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Dual-arm rehabilitation robot and training method

A rehabilitation robot and rehabilitation training technology, applied in the field of dual-arm rehabilitation robots and training, can solve problems such as low efficiency, high cost, and unsuitable home operation, and achieve the effects of improving training efficiency, promoting collaboration ability, and enhancing rehabilitation confidence

Pending Publication Date: 2019-07-16
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the field of rehabilitation medicine, the upper limb rehabilitation treatment of patients with severe peripheral nerve injury is generally performed by a physical therapist and the patient through one-on-one direct long-term physical contact, and the physical therapist assists the patient in performing limb movements, additional language communication, drug treatment, etc. Train patients to perform a large number of repeated repetitive movements, gradually stimulate the damaged brain nerves, and repair the brain nerves. This kind of repetitive one-on-one training is inefficient, high cost, and not suitable for home operation

Method used

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  • Dual-arm rehabilitation robot and training method

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Embodiment 1

[0048] like figure 1 As shown, this embodiment provides a dual-arm rehabilitation robot, including a host computer control system 1 , a dual-arm mechanism 2 , an electrical system 3 , a motion capture system 4 and a visual feedback system 5 .

[0049] The upper computer control system 1 is used to realize the control of the dual-arm rehabilitation robot and the processing of relevant parameters in the training process.

[0050] The double-arm mechanism 2 is connected with the upper computer control system 1 through a local area network, and is used to guide patients to perform rehabilitation exercises, and realize cooperative rehabilitation training methods and mirror image rehabilitation training methods.

[0051] The electrical system 3 is connected with the upper computer control system 1 through wires, and is used for signal transmission between the systems, and completes the corresponding control work.

[0052] The motion capture system 4 is connected to the upper comput...

Embodiment 2

[0055] This embodiment provides a mirror image training method for a dual-arm rehabilitation robot. The mirror image training method is used to drive the arm on the affected side to perform mirror image movement by the arm on the healthy side, so as to improve the efficiency of rehabilitation. Specific steps are as follows:

[0056] Step1: Security check and system initialization. Specifically include:

[0057] Motion capture system initialization, including:

[0058] The motion capture system is calibrated, and the 6 sets of rigid bodies prepared for motion capture system capture are respectively worn on the left hand, left elbow, left shoulder, right hand, right elbow, and right shoulder.

[0059] Visual feedback system initialization: import training game.

[0060] Initialization of the dual-arm mechanism: start the dual-arm rehabilitation robot and enter the command monitoring state.

[0061]Step2: Develop a training program. Specifically include:

[0062] Enter the ...

Embodiment 3

[0070] This embodiment provides a collaborative training method for a dual-arm rehabilitation robot. The collaborative training method is used for active cooperative movement of the patient's upper limbs, and further improves the ability of the patient's arms to complete actions autonomously; the specific steps are as follows:

[0071] Step1: Security check and system initialization. Specifically include:

[0072] Motion capture system initialization, including:

[0073] The motion capture system is calibrated, and the 6 sets of rigid bodies prepared for motion capture system capture are respectively worn on the left hand, left elbow, left shoulder, right hand, right elbow, and right shoulder.

[0074] Visual feedback system initialization: import training game.

[0075] Initialization of the dual-arm mechanism: start the dual-arm rehabilitation robot and enter the command monitoring state.

[0076] Step2: Develop a training program. Specifically include:

[0077] Enter t...

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Abstract

The invention discloses a dual-arm rehabilitation robot and a training method, and relates to the field of medical machinery, aiming at helping patients with severe peripheral nerve injury to carry out rehabilitation training of upper limbs after operation. The dual-arm rehabilitation robot includes a dual-arm mechanism, an electrical system, a host computer control system, a motion capture systemand a visual feedback system. The dual-arm rehabilitation robot provided by the invention comprises a mirror image training mode and a cooperative training mode. In the mirror image training mode, the active motion of the unaffected side mechanical arm drives the affected side mechanical arm to complete the mirror image motion; in the cooperative training mode, the active motion of the upper limbs of the patient drives the unaffected side mechanical arm to complete the cooperative motion, and to further improves the ability of both hands to cooperate to complete the motion.

Description

technical field [0001] The invention relates to the field of medical machinery, in particular to a dual-arm rehabilitation robot and a training method. Background technique [0002] In the field of rehabilitation medicine, the upper limb rehabilitation treatment of patients with severe peripheral nerve injury is generally performed by a physical therapist and the patient through one-on-one direct long-term physical contact, and the physical therapist assists the patient in performing limb movements, additional language communication, drug treatment, etc. Train patients to perform a large number of repeated repetitive movements, gradually stimulate the damaged brain nerves, and repair the brain nerves. This kind of repetitive one-on-one training has low efficiency, high cost, and is not suitable for home operation. Contents of the invention [0003] The purpose of the present invention is to provide a dual-arm rehabilitation robot and a training method, aiming at helping pa...

Claims

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Application Information

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IPC IPC(8): A61H1/02A63B23/12A63B71/06
CPCA61H1/0274A61H2201/1207A61H2201/1638A61H2201/50A61H2201/5069A61H2205/06A63B23/12A63B71/0619A63B2220/18
Inventor 郭帅熊学胜张雷刚黄应超荚启波
Owner SHANGHAI UNIV
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