Wearable robot for detecting and suppressing tremor of human arms and method for suppressing tremor thereof

Abstract

The invention discloses a wearable robot for detecting and suppressing tremor of human arms and a method for suppressing the tremor thereof. The robot comprises a wearable exoskeleton system, a tremor excitation system, a tremor movement detection system and a signal processing and control system. The invention provides a comprehensively utilized 'three closed loop' mixed tremor suppression strategy based on the biological force loading technology and the functional neuromuscular stimulation technology. When the tremor patients carry out daily activities such as writing, raising arms and the like, the tremor movement detection system senses the movement information of the arms and isolates tremor movement signals from normal movement signals through the 'two-stage' adaptive prediction filtering algorithm; the 'three closed loop' tremor movement suppression control strategy is adopted to respectively control a functional neuromuscular stimulation device and a DC motor system to generate tremor movement with the same amplitude and 'opposite' phase positions so as to achieve the aim of suppressing arm tremor of the patients and improve the quality of lives of the tremor patients.

Description

technical field [0001] The invention belongs to the field of medical robots and exoskeleton robots, and specifically refers to a wearable human arm tremor detection and suppression robot. Background technique [0002] Tremor is an involuntary, rhythmic, approximately sinusoidal to-and-fro swinging limb movement. 5% of middle-aged and elderly people over the age of 40 suffer from tremor disease, especially Parkinson's disease, which is a common disease with an increasing trend in the incidence rate in the past 10 to 20 years, and the prevalence rate is 106-307 per 100,000 people in the West People, 44-82 people in Asia, 31-58 people in Africa, and the prevalence of PD in the crowd over 60 years old is about 1%. Tremor is common in human limbs, especially arms, affecting fine movements, writing and eating, and in severe cases, it can bring a lot of inconvenience to patients' daily life, work, and social interactions. Although many research institutions at home and abroad hav...

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Problems solved by technology

[0007] Aiming at the problems existing in the above-mentioned prior art, the present invention discloses a wearable human arm tremor detection and suppression robot, which suppresses the tremor movement of the patient without interfering with the normal movement of the patient, and solves the problems caused by the tremor to the patient such as fine Inconvenience problems in daily life such as movement, writing and catering; in addition, the present invention discloses a "three-closed-loop" hybrid tremor suppression control strategy based on bio-force loading technology and functional neuromuscular stimulation technology, which takes advantage of the advantages of the two methods , will greatly improve the effect of tremor suppression

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