CN102631276A - Interaction method and interaction system for rehabilitation training robot - Google Patents
Interaction method and interaction system for rehabilitation training robot Download PDFInfo
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- CN102631276A CN102631276A CN2011104598468A CN201110459846A CN102631276A CN 102631276 A CN102631276 A CN 102631276A CN 2011104598468 A CN2011104598468 A CN 2011104598468A CN 201110459846 A CN201110459846 A CN 201110459846A CN 102631276 A CN102631276 A CN 102631276A
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Abstract
An interaction method for a rehabilitation training robot includes the steps: acquiring motion signals of ankles; processing the motion signals of the ankles according to the set motion control mode to obtain control signals for the rehabilitation training robot; and controlling the rehabilitation training robot to act correspondingly according to the control signals. According to the interaction method and the interaction system for the rehabilitation training robot, the motion signals of the ankles are acquired according to the set motion control mode so as to obtain the corresponding control signals for the rehabilitation training robot, the control signals are used for controlling the rehabilitation training robot, and accordingly a patient can set the motion control mode according to specific circumstances when aided by the rehabilitation training robot to train for rehabilitation, the motion signals of the ankle are processed in different ways under different motion control modes, the control signals generated are also different, and the rehabilitation training robot is enabled to flexibly guide the patient to move for the ankles of the patient.
Description
[technical field]
The present invention relates to the rehabilitation training technology, particularly relate to exchange method and system in a kind of recovery exercising robot.
[background technology]
Along with the extensive use of robot, increasing people begins to be devoted to robot application in rehabilitation training, guides patient moving to bestow suitable power-assisted or resistance.Since the appearance of doing evil through another person that first has been adopted surface electromyogram signal control in the world, various upper limb healing device is developed successively, and slowly infiltrates the research and development in lower limb rehabilitation field.
The robot that is applied to lower limb rehabilitation training carries out the control of rehabilitation training through the movable information that collects.For example; Recovery exercising robot can adopt the orthopedic lower limb of lower limb; The orthopedic lower limb of these lower limb is mainly become with pneumatic muscle groups by sheath; Drive the motion of ankle joint through pneumatic muscles, and be used as signal source through the surface electromyogram signal of gathering the lower limb gastrocnemius, this surface electromyogram signal has reflected patient's musculation information; Recovery exercising robot also can be a kind of lower limb exoskeleton robot, and this lower limb exoskeleton robot is gathered the surface electromyogram signal of lower limb vastus intermedius and these two muscle of semimembranosus m., controls motor and realizes the power transmission, thereby drive the kneed motion of lower limb.
Yet; These are applied in the robot of lower limb rehabilitation training; The robot that carries out rehabilitation training to ankle joint relatively seldom, and can be comparatively single, for example to the ankle motion parameter that ankle joint carries out reflecting in the robot of rehabilitation training; The various ankle healing robots of developing both at home and abroad all only can be realized the rehabilitation exercise of a plurality of degree of freedom, can't guide the patient to move neatly.
[summary of the invention]
Based on this, be necessary to provide a kind of ability to guide the exchange method in the recovery exercising robot that the patient moves neatly to ankle joint.
In addition, also be necessary to provide a kind of ability to guide the interactive system in the recovery exercising robot that the patient moves neatly to ankle joint.
Exchange method in a kind of recovery exercising robot comprises the steps:
Gather the motor message of ankle joint;
Motor control pattern according to setting is handled the control signal that obtains recovery exercising robot to the motor message of said ankle joint;
Control said recovery exercising robot through said control signal and carry out corresponding motion.
Preferably, the step of the motor message of said collection ankle joint comprises:
The surface electromyogram signal of the muscle of acquisition controlling ankle motion;
Gather the plantar pressure distribution and obtain the plantar pressure signal;
Said recovery exercising robot is measured position signalling.
Preferably, said motor control pattern is the Passive Control pattern, and the said step of the motor message of said ankle joint being handled the control signal that obtains recovery exercising robot according to said motor control pattern comprises:
Motor message through said ankle joint positions position and the movement locus that obtains said recovery exercising robot;
Position and movement locus according to said recovery exercising robot generate the control signal that meets preset ankle motion track.
