CN106389068A - Device for autonomous rehabilitation training of upper limb unilateral hemiplegia patient and control method - Google Patents
Device for autonomous rehabilitation training of upper limb unilateral hemiplegia patient and control method Download PDFInfo
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- CN106389068A CN106389068A CN201610945444.1A CN201610945444A CN106389068A CN 106389068 A CN106389068 A CN 106389068A CN 201610945444 A CN201610945444 A CN 201610945444A CN 106389068 A CN106389068 A CN 106389068A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
Abstract
The invention provides a device for autonomous rehabilitation training of an upper limb unilateral hemiplegia patient and a control method. The device comprises a fixed platform, a computer and a displayer, and further comprises a control console and mechanical arms. The computer, the displayer and the control console are all fixed to the fixed platform. The computer is connected with the displayer and the control console through wires respectively. The mechanical arms are fixedly connected with the control console. The control console comprises a driving/driven mechanical arm selection button and a start/stop button. Each mechanical arm comprises a rotary disc, a telescopic mechanical arm body and a ball carrying joint handle. When the patient autonomously takes rehabilitation training without relying on rehabilitation therapists, the patient can operate the driving mechanical arm of the device through the healthy arm so as to drive the driven mechanical arm to do the follow-up movement or the symmetrical movement, and therefore the arm with dyskinesia can move along with the healthy arm.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly, to one kind are used for assisting upper limbs one side hemiplegic patient to carry out certainly
The equipment of main rehabilitation training and control method.
Background technology
Hemiplegia refers to be led to because of causes for pathological such as brain traumas, is main performance with half side obstacle of limb movement
A kind of common deformity.Common hemiplegia obstacle has dyskinesia, sensory disturbance, disfluency, cognitive disorder etc..
By hemiplegic patient is carried out with planned regular positive training, the remaining function of patient and ability can be made to obtain
Obtain and play to greatest extent so that they can overcome hemiplegia obstacle as much as possible, improve the chance obtaining rehabilitation.By science
Investigation shows, by actively correct rehabilitation, has 80% patients function to be obviously improved, only 10% to 20% patient
Leave severely or moderately disabled.
For the rehabilitation appliances of hemiplegia obstacle, traditional rehabilitation appliances have KAFO, electric stimulation therapeutic apparatus, electric acupuncture instrument,
New rehabilitation appliances have composite multifunction rehabilitation appliances and healing robot.Wherein, healing robot makes the hemiplegic patient can
By doctor or other people auxiliary, not carry out alone rehabilitation training, on the other hand can formulate according to the state of an illness weight of patient
Adaptable drill program, and rehabilitation information, training data of computer recording patient etc. can be passed through, drastically increase
The quality of Rehabilitation.
Domestic at present existing most of trainer for hemiparalysis tool structures are simple, single function, do not have intelligent, no
Science rehabilitation beneficial to hemiplegic patient.
Chinese publication number：CN204863888U, title：A kind of hemiplegic patient by upper recovery training appliance for recovery.This invention sets
Count a kind of hemiplegic patient by upper recovery training appliance for recovery, mainly by part structures such as base, seat, electric lifting vertical column, fork-shaped overarms
Become.This beneficial effect of the invention is：Realize left and right upper limbs by V belt translation synchronously to swing, thus realizing side autokinetic movement
Upper limbs drives opposite side paralytic upper limb, and without exterior power, structure is simple, safe.Although however, this invention achieves trouble
Person can independently be trained, but patient drives and has dyskinesia arm to provide power to realize merely by healthy arm
, can only be moved forward and backward and be swung, and there is no the data record of Rehabilitation training etc., do not possess intelligent.
Chinese publication number：CN103519966A, title：Portable hemiplegic upper limb hemiparalysis recovery image training robot.Should
Invention provides a kind of portable hemiplegic upper limb hemiparalysis recovery image training robot, mainly by servo drive system, mechanical linkage system
The part such as system, bracket vest, controller and power supply is constituted.This beneficial effect of the invention is：It is provided with bracket vest so that patient
Can not be limited by time, place, freely be carried out rehabilitation training；Provide active training, driven training and resistance exercise
These three training methods, and the information of patient can be gathered by sensor.However, patient needs to wear when this invention requires to use
Wear bracket vest, this setting has increased the burden of the long-time training of patient, increased patient carry out uninteresting during rehabilitation training
Property.
