Active-passive adaptive control method of upper and lower limb recovery training robot

Abstract

The invention discloses an active-passive adaptive control method of an upper and lower limb recovery training robot. The active-passive adaptive control method is characterized in that an upper computer, a USB (Universal Serial Bus) communication microprocessor module, a photoelectric coupler I, a photoelectric coupler II, a motor control microprocessor module, an AD (Analogue-to-digital) conversion circuit module and an upper and lower limb recovery training robot motor are utilized. The upper computer is used for establishing a reference training model and transmitting a recovery training command according to the reference training model, the USB communication microprocessor module is used for receiving the recovery training command transmitted by the upper computer through a USB communication line and transmitting the recovery training command through a serial interface, and the photoelectric coupler I is used for executing signal isolation and transmitting a signal to the motor control microprocessor module. The motor control microprocessor module is used for controlling a motor on the upper and lower limb recovery training robot to operate in grade according to the received recovery training command. Simultaneously, the motor control microprocessor module is used for acquiring the power supply voltage value of the motor on the upper and lower limb recovery training robot through the AD conversion circuit module and transmitting the voltage value through the serial interface, and the USB communication microprocessor module transmits the signal subjected to signal isolation through the photoelectric coupler II to the upper computer. The upper computer operates the voltage value in the reference training model to calculate an offset value required by active-passive adaptive control and carries out the active-passive adaptive control on the upper and lower limb recovery training robot.

Description

technical field [0001] The invention relates to a control method for an upper and lower limb rehabilitation training robot, and belongs to the technical fields of signal acquisition and processing, motor control, communication and the like related to the rehabilitation training robot. Background technique [0002] At present, my country, like many countries in the world, is gradually stepping into an aging society, and there are a large number of patients with cerebrovascular disease or nervous system disease among the elderly population, and most of these patients have hemiplegia symptoms. Simultaneously, the number of people who cause nerve damage or limb damage due to traffic accidents is also increasing. In addition to early surgical treatment and necessary drug treatment for these two types of patients, scientific rehabilitation training plays a very important role in the recovery of motor function in the later stage of limb injury treatment. With the rapid increase i...

AI Technical Summary

Problems solved by technology

In recent years, although there have been continuous rehabilitation training robots in China, these rehabilitation training robots need to manually set the rehabilitation training mode as active or passive, and can automatically switch the rehabilitation training mode in real time according to the patient's rehabilitation status. but did not show up

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