Exoskeleton type upper limb rehabilitation robot with man-machine interaction kinetic model

Abstract

The invention provides an exoskeleton type upper limb rehabilitation robot with a man-machine interaction kinetic model. In the rehabilitation training process, upper limbs of a human body are regarded as a two-connecting-rod mechanism with three freedom degrees, a kinetic model of the two-connecting-rod mechanism is combined with the kinetic model of the exoskeleton type upper limb rehabilitation robot, and the exoskeleton type upper limb rehabilitation robot with the man-machine interaction kinetic model is formed. The robot can judge the motion intention of a patient by comparing the joint force moment estimation value with the actually-measured force moment value. The exoskeleton type upper limb rehabilitation robot with the man-machine interaction kinetic model can accurately recognize the motion intention of the upper limbs of the patient in application of engineering, data are stable and reliable, recognition and judgment results are accurate, and the exoskeleton type upper limb rehabilitation robot has expectable great economic values and social values.

Description

technical field [0001] The invention relates to the technical field of motion control and extended application of an upper limb rehabilitation robot, and in particular provides an exoskeleton upper limb rehabilitation robot with a dynamic model of human-computer interaction. Background technique [0002] Stroke is one of the diseases with a high incidence rate in the elderly, and the limb movement dysfunction caused by it seriously affects the healthy life of the elderly. Traditional treatment methods require professional rehabilitation physicians to conduct one-on-one physical therapy, which has limited treatment efficiency, a great waste of treatment resources, and a considerable economic burden on the patient's family and society. Appropriate rehabilitation exercise training can promote the recovery of limb function in stroke patients. The participation of robots in assisted upper limb rehabilitation exercise training is more targeted, lasts longer, and is more repeatabl...

AI Technical Summary

Problems solved by technology

However, because the actual situation of each person is different, the strength of the generated EMG signal is inconsistent, and there are many interference factors of the EMG signal, so in the actual process, it must be tested repeatedly before it can be used, which increases the detection cost

[0005] For the measurement of the joint torque of the human upper limbs, some literatures use the method of measuring the terminal torque and then indirectly calculating the joint torque through the Jacobian matrix transformation method. The truth about joints

Images