Content of the invention
In order to overcome shortcoming and the deficiency of prior art presence, the present invention provides one kind to be used for upper limbs one side hemiplegic patient certainly
The equipment of main rehabilitation training and control method, enable the patient to independently carry out rehabilitation training, are that patient provides sentific training
Plan and the training action of specification, and have recorded the related data when carrying out rehabilitation training for the patient, and the design of equipment has
Intellectuality and hommization, can improve the motor function of limbs of patient well.
For solving above-mentioned technical problem, the present invention provides following technical scheme：One kind is for upper limbs one side hemiplegic patient certainly
The equipment of main rehabilitation training, including fixed platform, computer and display, the equipment of described autonomous rehabilitation training also includes controlling
Platform processed and mechanical arm, described computer, display and console are both secured in fixed platform, described computer respectively with
Display, console are connected by wire, and described mechanical arm is fixedly connected described console, wherein
Described computer is used for controlling user's training strength shaping modes, including user's shaping modes and Automatic adjusument mould
Formula；For control described mechanical arm between the two follow motion or symmetric motion；For store patient drill program,
The motion state of record patient and the data preserving correlation；
Described display is used for showing the specification action of hemiparalysis recovery training；
Described console is used for transmitting control information and the exercise data of described mechanical arm being transferred to described computer；
Described mechanical arm directly trains operation for patient.
Further, described console includes master/slave dynamic mechanical arm select button and startup/stop button, and described master/
Follower arm select button is used for selecting which mechanical arm as active mechanical arm or follower arm, described
Startup/stop button is used for controlling startup and the stopping of rehabilitation training device systems.
Further, described mechanical arm includes rotating disk, scalable mechanical arm and band ball-joint handle, described stretches
Contracting mechanical arm one end is fixedly connected described rotation disk, the other end is fixedly connected described band ball-joint handle, described rotation disk
It is fixed on described console.
Further, described mechanical arm is divided into active mechanical arm and passive mechanical arm.
Further, described fixed platform includes 4 universal wheels and 4 small racks, and described universal wheel is used for each side
To mobile integral rehabilitation training equipment, described small rack is used for the upper-lower height of adjustment equipment.
Further, the equipment of described autonomous rehabilitation training also includes gripper shoe, and described gripper shoe is fixed on described fixation
On platform, described gripper shoe is used for supporting the both arms of patient when carrying out autonomous rehabilitation training.
Further, the equipment of described autonomous rehabilitation training also includes bracelet device, described bracelet device and described calculating
Machine connects, and described bracelet device is used for gathering the electromyographic signal on human body active arm muscles surface.
It is another object of the invention to provide a kind of equipment for the upper limbs one side autonomous rehabilitation training of hemiplegic patient controls
Method, comprises the following steps：
S1, press startup/stop button, starting device, patient selects the master of itself according to right-hand man's actual sufferer situation
Start arm and driven arm, press master/slave dynamic mechanical arm and select active mechanical arm and follower arm；
S2, patient select healthy arm as active arm, all wear bracelet device in the upper arm of healthy arm and forearm,
Bracelet device gathers human body active arm muscles surface electromyogram signal, by related signal analysis and linear transformation, is extracted
Healthy the muscles of the arm intensity；
S3, patient health arm operation active mechanical arm, bracelet device issues computer according to the relevant information of operation；
S4, computer, through calculation process, control the motion of follower arm so that driven arm by console
Follow active arm to take exercises.
Further, described step S4 Computer is through calculation process, specially：Patient is selected by control computer
Self-adaptive strength shaping modes or intensity user's shaping modes, wherein
Described Self-adaptive strength shaping modes are：Coupling device is set up by the movement differential of two arms of patient, this
The force feedback that planting coupling device provides is interacted with muscle surface electromyographic signal it is ensured that driven machinery arm drives has fortune
The arm of dynamic obstacle follows healthy arm motion；Wherein, the key character that feedback force is interacted with muscle surface electromyographic signal
It is that force feedback is so that patient's nature, producing of intuition increase the electromyographic signal coupling needed for stiffness factor；
Described intensity user's shaping modes are：Employ learning algorithm so that active mechanical arm and follower arm
Between coupling stiffness factor adapt to have the moving condition of dyskinesia arm, when dyskinetic degree is big, couple strength
Degree will adaptively diminish, so that patient relatively easily follows the track of healthy arm；When dyskinetic degree hour,
Coupling stiffness will adaptively become big so that have dyskinetic arm itself to a certain extent can autokinetic movement,
Reach good rehabilitation training effect.
