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Rehabilitation robot and its human-computer collaborative interaction force control method

A rehabilitation robot and man-machine collaboration technology, which is applied in the direction of program control of manipulators, instruments, manipulators, etc., can solve the problems of rehabilitation robots such as poor compliance, large amount of calculation, and poor follow-up effect

Active Publication Date: 2021-03-26
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0010] The technical problem to be solved by the present invention is to provide a rehabilitation robot and its man-machine Cooperative Interaction Force Control Method

Method used

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  • Rehabilitation robot and its human-computer collaborative interaction force control method
  • Rehabilitation robot and its human-computer collaborative interaction force control method
  • Rehabilitation robot and its human-computer collaborative interaction force control method

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Embodiment 1

[0080] This embodiment provides a method for controlling the man-machine collaborative interaction force of a rehabilitation robot. figure 1 A rehabilitation robot is shown, which can be used as an upper limb rehabilitation robot to help patients perform upper limb rehabilitation training. In this embodiment, the affected limb is the upper limb. Such as figure 1 As shown, the rehabilitation robot includes a mechanical arm 110 with two joints 111, 112, the upper joint 111 corresponds to the patient's shoulder, the lower joint 112 corresponds to the patient's elbow, and each of the joints 111, 112 112 places are equipped with motors for controlling joint movement and angle sensors and torque sensors for detecting joint movement. Of course, in other embodiments, the rehabilitation robot may also be a rehabilitation robot with other structures or other purposes, and the mechanical arm 110 may also include only one joint or more than two joints, which is not limited in the present...

Embodiment 2

[0115] This embodiment provides a rehabilitation robot, which can be used as an upper limb rehabilitation robot to help patients perform upper limb rehabilitation training, and the affected limb in this embodiment is an upper limb. Such as figure 1 As shown, the rehabilitation robot includes a mechanical arm 110 with two joints 111, 112, the upper joint 111 corresponds to the patient's shoulder, the lower joint 112 corresponds to the patient's elbow, and each of the joints 111, 112 112 places are equipped with motors for controlling joint movement and angle sensors and torque sensors for detecting joint movement. Of course, in other embodiments, the rehabilitation robot may also be a rehabilitation robot with other structures or other purposes, and the mechanical arm 110 may also include only one joint or more than two joints, which is not limited in the present invention. Such as Figure 5 As shown, the rehabilitation robot also includes a human-computer interaction force c...

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Abstract

The invention discloses a rehabilitation robot and a human-machine cooperative interaction force control method thereof. The rehabilitation robot comprises a robot arm with at least one joint. The method for controlling the human-machine interaction force of the rehabilitation robot comprises the following steps: detecting an action moment of a patient's affected side limb acting on the robot arm;Generating a target motion trajectory of the manipulator; Establishing a dynamic model of the manipulator; Calculating a joint moment required for generating the target motion trajectory by using aninverse dynamics principle; Calculating a friction compensation torque of the joint and a dynamic compensation torque of the affected side limb of the patient; The joint torque, the action torque, thedynamics compensation torque, and the friction compensation torque are used as control inputs to the manipulator. The robot can provide the compliant force interactive control between the patient andthe rehabilitation robot arm, provides complete dynamic compensation, improves the equipment motion starting ability and flexibility, and is favorable for improving the experience degree of the patient to the auxiliary rehabilitation training. The invention can provide the compliant force interactive control between the patient and the rehabilitation robot arm, provides complete dynamic compensation, and improves the equipment motion starting ability and flexibility.

Description

technical field [0001] The invention belongs to the field of robot human-computer interaction, and in particular relates to a rehabilitation robot and a method for controlling human-computer cooperative interaction force thereof. Background technique [0002] With the aggravation of the aging society in our country, the number of patients with upper limb motor dysfunction caused by stroke is constantly increasing, and the number of stroke patients is huge. About 75% of stroke patients will have sequelae of varying degrees after the onset of stroke, which seriously affects the quality of life of patients and brings great burden to patients' families and society. Among the numerous sequelae, the incidence of hemiplegia is the highest, and in the rehabilitation of hemiplegia, the recovery of upper limb function is the most difficult. Medical theory and clinical medicine have proved that in addition to surgical treatment and drug treatment, scientific rehabilitation training pl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F13/00A61H1/02B25J9/00B25J9/16
CPCA61H1/0274A61H1/0277A61H1/0281A61H2201/1207A61H2201/1638A61H2201/1659A61H2201/50A61H2201/5058A61H2201/5069B25J9/00B25J9/0006B25J9/16
Inventor 孙凤龙郭凤仙
Owner SHANGHAI ELECTRICGROUP CORP
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