Upper and lower limb rehabilitation robot, control method, medium and computer equipment

Abstract

The invention relates to an upper and lower limb rehabilitation robot, a control method, a medium and computer equipment. The upper and lower limb rehabilitation robot comprises a mechanical arm and a control system thereof, and the execution tail end of the mechanical arm is provided with a quick-release clamp, a six-dimensional force sensor and an electromyographic signal sensor; the quick-release clamp is used for being connected with an affected limb; the control method comprises the steps that data related to an affected limb is obtained through active testing, and an alarm threshold value is set according to the data; according to a set treatment scheme, the mechanical arm is controlled to drive the affected limb to move along a set path for passive rehabilitation training, or the affected limb overcomes damping force to drive the mechanical arm to move along the set path for active rehabilitation training. When the moving path of the affected limb deviates from the set path, the affected limb moves back to the set path through self-adaptive impedance control. The device can replace or assist doctors in upper and lower limb rehabilitation training, provides a more personalized and more accurate upper and lower limb rehabilitation scheme, and meets the requirements of patients for rehabilitation training.

Description

technical field [0001] The invention relates to the technical field of rehabilitation robots, in particular to an upper and lower limb rehabilitation robot and a control method, medium and computer equipment. Background technique [0002] Injuries from stroke, head injury, or spinal cord surgery often result in impaired motor function in multiple muscle groups. Neural remodeling theory has demonstrated that repetitive movement and rehabilitation can restore some or most of a patient's motor function. One of the effective ways to help patients regain limb motor function is rehabilitation training, which is mainly divided into passive rehabilitation, active rehabilitation training and rehabilitation operation training. In traditional rehabilitation, rehabilitation trainers are used to personally guide and train patients in rehabilitation. Although good therapeutic effects can be achieved, it is time-consuming, labor-intensive, and expensive, which is unbearable for ordinary p...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the prior art, the present invention provides a rehabilitation robot for upper and lower limbs, a control method, a medium and computer equipment, which solves the technical problems of single movement and poor compliance of the current rehabilitation robot

Images