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Mode switching method and device for rehabilitation training robot

A technology of rehabilitation training and training mode

Active Publication Date: 2019-11-05
广东美的安川服务机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When switching training modes, it is easy to cause mistaken switching

Method used

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  • Mode switching method and device for rehabilitation training robot
  • Mode switching method and device for rehabilitation training robot
  • Mode switching method and device for rehabilitation training robot

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Embodiment Construction

[0036] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0037] The mode switching method and device of the rehabilitation training robot according to the embodiments of the present invention will be described below with reference to the accompanying drawings.

[0038] When the torque is used as the basis for judging whether to switch the training mode, if the equipment is affected by the gravity of the supporting part but does not perform gravity compensation, there may be a wrong switch during the training mode switching process. For example, during the lowering process of the upper ...

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Abstract

The present invention provides a method and a device for mode switching of a rehabilitation training robot. The method comprises the steps of: in a process of rehabilitation training by employing a robot, obtaining an output moment of a drive motor of an active training unit and a gravitational moment generated by a support portion of the active training unit in the robot, employing the gravitational moment to perform compensation of the output moment, obtaining a target moment, according to the target moment, determining whether the training mode of the active training unit is switched or not, and if yes, regulating the training mode of the active training unit. The method takes a moment as a basis of determining whether the training mode is switched or not, considers the gravity of the support portion, employs the gravitational moment generated by the support portion of the active training unit to perform gravity compensation of the output moment of the drive motor so as to reduce the influence of the gravity of the support portion to the operation of the rehabilitation training robot, reduce the probability of false switching of the training mode of the active training unit andimprove the switching success rate of the training mode.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medicine, in particular to a mode switching method and device for a rehabilitation training robot. Background technique [0002] Active and passive training Rehabilitation training robots have a wide range of applications in the field of rehabilitation. In the related art, when switching between different training modes, torque can be used as a judgment basis. [0003] The active-passive training rehabilitation robot has a simple structural design and can realize more training modes. This type of rehabilitation robot has a support part on one side and no support part on the other side. When switching training modes, it is easy to cause mistaken switching. Contents of the invention [0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. [0005] For this reason, the first object of the present invention is to propose a ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 郭栋梁冯亚磊
Owner 广东美的安川服务机器人有限公司
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