Intelligent exoskeleton rehabilitation mechanical arm based on normal side biological electrical control and method

Abstract

The invention discloses an intelligent exoskeleton rehabilitation mechanical arm based on normal side biological electrical control and a method. A driving mechanism is arranged on a dorsal metacarpaplatform, and separately drives movement of each mechanical unit of an exoskeleton mechanical arm body, and the control system receives a position signal fed back by the driving mechanism, and controls movement and / or stop of the driving mechanism; surface myoelectricity sensors of a surface myoelectricity system are arranged on muscle bellies of hand and forearm related muscles of normal side upper limbs, surface myoelectricity signals of the corresponding muscles are collected, feature extraction is conducted, a signal identification module receives surface myoelectricity feature parameters,the feature parameters are sent to a trained classifier, different action types are identified, a bioelectric assessment system receives the surface myoelectricity feature parameters, assessment is conducted on personal features and a real-time state of a patient, and the assessment result is obtained; the identification result and the assessment result are sent to the control system to control movement of the driving mechanism, and then the hand on the affected side is driven to move.

Description

technical field [0001] The invention relates to an intelligent exoskeleton rehabilitation manipulator and method based on healthy side bioelectric control. Background technique [0002] Healthy hand function plays an important role in production and life. In the case of various diseases or trauma, hand function is easily damaged and recovery is extremely difficult, which seriously affects the daily life ability of patients. [0003] At present, hand function rehabilitation training is carried out by rehabilitation therapists. By guiding the movement of the patient's fingers, the patient can restore finger strength and joint range of motion. Although this method has a certain curative effect, because it is a one-on-one treatment, the treatment efficiency is extremely low, the treatment cost is high, and the effect is difficult to quantitatively evaluate. The rehabilitation manipulator is a special robot designed for hand rehabilitation training, which can effectively replac...

AI Technical Summary

Problems solved by technology

However, the current working mode of rehabilitation manipulators is fixed, and most of them adopt active, passive or semi-passive methods, which cannot be intelligently adjusted and controlled according to the individual characteristics and real-time status of patients, which seriously restricts the clinical application of rehabilitation manipulators.

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