Preferably, said motor message through said ankle joint also comprises after positioning the step of the position that obtains said recovery exercising robot and movement locus:
Compared with preset ankle motion track in the position of said recovery exercising robot and movement locus, and according to the motion of the said recovery exercising robot of comparison result correction.
Preferably, said motor control pattern is an Active Control Mode, and the said step of the motor message of said ankle joint being handled the control signal that obtains recovery exercising robot according to said motor control pattern comprises:
Said surface electromyogram signal and plantar pressure signal handled obtain corresponding eigenvalue;
Said eigenvalue sorted out obtain said eigenvalue classification of living in;
Generate the control signal of said recovery exercising robot according to said eigenvalue classification of living in.
Preferably, said motor control pattern is the impedance Control pattern, said to said eigenvalue sort out obtain said eigenvalue classification of living in step after also comprise:
Generate the control signal that ankle motion is applied resistance according to said eigenvalue classification of living in.
Interactive system in a kind of recovery exercising robot comprises:
Harvester is used to gather the motor message of ankle joint;
Blood processor is used for the motor message of said ankle joint being handled the control signal that obtains recovery exercising robot according to the motor control pattern of setting;
Telecontrol equipment is used for controlling said recovery exercising robot through said control signal and carries out corresponding motion.
Preferably, said harvester comprises:
The surface myoelectric appearance is used for the surface electromyogram signal of the muscle of acquisition controlling ankle motion;
Pressure transducer is used to gather the plantar pressure distribution and obtains the plantar pressure signal;
Position sensor is used for said recovery exercising robot is measured position signalling.
Preferably, said motor control pattern is controlled molding formula, and said blood processor comprises:
Locating module is used for positioning position and the movement locus that obtains said recovery exercising robot through the motor message of said ankle joint;
The signal generation module is used for generating the control signal that meets preset ankle motion track according to the position and the movement locus of said recovery exercising robot.
Preferably, said blood processor also comprises:
The motion correcting module is used for being compared with preset ankle motion track in the position of said recovery exercising robot and movement locus, and according to the motion of the said recovery exercising robot of comparison result correction.
Preferably, said motor control pattern is an Active Control Mode, and said blood processor comprises:
Signal processing module is used for said surface electromyogram signal and plantar pressure signal handled obtaining corresponding eigenvalue;
Classifying module is used for said eigenvalue sorted out and obtains said eigenvalue classification of living in;
The signal generation module is used for generating according to said eigenvalue classification of living in the control signal of said recovery exercising robot.
Preferably, said motor control pattern is the impedance Control pattern, and said signal generation module also is used for generating the control signal that ankle motion is applied resistance according to said eigenvalue classification of living in.
In the exchange method and system in the above-mentioned recovery exercising robot; According to setting the motor control pattern motor message of the ankle joint that collects is handled the control signal that obtains corresponding recovery exercising robot; And realize the control of recovery exercising robot through control signal; And then, the patient can set the motor control pattern as the case may be when carrying out rehabilitation training through recovery exercising robot auxiliary; Different motor control patterns will make the processing of motor message of ankle joint have nothing in common with each other, and the control signal that is generated is also different, thereby make healing robot realize guiding the patient to move neatly to patient's ankle joint.
In the exchange method and system in the last art recovery exercising robot; The ankle motion signal of being gathered has comprised surface electromyogram signal, plantar pressure signal; Because surperficial flesh signal can reflect a large amount of musculation information; The plantar pressure signal distributes and obtains through gathering plantar pressure, therefore by these motor messages motion intention of perception patient more exactly, has improved the effectiveness of rehabilitation training.
[description of drawings]
Fig. 1 is the flow chart of the exchange method in the recovery exercising robot among the embodiment;
Fig. 2 is a method flow diagram of gathering the motor message of ankle joint among Fig. 1;
Fig. 3 is a method flow diagram of according to the motor control pattern of setting the motor message of ankle joint being handled the control signal that obtains recovery exercising robot among the embodiment;
Fig. 4 is for handling the method flow diagram of the control signal that obtains recovery exercising robot among another embodiment to the motor message of ankle joint according to the motor control pattern of setting;
Fig. 5 is the structural representation of the interactive system in the recovery exercising robot among the embodiment;
Fig. 6 is the structural representation of harvester among Fig. 5.
