robot system for providing mechanical assistant by using myoelectric signal and the training method thereof

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Embodiment Construction

[0031] Those skilled in the art know that the EMG signal is a one-dimensional time-series signal, which originates from the motor neurons in the spinal cord as a part of the central nervous system, and is the sum of the action potentials emitted by many motor units touched by the electrodes. The electromyographic signal reflects the movement status of the muscles, and the electromyographic signal and the force generated by the corresponding muscles satisfy an approximate linear relationship.

[0032] The inventor uses the myoelectric signal and the force generated by the corresponding muscle to satisfy an approximate linear relationship, and develops a rehabilitation robot system and method that uses the myoelectric signal to provide mechanical assistance to patients to overcome the drawbacks of the prior art. The system and method control the additional moment acting on the affected part (such as the patient's upper limbs or lower limbs, including elbows, wrists, ankles, knees...

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Abstract

The invention discloses a rehabilitation robot system and training method with muscle electrical signal for patient, which is characterized by the following: sensing corresponding muscle electrical signal of disease joint through muscle electrical pole; exporting the sensing signal to control part; counting out additional torque according to constant force moment and muscle electrical signal; providing corresponding additional torque for patient. This invention can be used to rehabilitation exercise of elbow joint, carpal joints, knee joint, ankle joint and shoulder joint, which accelerates recovery of disease joint.

Description

technical field [0001] The invention relates to the field of auxiliary medical rehabilitation training equipment, in particular to a rehabilitation robot system and a training method for providing mechanical assistance to patients by utilizing electromyographic signals of the patient's affected side. Background technique [0002] Stroke is a common disease. Traditional stroke rehabilitation equipment has been introduced in the "Interactive robotic therapist (Interactive robotic therapist)" of U.S. patent US 5,466,213 and the "rehabilitation training robot for upper limb compound movement of hemiplegic patients" in Chinese patent application CN 1480118A. These rehabilitation equipment It can perform rehabilitation training on the shoulder and elbow joints of patients. However, these rehabilitation robot systems can only perform passive training in the movement space that patients cannot reach due to their own movement difficulties. [0003] Because the patient's ipsilateral...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/00A61B5/0488B25J3/00A61B5/296
CPCA61H2230/60A61H2201/5069A61H2201/5061A61B5/04888A61H1/0237A63B71/0009A61B5/4528A63B23/0355A61H1/0274A63B2230/10A61B5/389
Inventor 汤启宇宋嵘
Owner THE HONG KONG POLYTECHNIC UNIV
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