Further, in described step S4, driven arm is followed active arm and is taken exercises, patient by control computer Lai
Select driven arm to follow the motion that active arm does equidirectional and same action, or do symmetric motion.
After technique scheme, the present invention at least has the advantages that：
1 present invention achieves the autonomous rehabilitation training of upper limbs one side hemiplegic patient is so that patient can be by the hand of health
Arm drives has dyskinetic arm, repeatedly scientifically trains, and it can be made to recover locomitivity；Therefore the invention enables suffering from
Person can be independent of rehabilitation therapist or other people in the case of carry out autonomous rehabilitation training；
2nd, the present invention drives in the method for driven machinery arm in active robotic arm, there is provided two kinds of control modes：Intensity is used
Family shaping modes, Self-adaptive strength shaping modes；The first pattern allows the patient in each stage by natural mode
Select the intensity of training, the naturality of its regulative mode provides good Consumer's Experience；Second pattern can make patient exist
When the state of an illness is heavier, can adaptively reduce training strength, allow the arm of patient more easily follow slave arm motion；In hand
When arm recovers certain movement function, adaptively increase training strength；Therefore, both control modes make equipment have intelligence
Property is so that patient can carry out scientifically rehabilitation training；
3rd, the computer that rehabilitation training equipment has in itself, itself can store drill program information and record patient
Training related data, this achieves the order of severity according to conditions of patients and limb function situation is formulated personalizedly and executed phase
The rehabilitation training project answered, and record the related data when carrying out rehabilitation training for the patient；Additionally, the introducing of display, no
But provide scientific and normal training action, and be trained providing possibility by computer animation game for patient, this
The mode planting human-computer interaction makes very long uninteresting training process originally easily be accepted by patients.
Brief description
Fig. 1 is used for the overall schematic of the equipment of the upper limbs one side autonomous rehabilitation training of hemiplegic patient for the present invention；
Fig. 2 is used for the overall front view of the equipment of the upper limbs one side autonomous rehabilitation training of hemiplegic patient for the present invention；
The robotic arm free degree that Fig. 3 is used for the equipment of the upper limbs one side autonomous rehabilitation training of hemiplegic patient for the present invention is illustrated
Figure；
Fig. 4 is used for the bracelet schematic diagram of the equipment of the upper limbs one side autonomous rehabilitation training of hemiplegic patient for the present invention；
Fig. 5 for the present invention be used between the upper limbs one side equipment master arm of the autonomous rehabilitation training of hemiplegic patient and slave arm by
The admittance model schematic diagram that mass-spring-damper is constituted.
Specific embodiment
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Mutually combine, with specific embodiment, the application is described in further detail below in conjunction with the accompanying drawings.
As shown in accompanying drawing 1, Fig. 2, a kind of robot for upper limb hemiplegia rehabilitation training is mainly flat by computer 1, fixation
The part such as platform 2, display 6, console 4, robotic arm 7 and gripper shoe 9 forms.Gripper shoe acts on and is carrying out autonomous rehabilitation instruction
Support the both arms of patient when practicing, reduce the burden with dyskinesia arm.
Described robot movement/fixed structure, mainly by wheel 5, support 10 realization, wherein wheel are used alternatingly
5 height is fixing, and the position of support 10 can be moved up and down by the regulation of nut.
Described Height Adjustable platform, is mainly realized by the cylindrical sleeve of fixed platform 2.When need fix
Firmly during the height of console or computer and display, then need to tighten the nut of cylindrical sleeve；When needing their height mobile
When spending, then adjust the nut of cylindrical sleeve, move to and tighten again during suitable height.
Described real-time display/record tracking system, is mainly made up of computer 1 and display 6.Its Computer is used for
The drill program of storage patient, is capable of the motion state of real time record patient simultaneously, and preserves the data of correlation；Display is used for
Show the specification action of hemiparalysis recovery training, be the guidance that patient makes science.Meanwhile, computer 1 also determine the side of training
The mode that formula is moved with robotic arm 7：By computer selection intensity user's shaping modes and Self-adaptive strength shaping modes this
One kind of two kinds of control modes；Select to follow motion or symmetric motion between master arm and slave arm by computer 1.
