CN102631276B - Interaction system for rehabilitation training robot - Google Patents

Interaction system for rehabilitation training robot Download PDF

Info

Publication number
CN102631276B
CN102631276B CN201110459846.8A CN201110459846A CN102631276B CN 102631276 B CN102631276 B CN 102631276B CN 201110459846 A CN201110459846 A CN 201110459846A CN 102631276 B CN102631276 B CN 102631276B
Authority
CN
China
Prior art keywords
motion
ankle
signal
recovery exercising
exercising robot
Prior art date
Application number
CN201110459846.8A
Other languages
Chinese (zh)
Other versions
CN102631276A (en
Inventor
王永奉
赵国如
梅占勇
王磊
Original Assignee
中国科学院深圳先进技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Priority to CN201110459846.8A priority Critical patent/CN102631276B/en
Publication of CN102631276A publication Critical patent/CN102631276A/en
Application granted granted Critical
Publication of CN102631276B publication Critical patent/CN102631276B/en

Links

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

Interactive system in recovery exercising robot
[technical field]
The present invention relates to rehabilitation training technology, particularly relate to the exchange method in a kind of recovery exercising robot and system.
[background technology]
Along with the extensive use of robot, increasing people starts to be devoted to by robot application in rehabilitation training, to bestow suitable power-assisted or resistance to guide patient motion.From in the world first have employed that surface electromyogram signal controls do evil through another person and come out since, various different upper limb healing device is developed successively, and slowly infiltrates the research and development in lower limb rehabilitation field.
The robot being applied to lower limb rehabilitation training carries out the control of rehabilitation training by the movable information collected.Such as, recovery exercising robot can adopt lower limb orthopedic leg, this lower limb orthopedic leg becomes with pneumatic muscle groups primarily of sheath, the motion of ankle-joint is driven by pneumatic muscles, and being used as signal source by the surface electromyogram signal gathering lower limb gastrocnemius, this surface electromyogram signal reflects the muscle activity information of patient; Recovery exercising robot also can be a kind of lower limb exoskeleton robot, and this lower limb exoskeleton robot gathers the surface electromyogram signal of lower limb musculus vastus intermedius and these two pieces of muscle of semimembranosus, controls motor and realizes power transmission, thus drives the kneed motion of lower limb.
But, these are applied in the robot of lower limb rehabilitation training, the robot carrying out rehabilitation training for ankle-joint is relatively little, and it is comparatively single in the ankle motion parameter can carrying out reflecting in the robot of rehabilitation training for ankle-joint, such as, the various ankle healing robots developed both at home and abroad all only can realize the rehabilitation exercise of multiple free degree, cannot patient be guided neatly to move.
[summary of the invention]
Based on this, be necessary to provide a kind of exchange method that patient can be guided neatly to carry out in the recovery exercising robot moved for ankle-joint.
In addition, there is a need to provide a kind of interactive system that patient can be guided neatly to carry out in the recovery exercising robot moved for ankle-joint.
An exchange method in recovery exercising robot, comprises the steps:
Gather the motor message of ankle-joint;
The control signal obtaining recovery exercising robot is processed according to the motor message of motion control pattern to described ankle-joint of setting;
Control described recovery exercising robot by described control signal and perform corresponding motion.
Preferably, the step of the motor message of described collection ankle-joint comprises:
Gather the surface electromyogram signal of the muscle controlling ankle motion;
Gather plantar nervous arch and obtain plantar pressure signal;
Measurement is carried out to described recovery exercising robot and obtains position signalling.
Preferably, described motion control pattern is Passive Control pattern, and the described step processing the control signal obtaining recovery exercising robot according to the motor message of described motion control pattern to described ankle-joint comprises:
The position and movement locus that obtain described recovery exercising robot is positioned by the motor message of described ankle-joint;
The control signal of default ankle motion track is met according to the position of described recovery exercising robot and trace generator.
Preferably, the described motor message by described ankle-joint also comprises after positioning and obtaining the position of described recovery exercising robot and the step of movement locus:
The position of described recovery exercising robot and movement locus and the ankle motion track preset are compared, and according to the motion of recovery exercising robot described in comparison result correction.
Preferably, described motion control pattern is Active Control Mode, and the described step processing the control signal obtaining recovery exercising robot according to the motor message of described motion control pattern to described ankle-joint comprises:
Process is carried out to described surface electromyogram signal and plantar pressure signal and obtains corresponding characteristic value;
Classification is carried out to described characteristic value and obtains classification residing for described characteristic value;
The control signal of described recovery exercising robot is generated according to classification residing for described characteristic value.
Preferably, described motion control pattern is impedance Control pattern, described described characteristic value is sorted out to the step obtaining classification residing for described characteristic value after also comprise:
Residing for described characteristic value, classification generates control signal ankle motion being applied to resistance.
An interactive system in recovery exercising robot, comprising:
Harvester, for gathering the motor message of ankle-joint;
Treating apparatus, for processing according to the motor message of motion control pattern to described ankle-joint of setting the control signal obtaining recovery exercising robot;
Telecontrol equipment, performs corresponding motion for being controlled described recovery exercising robot by described control signal.