Fig. 7 is the structural representation of blood processor among the embodiment;
Fig. 8 is the structural representation of blood processor among another embodiment;
[specific embodiment]
In one embodiment, as shown in Figure 1, the exchange method in a kind of recovery exercising robot comprises the steps:
Step S110, the motor message of collection ankle joint.
In the present embodiment, gather the various motor messages that can reflect the ankle motion state, and, recovery exercising robot is accurately controlled according to the motor message of gathering with the signal source of this motor message as the control of recovery exercising robot.
In one embodiment, as shown in Figure 2, the detailed process of above-mentioned steps S110 is:
Step S111, the surface electromyogram signal of the muscle of acquisition controlling ankle motion.
In the present embodiment, surface electromyogram signal (Surface Electromyography is called for short SEMG) is the physiological signal through the electrical potential activity summation of record muscle fiber generation, has contained the information of a large amount of reflection musculatioies.The muscle of control ankle motion, for example, flesh, tibialis anterior and musculus soleus etc. collect the surface electromyogram signal in the motor process constantly through the surface myoelectric appearance in the outer flesh of gastrocnemius, the gastrocnemius.
Step S113 gathers the plantar pressure distribution and obtains the plantar pressure signal.
In the present embodiment,, accurately understand the actual effect in the ankle motion process, the pressure distribution in vola is collected the plantar pressure signal of sign plantar pressure distribution for reflecting the actual distribution situation of plantar pressure fully.In a preferred embodiment, can the device that be used to carry out the plantar pressure distribution collection be uniformly distributed with setting, to distribute through the actual plantar pressure of this device output.
Step S115 measures position signalling to recovery exercising robot.
In the present embodiment,, need carry out position measurement to recovery exercising robot and obtain the current position of recovery exercising robot, realize the location of rehabilitation training machine in motor process for getting access to the position of recovery exercising robot in real time.
Step S130 handles the control signal that obtains recovery exercising robot according to the motor control pattern of setting to the motor message of ankle joint.
In the present embodiment; In the reciprocal process of recovery exercising robot; Can preestablish the motor control pattern that the practical situation with the patient adapts; And then the ankle that collects according to this motor control mode treatment joint motor message to be to generate the control signal of recovery exercising robot, and the corresponding control signal of different motor control patterns is inequality.
In one embodiment, the motor control pattern is the Passive Control pattern, and is as shown in Figure 3, and the above-mentioned detailed process of the motor message of ankle joint being handled the control signal that obtains recovery exercising robot according to the motor control pattern of setting is:
Step S301, the motor message through ankle joint positions position and the movement locus that obtains recovery exercising robot.
In the present embodiment; The Passive Control pattern can be applicable to the ankle joint rehabilitation training initial stage; It is predefined motor control pattern; The patient does rehabilitation exercise according to fixed movement locus under the guiding of recovery exercising robot, this rehabilitation exercise turn in can ankle joint or turn up, dorsiflex or the sole of the foot bend and interior receipts or abduction etc.
According to the motor message that collects recovery exercising robot is positioned position and movement locus to obtain its current time, and then accurately know the kinestate that recovery exercising robot is current through the position and the movement locus of current time.
Step S303 generates the control signal that meets preset ankle motion track according to the position of recovery exercising robot and movement locus.
In the present embodiment; Because the Passive Control pattern is to make recovery exercising robot carry out the guiding of patient's ankle motion along preset ankle motion track, this preset ankle motion track can be the ankle joint pairing standard trajectory that moves under the normal condition.The position of current recovery exercising robot and movement locus and preset ankle motion track contrasted to know that this moment, recovery exercising robot was in which in the preset ankle motion track in stage, and then know that how controlling recovery exercising robot accomplishes follow-up ankle motion guiding.
In another embodiment, also comprise after the above-mentioned steps S303:
Compared with preset ankle motion track in the position of recovery exercising robot and movement locus, and according to the motion of comparison result correction recovery exercising robot.
In the present embodiment; After the location obtains the position and movement locus of recovery exercising robot; Can itself and preset ankle motion track be compared to know the hands-on effect of patient in the rehabilitation training process of ankle joint; If deviation occurred, then can revise, and then guarantee that the rehabilitation training process can obtain preferable effect according to comparison result and preset ankle motion track.
