Limb movement intention understanding and upper limb rehabilitation training robot based on force sense information and posture information and control method for limb movement intention understanding and upper limb rehabilitation training robot
A technology for rehabilitation training and attitude information, applied in sports accessories, program control, gymnastics equipment, etc., can solve the problems of signal instability and inconvenient wearing, and achieve signal stability, safety and comfort assurance, and easy acquisition and processing Effect
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[0043] Hemiplegic patients with upper limb movement disorders have certain upper limb exercise ability, but the upper limb muscle strength is not enough to make themselves reach the maximum movement space of normal upper limbs of healthy people.
[0044] The three-degree-of-freedom upper limb rehabilitation training robot of the present invention is used for upper limb rehabilitation training. The hand holds the rocker 13 for autonomous training. The rehabilitation training robot acquires the patient's movement intention through the force sensor and assists the upper limbs to move to normal Workspace. Figure 5 Shown is the working space of the patient's upper limbs in the case of autonomous movement and robot-assisted movement. Image 6 It is the curve of the surface EMG signal and force sensor signal of the patient's upper limbs during exercise. It can be seen that the patient's upper limb movement space is significantly increased under the robot-assisted movement, and the norma...
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