Preferably, described harvester comprises:
Surface myoelectric instrument, for gathering the surface electromyogram signal of the muscle controlling ankle motion;
Pressure sensor, obtains plantar pressure signal for gathering plantar nervous arch;
Position sensor, obtains position signalling for carrying out measurement to described recovery exercising robot.
Preferably, described motion control pattern is by control model, and described treating apparatus comprises:
Locating module, for positioning the position and movement locus that obtain described recovery exercising robot by the motor message of described ankle-joint;
Signal generation module, for meeting the control signal of default ankle motion track according to the position of described recovery exercising robot and trace generator.
Preferably, described treating apparatus also comprises:
Motion correction module, for comparing the position of described recovery exercising robot and movement locus and the ankle motion track preset, and according to the motion of recovery exercising robot described in comparison result correction.
Preferably, described motion control pattern is Active Control Mode, and described treating apparatus comprises:
Signal processing module, obtains corresponding characteristic value for carrying out process to described surface electromyogram signal and plantar pressure signal;
Classifying module, obtains classification residing for described characteristic value for carrying out classification to described characteristic value;
Signal generation module, for generating the control signal of described recovery exercising robot according to classification residing for described characteristic value.
Preferably, described motion control pattern is impedance Control pattern, and described signal generation module also generates control signal ankle motion being applied to resistance for classification residing for described characteristic value.
In exchange method in above-mentioned recovery exercising robot and system, the control signal obtaining corresponding recovery exercising robot is processed according to the motor message of setting motion control pattern to the ankle-joint collected, and the control of recovery exercising robot is realized by control signal, and then motion control pattern can be set as the case may be when patient carries out rehabilitation training by recovery exercising robot auxiliary, different motion control patterns is by different for the process of the motor message making ankle-joint, the control signal generated is also different, thus the ankle-joint making healing robot achieve for patient guides patient to move neatly.
In exchange method in upper art recovery exercising robot and system, the ankle motion signal gathered includes surface electromyogram signal, plantar pressure signal, because surperficial flesh signal can reflect a large amount of muscle activity information, plantar pressure signal obtains by gathering plantar nervous arch, therefore can the motion intention of more adequately perception patient by these motor messages, improve the validity of rehabilitation training.
[accompanying drawing explanation]
Fig. 1 is the flow chart of the exchange method in an embodiment in recovery exercising robot;
Fig. 2 is the method flow diagram of the motor message gathering ankle-joint in Fig. 1;
Fig. 3 is the method flow diagram processing the control signal obtaining recovery exercising robot in an embodiment according to the motor message of motion control pattern to ankle-joint of setting;
Fig. 4 is the method flow diagram processing the control signal obtaining recovery exercising robot in another embodiment according to the motor message of motion control pattern to ankle-joint of setting;
Fig. 5 is the structural representation of the interactive system in an embodiment in recovery exercising robot;
Fig. 6 is the structural representation of harvester in Fig. 5.
Fig. 7 is the structural representation for the treatment of apparatus in an embodiment;
Fig. 8 is the structural representation for the treatment of apparatus in another embodiment;
[detailed description of the invention]
In one embodiment, as shown in Figure 1, the exchange method in a kind of recovery exercising robot, comprises the steps:
Step S110, gathers the motor message of ankle-joint.
In the present embodiment, gather the various motor message that can reflect ankle motion state, and using the signal source of this motor message as the control of recovery exercising robot, according to the motor message gathered, recovery exercising robot is accurately controlled.
In one embodiment, as shown in Figure 2, the detailed process of above-mentioned steps S110 is:
Step S111, gathers the surface electromyogram signal of the muscle controlling ankle motion.
In the present embodiment, surface electromyogram signal (Surface Electromyography is called for short SEMG) is the physiological signal of the electrical potential activity summation by the generation of record muscle fibre, has contained the information of a large amount of reflection muscle activity.Control the muscle of ankle motion, such as, flesh, tibialis anterior and musculus soleus etc. in the outer flesh of gastrocnemius, gastrocnemius, collect the surface electromyogram signal in motion process constantly by surface myoelectric instrument.
Step S113, gathers plantar nervous arch and obtains plantar pressure signal.
In the present embodiment, for reflecting the actual distribution situation of plantar pressure fully, accurately understanding the actual effect in ankle motion process, the pressure distribution in vola being collected to the plantar pressure signal characterizing plantar nervous arch.In a preferred embodiment, can will be used for the uniform setting of device carrying out plantar nervous arch collection, to export actual plantar nervous arch by this device.
Step S115, carries out measurement to recovery exercising robot and obtains position signalling.
In the present embodiment, for Real-time Obtaining is to the position of recovery exercising robot, needs that position measurement is carried out to recovery exercising robot and obtain the current position of recovery exercising robot, realize the location of rehabilitation training machine in motion process.
Step S130, processes according to the motor message of motion control pattern to ankle-joint of setting the control signal obtaining recovery exercising robot.
In the present embodiment, in the interaction of recovery exercising robot, the motion control pattern adapted with the actual conditions of patient can be preset, and then the ankle joint motor message to collect according to this motion control mode treatment is to generate the control signal of recovery exercising robot, control signal corresponding to different motion control patterns is not identical.