In another embodiment, the motor control pattern is Active Control Mode, and is as shown in Figure 4, and the above-mentioned detailed process of the motor message of ankle joint being handled the control signal that obtains recovery exercising robot according to the motor control pattern of setting is:
Step S401 handles to obtain corresponding eigenvalue to surface electromyogram signal and plantar pressure signal.
In the present embodiment; Active Control Mode can be applicable to pass through the patient of Passive Control pattern drill; Come perception patient's active consciousness through motor message, be intended to, and then carry out rehabilitation training according to the motion intention guiding patient who identifies with the motion that identifies the patient.
After collecting surface electromyogram signal and plantar pressure signal; To amplify it, processing such as filtering and eigenvalue extraction; To obtain eigenvalues such as pairing time domain of surface electromyogram signal and frequency domain; This time domain can be absolute mean, square root, and frequency domain can be Fourier, wavelet conversion coefficient etc. in short-term; The pairing eigenvalue of plantar pressure signal can be index, center of gravity etc. between ossa suffraginis pressure, the 4th phalanx pressure, the second and the 3rd phalanx pressure, phalanx pressure, heel pressure, foot.
Step S403 sorts out eigenvalue and to obtain eigenvalue classification of living in.
In the present embodiment, in the process of ankle motion, according to eigenvalue classification of living in perception patient's motion intention exactly, motion intention specifically that promptly each classification is all corresponding.For example; Can know according to plantar pressure signal and the pairing eigenvalue of control ankle motion muscle; Like center of gravity and maximum pressure point all on ossa suffraginis; The eigenvalue of the surface electromyogram signal that collects in gastrocnemius, musculus soleus and the tibialis anterior surpasses certain threshold value, and promptly the patient hopes that ankle joint carries out certain motion (as turn up, interior receipts, curvature movement etc.), at this moment; When perceiving this motion intention, the eigenvalue of the surface electromyogram signal that collects in the eigenvalue of this plantar pressure signal and gastrocnemius, musculus soleus, the tibialis anterior is referred to the sports category relevant with ankle joint.
Step S405 is according to the control signal of eigenvalue classification generation of living in recovery exercising robot.
In the present embodiment, produce control signal according to eigenvalue classification of living in, this control signal has realized controlling the ankle joint rehabilitation training process through the motor message that collects.
In another embodiment, the motor control pattern is the impedance Control pattern, also comprises after the above-mentioned steps S403:
Generate the control signal that ankle motion is applied resistance according to eigenvalue classification of living in.
In the present embodiment; The impedance Control pattern can be applicable to the ankle joint rehabilitation training later stage; Can regulate according to Active Control Mode and Passive Control pattern, patient's ankle motion is applied certain resistance, to reach the purpose of the rehabilitation training of strengthening ankle joint; And then the exercise muscle relevant with ankle joint, impel the rehabilitation of ankle joint.
Particularly; After the motion intention that perceives ankle joint according to eigenvalue classification of living in; Produce control signal corresponding, this control signal is used to control recovery exercising robot ongoing ankle motion is applied resistance, and its resistance is opposite with the direction of motion of ankle joint; The constant magnitude of resistance, and can regulate as required.
Step S150 carries out corresponding motion through control signal control recovery exercising robot.
In another embodiment; Exchange method in the above-mentioned recovery exercising robot is also stored motor message that collects and corresponding eigenvalue, with convenient follow-up rehabilitation training plans is estimated and scientifically formulated to patient's ankle joint rehabilitation training.
In another embodiment, the exchange method in the above-mentioned recovery exercising robot has also comprised the step that shows the motion that recovery exercising robot is performed.
In the present embodiment,, can in virtual game picture, show the motion that recovery exercising robot carried out, also make things convenient for the patient to know the progress of current rehabilitation training in real time for improving interest and the enthusiasm that the patient carries out ankle joint rehabilitation training.
In one embodiment, as shown in Figure 5, the interactive system in a kind of recovery exercising robot comprises harvester 10, blood processor 30 and telecontrol equipment 50.
In the present embodiment; Harvester 10 is gathered the various motor messages that can reflect the ankle motion state; And with the signal source of this motor message, to realize according to the accurate control of the motor message of gathering to recovery exercising robot as the control of recovery exercising robot.
