Upper and lower limb rehabilitation equipment multi-sensor fusion angle detection system and method

Abstract

The invention relates to the field of sensor detection, in particular to an upper and lower limb rehabilitation equipment multi-sensor fusion angle detection system and method. The detection system comprises an upper computer, an incremental encoder and a zero sensor, wherein the incremental encoder and the zero sensor are connected with corresponding pins of the upper computer; the incremental encoder is used for collecting the rotation angle of the motor, the zero sensor is used for detecting the zero position on the tail end handle, and the upper computer is used for processing signals of the incremental encoder and the zero sensor. The system has the beneficial effects that the problem of inaccurate tail end angle detection caused by the uncertain reduction ratio and the slipping phenomenon of the speed reducer is solved by combining the incremental encoder with the zero sensor and matching with the self-adaptive angle algorithm.

Description

technical field [0001] The invention relates to the field of sensor detection, in particular to a multi-sensor fusion angle detection system and method for upper and lower limb rehabilitation equipment. Background technique [0002] With the development of mechanical and electronic technology, mechanical rehabilitation equipment plays an increasingly important role in the medical field. In the field of hemiplegia rehabilitation, the use of upper and lower limb rehabilitation equipment combined with limb movement is a commonly used rehabilitation treatment method, which can help patients restore nerve and muscle functions. [0003] At present, upper and lower extremity rehabilitation equipment uses circular motion of upper limbs or lower limbs, and the usual state of motion of the equipment is to perform long-term circular motion in forward or reverse direction. At the same time, in order to do more complex rehabilitation control and evaluation algorithms, it is necessary to...

AI Technical Summary

Problems solved by technology

[0005] 1. The absolute angle of the end handle cannot be determined: there is a large reduction ratio between the motor and the end handle, and one turn of the handle corresponds to multiple turns of the motor, so whether the encoder at the motor end is an incremental encoder or an absolute encoder Even the encoder cannot calculate the end handle angle according to the motor end encoder

[0006] 2. The relative angle change (reduction ratio) between the end handle and the motor cannot be determined: for the reducer, although the design is a definite reduction ratio, the actual reduction ratio cannot strictly meet the design due to processing technology, wear and other reasons Indicators, there may also be slight differences between different devices produced in the same batch

[0007] 3. Unable to deal with the slipping problem of the reducer: For the reducer such as belt transmission, slipping may occur. As the equipment ages, the slipping phenomenon is more and more likely to occur

Slippage will cause the motor end and end angle to shift, resulting in inaccurate end angle detection

[0008] At present, the commonly used solutions for detecting the angle of the encoder at the motor end will have the above three problems, resulting in the inability to accurately calculate the angle of the end handle, which limits the further development of other functions

Images