In one embodiment, motion control pattern is Passive Control pattern, and as shown in Figure 3, the detailed process that the above-mentioned motor message of motion control pattern to ankle-joint according to setting processes the control signal obtaining recovery exercising robot is:
Step S301, positions the position and movement locus that obtain recovery exercising robot by the motor message of ankle-joint.
In the present embodiment, Passive Control pattern can be applicable to the ankle joint rehabilitation training initial stage, it is the motion control pattern preset, patient does rehabilitation exercise according to fixing movement locus under the guiding of recovery exercising robot, this rehabilitation exercise can be the varus of ankle-joint or turn up, dorsiflex or plantar flexion and adduction or abduction etc.
According to the motor message collected, the position and the movement locus that obtain its current time are positioned to recovery exercising robot, and then accurately know by the position of current time and movement locus the motion state that recovery exercising robot is current.
Step S303, meets the control signal of default ankle motion track according to the position of recovery exercising robot and trace generator.
In the present embodiment, because Passive Control pattern makes recovery exercising robot carry out the guiding of patient's ankle motion along the ankle motion track preset, this ankle motion track preset can be under normal circumstances ankle-joint move corresponding to standard trajectory.The position of current recovery exercising robot and movement locus and the ankle motion track preset are carried out contrast and can know that now recovery exercising robot is in which in default ankle motion track in stage, and then know that how controlling recovery exercising robot completes follow-up ankle motion guiding.
In another embodiment, also comprise after above-mentioned steps S303:
The position of recovery exercising robot and movement locus and the ankle motion track preset are compared, and according to the motion of comparison result correction recovery exercising robot.
In the present embodiment, after locating the position and movement locus obtaining recovery exercising robot, itself and the ankle motion track preset can be compared to know the hands-on effect of patient in the rehabilitation training of ankle-joint, if there is deviation, then can revise according to comparison result and default ankle motion track, and then ensure that rehabilitation training can obtain preferably effect.
In another embodiment, motion control pattern is Active Control Mode, and as shown in Figure 4, the detailed process that the above-mentioned motor message of motion control pattern to ankle-joint according to setting processes the control signal obtaining recovery exercising robot is:
Step S401, effects on surface electromyographic signal and plantar pressure signal carry out process and obtain corresponding characteristic value.
In the present embodiment, Active Control Mode can be applicable to the patient that have passed through Passive Control pattern drill, carried out the active consciousness of perception patient by motor message, to identify the motion intention of patient, and then guide patient to carry out rehabilitation training according to the motion intention identified.
After collecting surface electromyogram signal and plantar pressure signal, to amplify it, the process such as filtering and characteristics extraction, to obtain the characteristic value such as time domain and frequency domain corresponding to surface electromyogram signal, this time domain can be absolute mean, square root, and frequency domain can be Fourier, wavelet conversion coefficient etc. in short-term; Characteristic value corresponding to plantar pressure signal can be ossa suffraginis pressure, the 4th phalanx pressure, second and the 3rd phalanx pressure, phalanx pressure, heel pressure, index, center of gravity etc. between foot.
Step S403, carries out classification to characteristic value and obtains classification residing for characteristic value.
In the present embodiment, in the process of ankle motion, residing for characteristic value, classification can the motion intention of perception patient exactly, motion intention specifically that namely each classification is all corresponding.Such as, according to the characteristic value corresponding to plantar pressure signal and control ankle motion muscle, if center of gravity and maximum pressure point are all on ossa suffraginis, gastrocnemius, the characteristic value of the surface electromyogram signal collected in musculus soleus and tibialis anterior exceedes certain threshold value, namely patient wishes that ankle-joint carries out certain motion and (as to turn up, adduction, curvature movement etc.), now, when perceiving this motion intention, by the characteristic value of this plantar pressure signal and gastrocnemius, musculus soleus, the characteristic value of the surface electromyogram signal collected in tibialis anterior is referred to the sports category relevant to ankle-joint.
Step S405, generates the control signal of recovery exercising robot according to classification residing for characteristic value.
In the present embodiment, produce control signal according to classification residing for characteristic value, this control signal motor message achieved by collecting controls ankle joint rehabilitation training process.
In another embodiment, motion control pattern is impedance Control pattern, also comprises after above-mentioned steps S403:
Residing for characteristic value, classification generates control signal ankle motion being applied to resistance.
In the present embodiment, 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, certain resistance is applied to the ankle motion of patient, to reach the object of the rehabilitation training of strengthening ankle-joint, and then temper the muscle relevant to ankle-joint, impel the rehabilitation of ankle-joint.
Particularly, after residing for characteristic value, classification perceives the motion intention of ankle-joint, produce corresponding control signal, this control signal applies resistance for controlling recovery exercising robot to ongoing ankle motion, its resistance is contrary with the direction of motion of ankle-joint, the constant magnitude of resistance, and can regulate as required.