In one embodiment, as shown in Figure 6, harvester 10 comprises surface myoelectric appearance 110, pressure transducer 130 and position sensor 150.
Surface myoelectric appearance 110 is used for the surface electromyogram signal of the muscle of acquisition controlling ankle motion.
In the present embodiment, surface electromyogram signal is the physiological signal through the electrical potential activity summation of record muscle fiber generation, has contained the information of a large amount of reflection musculatioies.On the muscle of control ankle motion, for example, flesh, tibialis anterior and musculus soleus etc. in the outer flesh of gastrocnemius, the gastrocnemius, surface myoelectric appearance 110 is through collect the surface electromyogram signal in the motor process constantly.In a preferred embodiment; Surface myoelectric appearance 110 has comprised the surface myoelectric electrode; This surface myoelectric electrode arrangement is controlled in patient's shank on the muscle of ankle motion, for example, and can be according to the rule of laying of surface myoelectric electrode; Place on patient's Calf muscle, the quantity of surface myoelectric electrode can be 4.
In the present embodiment, for reflecting the actual distribution situation of plantar pressure fully, accurately understand the actual effect in the ankle motion process, the pressure distribution in 130 pairs of volas of pressure transducer collects and characterizes the plantar pressure signal that plantar pressure distributes.In a preferred embodiment, pressure transducer 130 is the array pressure transducer, and is uniformly distributed with setting, distributes to obtain actual plantar pressure.
In the present embodiment,, need 150 pairs of recovery exercising robots of position sensor to carry out position measurement and obtain the current position of recovery exercising robot, realize the location of rehabilitation training machine in motor process for getting access to the position of recovery exercising robot in real time.
In the present embodiment; In the reciprocal process of recovery exercising robot; Can preestablish the motor control pattern that the practical situation with the patient adapts; And then the ankle joint motor message that blood processor 30 collects according to this motor control mode treatment to be to generate the control signal of recovery exercising robot, and the corresponding control signal of different motor control patterns is inequality.
In one embodiment, the motor control pattern is controlled molding formula, and is as shown in Figure 7, and blood processor 30 comprises locating module 310 and signal generation module 320.
Locating module 310 is used for positioning position and the movement locus that obtains recovery exercising robot through the motor message of ankle joint.
In the present embodiment; The Passive Control pattern can be applicable to the ankle joint rehabilitation training initial stage; It is predefined motor control pattern; The patient does rehabilitation exercise according to fixed movement locus under the guiding of recovery exercising robot, this rehabilitation exercise turn in can ankle joint or turn up, dorsiflex or the sole of the foot bend and interior receipts or abduction etc.
Locating module 310 positions position and movement locus to obtain its current time according to the motor message that collects to recovery exercising robot, and then accurately knows the kinestate that recovery exercising robot is current through the position and the movement locus of current time.
In the present embodiment; Because the Passive Control pattern is to make recovery exercising robot carry out the guiding of patient's ankle motion along preset ankle motion track, this preset ankle motion track can be the ankle joint pairing standard trajectory that moves under the normal condition.Signal generation module 320 contrasts the position of current recovery exercising robot and movement locus and preset ankle motion track can know that this moment, recovery exercising robot was in which in the preset ankle motion track in stage, and then knows that how controlling recovery exercising robot accomplishes follow-up ankle motion guiding.
In another embodiment; Above-mentioned blood processor 30 also comprises the motion correcting module; This motion correcting module is used for the position of recovery exercising robot and movement locus and preset ankle motion track are compared, and according to the motion of comparison result correction recovery exercising robot.
In the present embodiment; After the location obtains the position and movement locus of recovery exercising robot; The motion correcting module can be compared itself and preset ankle motion track to know the hands-on effect of patient in the rehabilitation training process of ankle joint; If deviation occurred, then can revise, and then guarantee that the rehabilitation training process can obtain preferable effect according to comparison result and preset ankle motion track.
In another embodiment, the motor control pattern is Active Control Mode, and is as shown in Figure 8, and blood processor 30 comprises signal processing module 330, classifying module 340 and signal generation module 350.
In the present embodiment; Active Control Mode can be applicable to pass through the patient of Passive Control pattern drill; Signal processing module 330 comes perception patient's active consciousness through motor message, is intended to the motion that identifies the patient, and then carries out rehabilitation training according to the motion intention guiding patient who identifies.
