A method for predicting the state interval response domain of a flexible cable-driven waist rehabilitation robot

A waist rehabilitation and cable-driven technology, applied in passive exercise equipment, complex mathematical operations, physical therapy, etc.

Active Publication Date: 2022-04-12
HEFEI UNIV OF TECH
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Problems solved by technology

[0005] The purpose of the present invention is to make up for the defects of the prior art, and to provide a method for predicting the state interval response domain of the cable-driven waist rehabilitation robot, so as to solve the problem of how to quickly and efficiently predict the uncertain range of the cable-driven waist rehabilitation robot system in the prior art. The angle and force state response domain problem under the parameters, and then improve the reliability of the flexible cable-driven waist rehabilitation robot system

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  • A method for predicting the state interval response domain of a flexible cable-driven waist rehabilitation robot
  • A method for predicting the state interval response domain of a flexible cable-driven waist rehabilitation robot
  • A method for predicting the state interval response domain of a flexible cable-driven waist rehabilitation robot

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Embodiment 1

[0127] see figure 1 and figure 2 , applied to the acquisition of the response domain of the state interval of the cable-driven waist rehabilitation robot, the solution to the problem of the response domain of the state interval of the cable-driven waist rehabilitation robot is carried out according to the above steps. For the specific process of implementing the prediction method of the state interval response domain of the soft cable-driven waist rehabilitation robot in the computer, further description is as follows:

[0128] image 3 It is a schematic diagram of the equivalent geometric model of the flexible cable-driven waist rehabilitation robot corresponding to this embodiment, wherein the equivalent flexible cable 5-1 on the left side and the equivalent flexible cable 5-2 on the right side are connected to the upper ends of the main frame 1 The fixed bracket is connected, the lower end is connected with the lower limb training platform 3, and the joints of the flexib...

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Abstract

The invention discloses a method for predicting the state interval response domain of a cable-driven waist rehabilitation robot. The specific steps are as follows: Step 1: According to the geometric model of the cable-driven waist rehabilitation robot, the angle state response equation in the training process is established. Step 2 : Convert the angle state response equation into an angle state response equivalent equation; Step 3: Establish an angle state response interval equivalent equation, Step 4: Expand the interval vector and interval matrix approximately at the mean value of the introduced interval vector, Step 5: According to the perturbation theory, the midpoint value of the angular state response and the radius of the change interval are obtained. Step 6: Obtain the upper and lower bounds of the angular state response interval vector; Step 7: Combine step 5 and step 6 to obtain the interval response of the angle and force state area. On the basis of solving the problem of redundant mechanism, the present invention can solve the angle and force state response field analysis problem of the cable-driven waist rehabilitation robot system with uncertain interval parameters, effectively improve the calculation efficiency and ensure the calculation accuracy, At the same time, the calculation process is greatly simplified and the calculation time is greatly shortened.

Description

Technical field: [0001] The invention relates to the technical field of reliability, and mainly relates to a method for predicting the state interval response domain of a cable-driven waist rehabilitation robot, and is particularly suitable for predicting the state response domain of a cable-driven waist rehabilitation robot with structural parameters in uncertain intervals. Background technique: [0002] With the increasing aging of society and the shortage of rehabilitation physicians, the demand for waist rehabilitation robots is gradually increasing. During the rehabilitation training process of the waist rehabilitation robot, it is often required to quickly and accurately solve the angle and force state response during the training process to ensure the safety and reliability of the rehabilitation training process. Most of the existing solutions to the state response of this type of waist rehabilitation robot regard system parameters as deterministic parameters, but in ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/11A61H1/02G06F17/16
CPCA61H1/02A61H1/0237G06F17/11G06F17/16
Inventor 李元訾斌周斌陈兵孙智杨正蒙
Owner HEFEI UNIV OF TECH
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