Step S150, controls recovery exercising robot by control signal and performs corresponding motion.
In another embodiment, the motor message collected and corresponding characteristic value also store by the exchange method in above-mentioned recovery exercising robot, to evaluate to facilitate and scientifically to formulate follow-up rehabilitation training plans the ankle joint rehabilitation training of patient.
In another embodiment, the exchange method in above-mentioned recovery exercising robot further comprises the step of the motion of display performed by recovery exercising robot.
In the present embodiment, carrying out interest and the enthusiasm of ankle joint rehabilitation training for improving patient, the motion that recovery exercising robot carries out can be shown in virtual game picture, also facilitate the progress that patient knows current rehabilitation training in real time.
In one embodiment, as shown in Figure 5, the interactive system in a kind of recovery exercising robot, comprises harvester 10, treating apparatus 30 and telecontrol equipment 50.
Harvester 10, for gathering the motor message of ankle-joint.
In the present embodiment, harvester 10 gathers the various motor message that can reflect ankle motion state, and using the signal source of this motor message as the control of recovery exercising robot, to realize according to the motor message gathered the accurate control of recovery exercising robot.
In one embodiment, as shown in Figure 6, harvester 10 comprises surface myoelectric instrument 110, pressure sensor 130 and position sensor 150.
Surface myoelectric instrument 110, for gathering the surface electromyogram signal of the muscle controlling ankle motion.
In the present embodiment, surface electromyogram signal is the physiological signal of the electrical potential activity summation by the generation of record muscle fibre, has contained the information of a large amount of reflection muscle activity.On the muscle controlling ankle motion, such as, flesh, tibialis anterior and musculus soleus etc. in the outer flesh of gastrocnemius, gastrocnemius, surface myoelectric instrument 110 is by collecting the surface electromyogram signal in motion process constantly.In a preferred embodiment, surface myoelectric instrument 110 includes surface myoelectric electrode, this surface myoelectric electrode arrangement controls on the muscle of ankle motion in patient's shank, such as, rule can be laid according to surface myoelectric electrode, be placed on patient's Calf muscle, the quantity of surface myoelectric electrode can be 4.
Pressure sensor 130, obtains plantar pressure signal for gathering plantar nervous arch.
In the present embodiment, for reflecting the actual distribution situation of plantar pressure fully, accurately understand the actual effect in ankle motion process, the pressure distribution in pressure sensor 130 pairs of volas collects the plantar pressure signal characterizing plantar nervous arch.In a preferred embodiment, pressure sensor 130 is array pressure sensor, and carries out uniform setting, to obtain actual plantar nervous arch.
Position sensor 150, obtains position signalling for carrying out measurement to recovery exercising robot.
In the present embodiment, for Real-time Obtaining is to the position of recovery exercising robot, needs position sensor 150 pairs of recovery exercising robots to carry out position measurement and obtain the current position of recovery exercising robot, realize the location of rehabilitation training machine in motion process.
Treating apparatus 30, for processing according to the motor message of motion control pattern to ankle-joint of setting the control signal obtaining recovery exercising robot.
In the present embodiment, in the interaction of recovery exercising robot, the motion control pattern adapted with the actual conditions of patient can be preset, and then the ankle joint motor message that treating apparatus 30 collects according to this motion control mode treatment is to generate the control signal of recovery exercising robot, control signal corresponding to different motion control patterns is not identical.
In one embodiment, motion control pattern is by control model, and as shown in Figure 7, treating apparatus 30 comprises locating module 310 and signal generation module 320.
Locating module 310, for positioning the position and movement locus that obtain recovery exercising robot by the motor message of ankle-joint.
In the present embodiment, Passive Control pattern can be applicable to the ankle joint rehabilitation training initial stage, it is the motion control pattern preset, patient does rehabilitation exercise according to fixing movement locus under the guiding of recovery exercising robot, this rehabilitation exercise can be the varus of ankle-joint or turn up, dorsiflex or plantar flexion and adduction or abduction etc.
Locating module 310 positions to recovery exercising robot the position and the movement locus that obtain its current time according to the motor message collected, and then accurately knows by the position of current time and movement locus the motion state that recovery exercising robot is current.
Signal generation module 320, for meeting the control signal of default ankle motion track according to the position of recovery exercising robot and trace generator.
In the present embodiment, because Passive Control pattern makes recovery exercising robot carry out the guiding of patient's ankle motion along the ankle motion track preset, this ankle motion track preset can be under normal circumstances ankle-joint move corresponding to standard trajectory.The position of current recovery exercising robot and movement locus and the ankle motion track preset carry out contrast by signal generation module 320 can know that now recovery exercising robot is in which in default ankle motion track in stage, and then knows that how controlling recovery exercising robot completes follow-up ankle motion guiding.
In another embodiment, above-mentioned treating apparatus 30 also comprises Motion correction module, this Motion correction module is used for the position of recovery exercising robot and movement locus and the ankle motion track preset to compare, and according to the motion of comparison result correction recovery exercising robot.
In the present embodiment, after locating the position and movement locus obtaining recovery exercising robot, itself and the ankle motion track preset can compare to know the hands-on effect of patient in the rehabilitation training of ankle-joint by Motion correction module, if there is deviation, then can revise according to comparison result and default ankle motion track, and then ensure that rehabilitation training can obtain preferably effect.