After collecting surface electromyogram signal and plantar pressure signal; Processing such as signal processing module 330 will amplify it, filtering and eigenvalue extraction; To obtain eigenvalues such as pairing time domain of surface electromyogram signal and frequency domain; This time domain can be absolute mean, square root, and frequency domain can be Fourier, wavelet conversion coefficient etc. in short-term; The pairing eigenvalue of plantar pressure signal can be index and center of gravity etc. between ossa suffraginis pressure, the 4th phalanx pressure, the second and the 3rd phalanx pressure, phalanx pressure, heel pressure, foot.
In the present embodiment, in the process of ankle motion, classifying module 340 is according to eigenvalue classification of living in perception patient's motion intention exactly, motion intention specifically that promptly each classification is all corresponding.For example; Can know according to plantar pressure signal and the pairing eigenvalue of control ankle motion muscle; Like center of gravity and maximum pressure point all on ossa suffraginis; The eigenvalue of the surface electromyogram signal that collects in gastrocnemius, musculus soleus and the tibialis anterior surpasses certain threshold value, and promptly the patient hopes that ankle joint carries out certain motion (as turn up, interior receipts, curvature movement etc.), at this moment; When perceiving this motion intention, the eigenvalue of the surface electromyogram signal that collects in the eigenvalue of this plantar pressure signal and gastrocnemius, musculus soleus, the tibialis anterior is referred to the sports category relevant with ankle joint.
In the present embodiment, signal generation module 350 produces control signal according to eigenvalue classification of living in, and this control signal has realized controlling the ankle joint rehabilitation training process through the motor message that collects.
In another embodiment, the motor control pattern is the impedance Control pattern, and above-mentioned signal generation module 350 also is used for generating the control signal that ankle motion is applied resistance according to eigenvalue classification of living in.
In the present embodiment; The impedance Control pattern is applied to the ankle joint rehabilitation training later stage; Can regulate according to Active Control Mode and Passive Control pattern, patient's ankle motion is applied certain resistance, to reach the purpose of the rehabilitation training of strengthening ankle joint; And then the exercise muscle relevant with ankle joint, impel the rehabilitation of ankle joint.
Particularly; After signal generation module 350 perceives the motion intention of ankle joint according to eigenvalue classification of living in; Produce control signal corresponding, this control signal is used to control recovery exercising robot ongoing ankle motion is applied resistance, and its resistance is opposite with the direction of motion of ankle joint; The constant magnitude of resistance, and can regulate as required.
In another embodiment; Interactive system in the above-mentioned recovery exercising robot has also comprised data storage device; This data storage device is used for motor message that collects and corresponding eigenvalue are stored, and with convenient follow-up rehabilitation training plans is estimated and scientifically formulated to patient's ankle joint rehabilitation training.
In another embodiment, the interactive system in the above-mentioned recovery exercising robot has also comprised interactive device, and this interactive device is used to the motion that shows that recovery exercising robot is performed.
In the present embodiment,, can in virtual game picture, show the motion that recovery exercising robot carried out, also make things convenient for the patient to know the progress of current rehabilitation training in real time through interactive device for improving interest and the enthusiasm that the patient carries out ankle joint rehabilitation training.
In the exchange method and system in the above-mentioned recovery exercising robot; According to setting the motor control pattern motor message of the ankle joint that collects is handled the control signal that obtains corresponding recovery exercising robot; And realize the control of recovery exercising robot through control signal; And then, the patient can set the motor control pattern as the case may be when carrying out rehabilitation training through recovery exercising robot auxiliary; Different motor control patterns will make the processing of motor message of ankle joint have nothing in common with each other, and the control signal that is generated is also different, thereby make healing robot realize guiding the patient to move neatly to patient's ankle joint.
In the exchange method and system in the above-mentioned recovery exercising robot; The ankle motion signal of being gathered has comprised surface electromyogram signal, plantar pressure signal; Because surperficial flesh signal can reflect a large amount of musculation information; The plantar pressure signal distributes and obtains through gathering plantar pressure, therefore by these motor messages motion intention of perception patient more exactly, has improved the effectiveness of rehabilitation training.
The above embodiment has only expressed several kinds of embodiments of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the present invention's design, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with accompanying claims.
