Supplementary motion system and control method thereof

Abstract

The invention provides a supplementary motion system and a control method thereof. The system comprises a data acquisition unit, a signal processing signal, a motor driver and a mechanical actuating mechanism, wherein the data acquisition unit is used for acquiring electromyographic signals of a plurality of parts of limbs; the signal processing unit is used for respectively extracting time-domain characteristics and frequency characteristics of the electromyographic signal of each part and training and identifying multi-joint coordinated action types of the limbs by adopting a parallel mode classification algorithm; the motor driver is used for driving the mechanical actuating mechanism to actuate according to the action types; and the mechanical actuating mechanism is used for assisting the limbs to finish the corresponding actions under the drive of the motor driver. By adopting the system and the control method thereof, a user can select a training mode by setting a mechanism actuating structure as active training or passive training; and the system can automatically sense the action intention of the user, coordinate the user to finish training needs with different strengths and speeds, and improve the motion function rehabilitation effect.

Description

【Technical field】 [0001] The invention relates to rehabilitation medical device technology, in particular to an auxiliary motion system and a control method thereof. 【Background technique】 [0002] According to the statistics of the Ministry of Health, there are more than 2 million new cases of cerebral apoplexy (or cerebral apoplexy) in my country every year, and the cumulative number of surviving cerebral apoplexy patients has reached 6 to 7 million, of which 3 / 4 patients will leave different degrees of physical damage disabled. However, the incidence of stroke in my country is developing rapidly with an annual increase rate of 2% to 3%, which is much higher than the annual increase rate of 1.7% in the world. After the acute phase, stroke patients often have various dysfunctions, including motor dysfunction, aphasia, cognitive impairment, swallowing disorder, etc. Among them, partial or complete loss of limb motor function is the most serious sequelae of stroke. According...

AI Technical Summary

Problems solved by technology

At present, most auxiliary motion systems cannot provide active force to patients during training, but only provide resistance or support, which makes it easy for patients to completely rely on robots to complete actions, which may lead to abnormal movement patterns of paralyzed limbs

[0004] There are also some auxiliary motion systems that can provide active force during training to help patients complete certain movements, but the system involves relatively simple and cannot meet the training requirements of clinical patients for different functional states

That is, the training work that the auxiliary movement system can provide is only a simple curve or a straight line trajectory, which often does not meet the requirements of clinical training, and cannot give patients more stimulation of correct motor sensation in the early stage of rehabilitation. Generally, these actions are not related to daily functional The movements are very different, and it is not very helpful for the patient to resume the ability of daily life

Moreover, the current training methods of the auxiliary movement system are only passive exercise rehabilitation treatment for patients, lack of active participation stimulation for patients, and the effect of functional rehabilitation is affected to a certain extent.

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