In another embodiment, motion control pattern is Active Control Mode, and as shown in Figure 8, treating apparatus 30 comprises signal processing module 330, classifying module 340 and signal generation module 350.
Signal processing module 330, carries out process for effects on surface electromyographic signal and plantar pressure signal and obtains corresponding characteristic value.
In the present embodiment, Active Control Mode can be applicable to the patient that have passed through Passive Control pattern drill, signal processing module 330 carrys out the active consciousness of perception patient by motor message, to identify the motion intention of patient, and then guides patient to carry out rehabilitation training according to the motion intention identified.
After collecting surface electromyogram signal and plantar pressure signal, signal processing module 330 will amplify it, the process such as filtering and characteristics extraction, to obtain the characteristic value such as time domain and frequency domain corresponding to surface electromyogram signal, this time domain can be absolute mean, square root, and frequency domain can be Fourier, wavelet conversion coefficient etc. in short-term; Characteristic value corresponding to plantar pressure signal can be ossa suffraginis pressure, the 4th phalanx pressure, second and the 3rd phalanx pressure, phalanx pressure, heel pressure, index and center of gravity etc. between foot.
Classifying module 340, obtains classification residing for characteristic value for carrying out classification to characteristic value.
In the present embodiment, in the process of ankle motion, classification can the motion intention of perception patient exactly residing for characteristic value for classifying module 340, motion intention specifically that namely each classification is all corresponding.Such as, according to the characteristic value corresponding to plantar pressure signal and control ankle motion muscle, if center of gravity and maximum pressure point are all on ossa suffraginis, gastrocnemius, the characteristic value of the surface electromyogram signal collected in musculus soleus and tibialis anterior exceedes certain threshold value, namely patient wishes that ankle-joint carries out certain motion and (as to turn up, adduction, curvature movement etc.), now, when perceiving this motion intention, by the characteristic value of this plantar pressure signal and gastrocnemius, musculus soleus, the characteristic value of the surface electromyogram signal collected in tibialis anterior is referred to the sports category relevant to ankle-joint.
Signal generation module 350, for generating the control signal of recovery exercising robot according to classification residing for characteristic value.
In the present embodiment, signal generation module 350 produces control signal according to classification residing for characteristic value, and this control signal motor message achieved by collecting controls ankle joint rehabilitation training process.
In another embodiment, motion control pattern is impedance Control pattern, and above-mentioned signal generation module 350 also generates control signal ankle motion being applied to resistance for classification residing for characteristic value.
In the present embodiment, impedance Control model application is in the ankle joint rehabilitation training later stage, can regulate according to Active Control Mode and Passive Control pattern, certain resistance is applied to the ankle motion of patient, to reach the object of the rehabilitation training of strengthening ankle-joint, and then temper the muscle relevant to ankle-joint, impel the rehabilitation of ankle-joint.
Particularly, signal generation module 350 is after residing for characteristic value, classification perceives the motion intention of ankle-joint, produce corresponding control signal, this control signal applies resistance for controlling recovery exercising robot to ongoing ankle motion, its resistance is contrary with the direction of motion of ankle-joint, the constant magnitude of resistance, and can regulate as required.
Telecontrol equipment 50, performs corresponding motion for being controlled recovery exercising robot by control signal.
In another embodiment, interactive system in above-mentioned recovery exercising robot further comprises data storage device, this data storage device is used for the motor message collected and corresponding characteristic value to store, and to evaluate to facilitate and scientifically to formulate follow-up rehabilitation training plans the ankle joint rehabilitation training of patient.
In another embodiment, the interactive system in above-mentioned recovery exercising robot further comprises interactive device, and this interactive device is for showing the motion performed by recovery exercising robot.
In the present embodiment, carrying out interest and the enthusiasm of ankle joint rehabilitation training for improving patient, can show by interactive device the motion that recovery exercising robot carries out in virtual game picture, also facilitating the progress that patient knows current rehabilitation training in real time.
In exchange method in above-mentioned recovery exercising robot and system, the control signal obtaining corresponding recovery exercising robot is processed according to the motor message of setting motion control pattern to the ankle-joint collected, and the control of recovery exercising robot is realized by control signal, and then motion control pattern can be set as the case may be when patient carries out rehabilitation training by recovery exercising robot auxiliary, different motion control patterns is by different for the process of the motor message making ankle-joint, the control signal generated is also different, thus the ankle-joint making healing robot achieve for patient guides patient to move neatly.
In exchange method in above-mentioned recovery exercising robot and system, the ankle motion signal gathered includes surface electromyogram signal, plantar pressure signal, because surperficial flesh signal can reflect a large amount of muscle activity information, plantar pressure signal obtains by gathering plantar nervous arch, therefore can the motion intention of more adequately perception patient by these motor messages, improve the validity of rehabilitation training.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, 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 claims.