Claims (12)
1. the exchange method in the recovery exercising robot comprises the steps:
Gather the motor message of ankle joint;
Motor control pattern according to setting is handled the control signal that obtains recovery exercising robot to the motor message of said ankle joint;
Control said recovery exercising robot through said control signal and carry out corresponding motion.
2. the exchange method in the recovery exercising robot according to claim 1 is characterized in that, the step of the motor message of said collection ankle joint comprises:
The surface electromyogram signal of the muscle of acquisition controlling ankle motion;
Gather the plantar pressure distribution and obtain the plantar pressure signal;
Said recovery exercising robot is measured position signalling.
3. the exchange method in the recovery exercising robot according to claim 1; It is characterized in that; Said motor control pattern is the Passive Control pattern, and the said step of the motor message of said ankle joint being handled the control signal that obtains recovery exercising robot according to said motor control pattern comprises:
Motor message through said ankle joint positions position and the movement locus that obtains said recovery exercising robot;
Position and movement locus according to said recovery exercising robot generate the control signal that meets preset ankle motion track.
4. the exchange method in the recovery exercising robot according to claim 3 is characterized in that, said motor message through said ankle joint also comprises after positioning the step of the position that obtains said recovery exercising robot and movement locus:
Compared with preset ankle motion track in the position of said recovery exercising robot and movement locus, and according to the motion of the said recovery exercising robot of comparison result correction.
5. the exchange method in the recovery exercising robot according to claim 2; It is characterized in that; Said motor control pattern is an Active Control Mode, and the said step of the motor message of said ankle joint being handled the control signal that obtains recovery exercising robot according to said motor control pattern comprises:
Said surface electromyogram signal and plantar pressure signal handled obtain corresponding eigenvalue;
Said eigenvalue sorted out obtain said eigenvalue classification of living in;
Generate the control signal of said recovery exercising robot according to said eigenvalue classification of living in.
6. the exchange method in the recovery exercising robot according to claim 5 is characterized in that, said motor control pattern is the impedance Control pattern, said to said eigenvalue sort out obtain said eigenvalue classification of living in step after also comprise:
Generate the control signal that ankle motion is applied resistance according to said eigenvalue classification of living in.
7. the interactive system in the recovery exercising robot is characterized in that, comprising:
Harvester is used to gather the motor message of ankle joint;
Blood processor is used for the motor message of said ankle joint being handled the control signal that obtains recovery exercising robot according to the motor control pattern of setting;
Telecontrol equipment is used for controlling said recovery exercising robot through said control signal and carries out corresponding motion.
8. the interactive system in the recovery exercising robot according to claim 7 is characterized in that, said harvester comprises:
The surface myoelectric appearance is used for the surface electromyogram signal of the muscle of acquisition controlling ankle motion;
Pressure transducer is used to gather the plantar pressure distribution and obtains the plantar pressure signal;
Position sensor is used for said recovery exercising robot is measured position signalling.
9. the interactive system in the recovery exercising robot according to claim 7 is characterized in that, said motor control pattern is controlled molding formula, and said blood processor comprises:
Locating module is used for positioning position and the movement locus that obtains said recovery exercising robot through the motor message of said ankle joint;
The signal generation module is used for generating the control signal that meets preset ankle motion track according to the position and the movement locus of said recovery exercising robot.
10. the interactive system in the recovery exercising robot according to claim 9 is characterized in that, said blood processor also comprises:
The motion correcting module is used for being compared with preset ankle motion track in the position of said recovery exercising robot and movement locus, and according to the motion of the said recovery exercising robot of comparison result correction.
11. the interactive system in the recovery exercising robot according to claim 8 is characterized in that, said motor control pattern is an Active Control Mode, and said blood processor comprises:
Signal processing module is used for said surface electromyogram signal and plantar pressure signal handled obtaining corresponding eigenvalue;
Classifying module is used for said eigenvalue sorted out and obtains said eigenvalue classification of living in;
The signal generation module is used for generating according to said eigenvalue classification of living in the control signal of said recovery exercising robot.
12. the interactive system in the recovery exercising robot according to claim 11; It is characterized in that; Said motor control pattern is the impedance Control pattern, and said signal generation module also is used for generating the control signal that ankle motion is applied resistance according to said eigenvalue classification of living in.
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