Upper limb rehabilitation robot control system

Abstract

The invention relates to an upper limb rehabilitation robot control system. An upper computer transmits instructions to an MCU (micro-programmed control unit) module through a Bluetooth / WIFI, the MCUmodule selects different training modes according to the instructions, a voice module identifies unspecific voice, voice signals are acquired and processed and transmitted to the MCU module by the aidof an SPI (serial peripheral interface) communication protocol, a driving module drives a motor to rotate in a controlled manner, so that training actions are completed, electromyography collection of a healthy side of a patient is implemented by an electromyography control module, electromyography signals are extracted, processed and analyzed, actions of the healthy side of the patient map a mechanical arm, movement intentions are identified, and functional compensation and control is achieved. By the aid of various man-machine interaction modes, targeted rehabilitation training effects canbe effectively achieved, joints of the upper limb of the patient can be accurately positioned when the system is used, and tissue damage and pulled muscle caused by misplaced training are avoided. Thecontrol system is small in size, convenient to use, good in training effect and low in manufacturing cost.

Description

technical field [0001] The invention relates to a medical rehabilitation robot, in particular to an upper limb rehabilitation robot control system and method. Background technique [0002] According to the "China Cardiovascular Disease Report 2017" report, the number of stroke patients in my country has reached 13 million, and the incidence of stroke is increasing at an annual rate of 8.7%. Stroke patients usually leave many sequelae, and about 85% of them are accompanied by one side of the upper limb dysfunction. The existing medical theory and practice data prove that correct, scientific and reasonable rehabilitation training is very important for the recovery of limb motor function. play a very important role. [0003] Traditional treatment methods mainly rely on medical staff to conduct one-on-one auxiliary training for patients. This training mode is time-consuming and labor-intensive, and lacks quantitative and objective evaluation. With the continuous development of...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is: Aiming at problems such as the single training mode of the existing rehabilitation robot, the poor rehabilitation effect, and poor human-computer interaction, a control system for the upper limb rehabilitation robot is proposed, which can realize 7- DOF (3 driving degrees of freedom, 4 non-driving degrees of freedom) compound exercise training can meet the needs of patients with different muscle strengths. Patients can choose different training modes through the host computer and voice control, allowing patients at different stages, In different places without relying on professional doctors, self-training and assistance in daily life to meet the actual needs of patients in various aspects

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