Claims (2)

1. the interactive system in recovery exercising robot, is characterized in that, comprising:
Locating module, for when motion control pattern is Passive Control pattern, positions the position and movement locus that obtain recovery exercising robot by the motor message of the ankle-joint to harvester collection;
Signal generation module, for when motion control pattern is Passive Control pattern, meets the control signal of default ankle motion track according to the position of described recovery exercising robot and trace generator;
Motion correction module, for comparing the position of described recovery exercising robot and movement locus and the ankle motion track preset, and according to the motion of recovery exercising robot described in comparison result correction;
Signal processing module, for when motion control pattern is Active Control Mode, gather to the pressure sensor in the surface electromyogram signal of the muscle of the control ankle motion that the surface myoelectric instrument in harvester collects and harvester plantar pressure signal that plantar nervous arch obtains to carry out process and obtain corresponding characteristic value, the characteristic value corresponding to described plantar pressure signal be ossa suffraginis pressure, the 4th phalanx pressure, second and the 3rd phalanx pressure, heel pressure, index and center of gravity between foot;
Classifying module, for the characteristic value corresponding to plantar pressure signal and control ankle motion muscle, center of gravity and maximum pressure point are all on ossa suffraginis, and the characteristic value of the surface electromyogram signal collected in flesh before gastrocnemius, musculus soleus and phalanx exceedes threshold value, then obtain classification residing for characteristic value, classification residing for described characteristic value is that patient wishes that ankle-joint carries out the type of exercise moved;
Described signal generation module is used for when motion control pattern is Active Control Mode, generates the control signal of described recovery exercising robot according to classification residing for described characteristic value.
2. the interactive system in recovery exercising robot according to claim 1, it is characterized in that, described motion control pattern also comprises impedance Control pattern, described signal generation module is also for when motion control pattern is impedance Control pattern, and residing for described characteristic value, classification generates control signal ankle motion being applied to resistance.
CN201110459846.8A 2011-12-31 2011-12-31 Interaction system for rehabilitation training robot CN102631276B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201110459846.8A CN102631276B (en) 2011-12-31 2011-12-31 Interaction system for rehabilitation training robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201110459846.8A CN102631276B (en) 2011-12-31 2011-12-31 Interaction system for rehabilitation training robot