Described console, has startup/stop button, master/slave dynamic mechanical arm select button 3.Console is on the one hand
For the motion state of real-time tracking active mechanical arm, on the other hand it is that the motion transmission of follower arm controls in real time
So that follower arm follows active machine arm motion, console also accepts active mechanical arm and driven to signal simultaneously
The exercise data of mechanical arm, is transferred to computer recording data.
Described active mechanical arm or driven machine mechanical arm, as shown in Figure 3, they are by rotating disk, scalable
Mechanical arm and the handle 8 with ball-joint form, and therefore this two mechanical arms have 4 frees degree.Instruct when proceeding by rehabilitation
When practicing, selecting switch carries out specifying active and driven subordinate relation.
By the core controlling active mechanical arm to drive the algorithm design that follower arm is moved to be the present invention
Part, it provides two kinds of control modes, intensity user's shaping modes and Self-adaptive strength shaping modes.In both patterns
Under, the motion between active mechanical arm and follower arm has two kinds, follows motion and symmetric motion, i.e. follower hand
Arm occurs and the motion of active mechanical arm identical or symmetrical motion.With model, relation between them is described as shown in figure 5,
The model being made up of mass-spring-damper.
The operation principle of intensity user's shaping modes：
Patient first, when carrying out rehabilitation training, needs respectively to wear a Fig. 4's in the upper arm of his healthy arm and forearm
Bracelet device.During rehabilitation training, bracelet device acquires human body active arm muscles surface electromyogram signal, by related signal
Analysis and linear transformation, are extracted healthy the muscles of the arm intensity.
Related conversion formula is：
Wherein, F and K is the projection in cartesian space of three-dimensional vector, the respectively power of human arm end and rigidity.
F0And K0It is all three-dimensional vector, when respectively keeping an anchor, the intrinsic power of human arm and rigidity, are constant；P is
The muscle activity vector extracting from the surface electromyogram signal of agonistic muscle/Opposing muscle pair, is a n-dimensional vector, and wherein n represents and is related to
Muscle quantity；TF、TKFor transition matrix, the active vector of muscle is respectively converted into power, rigidity by them.
Next the control to follower arm will be realized using the impedance controller with force feedback.Mould in Fig. 5
In type, during active mechanical arm drives follower arm motion, follower arm also carries to active mechanical arm
For a feedback force Ff.When follower arm does not catch up with the motion of active mechanical arm, feedback force FfWill increase, thus
Make active mechanical arm will produce bigger power to go to drive follower arm.Now, patient health arm is because employing
Larger power is so that arm muscles surface electromyogram signal increases, thus be applied with bigger to follower arm by master arm
Power, allow it keep up with the motion of active mechanical arm.
When the rigid model of robotic arm and the arm of patient interact, can be described with following formula：
Wherein, M (q) is the mass matrix of mechanical arm,For joint torque vector, and centrifugal force, coriolis force,
Gravity is relevant with frictional force, τuIt is the moment vector in joint, produced by the torque actuated device of mechanical arm,I.e. Fq,
The power producing when to be mechanical arm interacted with the arm of patient, v is the restless of motor output transform or system itself.
It is now discussed with some free degree, the motion conditions of active mechanical arm and follower arm：If actively
The angle of rotation of mechanical arm is qm, the angle of rotation of follower arm is qf, between active mechanical arm and follower arm
When following motion, now the angle that relatively rotates therebetween is：
Δ q=qm-qf(3)
When doing symmetric motion between follower arm and active mechanical arm, now therebetween relatively rotate angle
For：
Δ q=| qm|-|qf| (4)
In the model of Fig. 5, acting on the feedback moment on active mechanical arm is τf, it with relatively rotate angle Δ q's
Relation is：
Wherein, Mf、Df、KfIt is respectively inertia, damping and the rigidity of model virtual, they can be by the arm of patient health
Adjusted,It is first derivative, the second dervative relatively rotating displacement q respectively.
