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Control method of upper limb rehabilitation robot

A rehabilitation robot and control method technology, applied in passive exercise equipment, physical therapy and other directions, can solve problems such as difficult rehabilitation training or provide effective control methods for teaching, and achieve increased human-computer interaction performance, increased diversity, increased The effect of flexibility

Inactive Publication Date: 2017-10-13
北京蝶禾谊安信息技术有限公司
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0003] In summary, the following problems exist in the prior art: it is difficult to provide effective control methods for rehabilitation training or teaching through medical devices

Method used

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  • Control method of upper limb rehabilitation robot
  • Control method of upper limb rehabilitation robot

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Embodiment Construction

[0040] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the present invention will now be described with reference to the accompanying drawings.

[0041] The control method of the upper limb rehabilitation robot of the present invention can be used for rehabilitation training or teaching.

[0042] Such as figure 2 As shown, the upper limb rehabilitation robot of the embodiment of the present invention includes:

[0043] An elevating main shaft 24 capable of vertically moving up and down and rotating around the center line of the shaft, the elevating main shaft is vertical to the horizontal plane;

[0044] A telescopic arm 23 capable of telescoping in the horizontal direction is vertically connected to the top of the elevating main shaft 24;

[0045] The hand rest device 25 capable of rotating in the horizontal plane is hinged on the telescopic arm 23 , for example, located at the end of the telescopic arm 23 ...

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Abstract

The present invention provides a control method for an upper limb rehabilitation robot. The control method includes: inputting the set motion parameters and operation modes of the telescopic arm (23) to the controller in advance; selecting an applicable telescopic arm (23) according to specific working conditions ( 23) motion parameters and operation modes; the controller controls the movement of the telescopic arm (23) according to the selected motion parameters; the force sensor feeds back the position of the telescopic arm (23) to the controller during the movement The force exerted by the test body on the telescopic arm (25) on the telescopic arm (23); the controller determines whether to adjust the setting according to the feedback from the force sensor according to the selected operation mode motion parameters. The control method of the invention increases the performance of human-computer interaction and increases the flexibility of control.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to a control method for a robot used for medical treatment or rehabilitation, that is, a control method for an upper limb rehabilitation robot. Background technique [0002] Current injuries resulting from stroke, head injury, or spinal cord surgery often result in impaired movement of multiple muscle groups in the patient. Theories of neural remodeling have demonstrated that repetitive motion and rehabilitative exercises can restore some or most of the motor function in patients. Repetitive training is very boring, and it is labor-intensive and inefficient for therapists. For therapists, repetitive training for patients is very boring, high-intensity and inefficient, because therapists only treat patients Provide treatment and assist patients in comprehensive rehabilitation training. [0003] To sum up, the following problems exist in the prior art: it is difficult to provide an ef...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02
Inventor 张秀岩虎跃沈建铭
Owner 北京蝶禾谊安信息技术有限公司
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