Publications (2)

Publication Number Publication Date
CN102631276A CN102631276A (en) 2012-08-15
CN102631276B true CN102631276B (en) 2015-04-15

Family

ID=46615963

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201110459846.8A CN102631276B (en) 2011-12-31 2011-12-31 Interaction system for rehabilitation training robot

Country Status (1)

Country Link
CN (1) CN102631276B (en)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102783766B (en) * 2012-08-28 2014-11-19 中国科学院深圳先进技术研究院 Fall prevention device
CN104665828A (en) * 2013-11-27 2015-06-03 中国科学院深圳先进技术研究院 System and method based on electromyographic signal controlling remote controller
CN104107134B (en) * 2013-12-10 2017-08-01 中山大学 Upper limbs training method and system based on EMG feedback
CN104013513B (en) * 2014-06-05 2016-08-17 电子科技大学 Healing robot sensory perceptual system and method thereof
CN104523403B (en) * 2014-11-05 2019-06-18 陶宇虹 A method of judging that ectoskeleton assistant robot wearer's lower limb action is intended to
CN105769185A (en) * 2014-12-26 2016-07-20 青岛智拓智能科技有限公司 Sensor system
CN105213153B (en) * 2015-09-14 2018-06-26 西安交通大学 Lower limb rehabilitation robot control method based on brain flesh information impedance
CN105288933B (en) * 2015-11-20 2017-07-07 武汉理工大学 Lower limb rehabilitation robot adaptive training control method in parallel and healing robot
CN105455996A (en) * 2015-11-25 2016-04-06 燕山大学 Multisource signal feedback control rehabilitation training device based on wireless
CN105615890B (en) * 2015-12-24 2018-08-10 西安交通大学 Human body lower limbs walking joint angles myoelectricity continuous decoding method
CN105771182B (en) * 2016-05-13 2018-06-29 中国科学院自动化研究所 A kind of healing robot active training control method and device
CN105997439B (en) * 2016-07-26 2018-09-21 郑州轻工业学院 The three-degree of freedom ankle joint auxiliary rehabilitation device with ball pair of electromyography signal control
CN106726357B (en) * 2017-02-24 2020-09-22 宁波工程学院 Standing mode control method of exoskeleton mechanical leg rehabilitation system
CN107174793A (en) * 2017-07-07 2017-09-19 广州康医疗设备实业有限公司 The rehabilitation training of upper limbs method moved based on track
CN107320285A (en) * 2017-07-28 2017-11-07 上海逸动医学科技有限公司 A kind of multifunctional intellectual rehabilitation training and assessment system
CN107469295B (en) * 2017-09-11 2019-11-01 哈尔滨工程大学 A kind of location-based healing robot active intension recognizing method
CN109091818B (en) * 2017-09-15 2020-08-21 中山大学 Rope traction upper limb rehabilitation robot training method and system based on admittance control
CN108392302A (en) * 2018-02-10 2018-08-14 四川大学华西第二医院 A kind of ankle foot distortion rectification device and its control method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101061984A (en) * 2006-04-29 2007-10-31 香港理工大学 Recovery robot system for providing mechanical assistant by using myoelectric signal and the training method thereof
CN101874758A (en) * 2010-05-07 2010-11-03 中国科学院深圳先进技术研究院 Supplementary motion system and control method thereof
CN102038491A (en) * 2009-10-19 2011-05-04 上海理工大学 Intellectualized passive lower-limb function testing and training method
CN102058464A (en) * 2010-11-27 2011-05-18 上海大学 Motion control method of lower limb rehabilitative robot
CN102225034A (en) * 2011-04-25 2011-10-26 中国科学院合肥物质科学研究院 Gait rehabilitation training robot control system

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2917128B2 (en) * 1996-08-08 1999-07-12 谷 白糸 Walking experience device
US6966882B2 (en) * 2002-11-25 2005-11-22 Tibion Corporation Active muscle assistance device and method
JP4617755B2 (en) * 2004-07-27 2011-01-26 パナソニック電工株式会社 Exercise assistance device
TWM311442U (en) * 2006-10-24 2007-05-11 Univ Nat Cheng Kung Ankle rehabilitation apparatus
US8540652B2 (en) * 2007-05-22 2013-09-24 The Hong Kong Polytechnic University Robotic training system with multi-orientation module
WO2009125397A2 (en) * 2008-04-08 2009-10-15 Motorika Limited Device and method for foot drop analysis and rehabilitation
US8058823B2 (en) * 2008-08-14 2011-11-15 Tibion Corporation Actuator system with a multi-motor assembly for extending and flexing a joint
CN102641196B (en) * 2011-12-30 2013-12-11 中国科学院深圳先进技术研究院 Rehealthy training robot control system and control method thereof

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101061984A (en) * 2006-04-29 2007-10-31 香港理工大学 Recovery robot system for providing mechanical assistant by using myoelectric signal and the training method thereof
CN102038491A (en) * 2009-10-19 2011-05-04 上海理工大学 Intellectualized passive lower-limb function testing and training method
CN101874758A (en) * 2010-05-07 2010-11-03 中国科学院深圳先进技术研究院 Supplementary motion system and control method thereof
CN102058464A (en) * 2010-11-27 2011-05-18 上海大学 Motion control method of lower limb rehabilitative robot
CN102225034A (en) * 2011-04-25 2011-10-26 中国科学院合肥物质科学研究院 Gait rehabilitation training robot control system

Also Published As

Publication number Publication date
CN102631276A (en) 2012-08-15

Similar Documents

Publication Publication Date Title
US10405764B2 (en) Brain-controlled body movement assistance devices and methods
Ajoudani et al. Tele-impedance: Teleoperation with impedance regulation using a body–machine interface
CN106109174B (en) A kind of healing robot control method based on myoelectric feedback impedance self-adaptive
Wurth et al. A real-time comparison between direct control, sequential pattern recognition control and simultaneous pattern recognition control using a Fitts’ law style assessment procedure
Ortner et al. An SSVEP BCI to control a hand orthosis for persons with tetraplegia
Xu et al. A closed-loop brain–computer interface triggering an active ankle–foot orthosis for inducing cortical neural plasticity
CN103764021B (en) A kind ofly to repair for collaborative neuro-physiological and/or system, instrument, the apparatus and method of functional promotion
Duschau-Wicke et al. Patient-cooperative control increases active participation of individuals with SCI during robot-aided gait training
CN105307719B (en) Local nerve stimulation instrument
US8359123B2 (en) Robotic system and training method for rehabilitation using EMG signals to provide mechanical help
Zehr et al. Cutaneous reflexes during human gait: electromyographic and kinematic responses to electrical stimulation
Güneysu et al. An SSVEP based BCI to control a humanoid robot by using portable EEG device
JP5158824B2 (en) Muscle synergy analysis method, muscle synergy analysis device, and muscle synergy interface
CN103892945B (en) Myoelectric limb control system
Ferreira et al. Human-machine interfaces based on EMG and EEG applied to robotic systems
Zhou et al. Decoding a new neural–machine interface for control of artificial limbs
CN103212156B (en) The autonomous instrument of hemiplegic patient based on body image theory
Xu et al. An adaptive algorithm for the determination of the onset and offset of muscle contraction by EMG signal processing
Micera et al. Decoding information from neural signals recorded using intraneural electrodes: toward the development of a neurocontrolled hand prosthesis
Hauschild et al. A virtual reality environment for designing and fitting neural prosthetic limbs
CN104684611A (en) System and method for managing pain
CN105213153B (en) Lower limb rehabilitation robot control method based on brain flesh information impedance
US20170025026A1 (en) System and method for neuromuscular rehabilitation comprising predicting aggregated motions
CN103777752A (en) Gesture recognition device based on arm muscle current detection and motion sensor
CN1089011C (en) Functional neuromyo-electric signal identification and stimulation apparatus

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model