The controller of active mechanical arm and health arm is by feedback moment τfWith gravity compensation item τgSuperposition, be：
τm=τf+τg(6)
Defining K is principal and subordinate's arm coupling stiffness factor, and that is, K is to couple stiffness factor between master arm and slave arm.Strong
Under degree user's shaping modes, it is with to be converted to patient health the muscles of the arm rigidity by muscle surface electromyographic signal be equivalent
's.D is the Coupling Damping coefficient between active mechanical arm and follower arm, and it is in direct ratio and K between, and ratio
It is fixing.
It is also contemplated that gravity compensation, using PD control device to slave arm input torque τuFor：
Therefore, intensity user shaping modes when patient carries out rehabilitation training to patient health the muscles of the arm surface myoelectric
Signal carries out extraction and analysis, and the change changing by being for conversion into master slave manipulator arm coupling stiffness factor signal, from
And change active mechanical arm drive follower arm stiffness so that patient can naturally, intuitively according to having fortune
The motion state of dynamic obstacle arm is adjusted.
The operation principle of Self-adaptive strength shaping modes：
This control method is the arm and the motion model obtaining the principle interacting of environment from the mankind.This motion mould
Type thinks, the motion command that the muscle of human arm and environment are used when interacting is made up of feedforward and feedback.This
This computation model is simultaneously applied to the controller of robot by patent of invention, that is, in the controller of follower arm so that from
The stiffness that couples between dynamic mechanical arm and active mechanical arm reaches adaptive effect.
Moment τ under Self-adaptive strength shaping modes, to follower arm control inputuFor：
τu(t)=- (k0(t)+k(t))ε(t)-τ(t)(8)
Wherein ,-k0ε is minimum feedback, and τ is the feedforward that study is arrived, and-k ε is interacted with the arm of patient for mechanical arm
The feedback arriving.ε is tracking error, with site error, e (t) and velocity errorRelevant：
According to above definition, the stiffness factor that couples between active mechanical arm and follower arm is K, by public affairs
Formula (8), (9), can obtain the coupling adaptive algorithm of stiffness factor is：
Ki+1(t)=Ki(t)+QK(εi(t)eiT(t)-yi(t)Ki(t)), i=0,1,2 ... (10)
Wherein,
Achieve the self adaptation of coupling stiffness factor by the algorithm of formula (10).Therefore, this Self-adaptive strength is adjusted
Pattern under, used for reference the motion model of human arm and environmental interaction, by learning algorithm so that the coupling of follower arm
Close the motion state that stiffness factor has dyskinesia arm.When dyskinetic degree is larger, active mechanical arm with driven
Coupling stiffness between mechanical arm is larger；When dyskinetic degree is less, active mechanical arm and follower arm it
Between coupling stiffness also become less, so that the moment that robotic arm is applied to hemiplegic arm can be according to the fortune of hemiplegic arm
Dynamic state, adaptively auxiliary for hemiparalysis arm joint follow the track of healthy arm joint.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, permissible
It is understood by, these embodiments can be carried out with multiple equivalent changes without departing from the principles and spirit of the present invention
Change, change, replace and modification, the scope of the present invention is limited by claims and its equivalency range.
Claims (10)
1. a kind of equipment for the upper limbs one side autonomous rehabilitation training of hemiplegic patient, including fixed platform, computer and display
Device is it is characterised in that the equipment of described autonomous rehabilitation training also includes console and mechanical arm, described computer, display
And console is both secured in fixed platform, described computer is connected by wire with display, console respectively, described machine
Tool arm is fixedly connected described console, wherein
Described computer is used for controlling user's training strength shaping modes, including user's shaping modes and Automatic adjusument pattern；
For control described mechanical arm between the two follow motion or symmetric motion；For storing drill program, the note of patient
The motion state of record patient and the data preserving correlation；
Described display is used for showing the specification action of hemiparalysis recovery training；
Described console is used for transmitting control information and the exercise data of described mechanical arm being transferred to described computer；
Described mechanical arm directly trains operation for patient.
2. the equipment for the upper limbs one side autonomous rehabilitation training of hemiplegic patient according to claim 1 is it is characterised in that institute
State console and include master/slave dynamic mechanical arm select button and startup/stop button, described master/slave dynamic mechanical arm selects to press
Button is used for selecting which mechanical arm as active mechanical arm or follower arm, and described startup/stop button is used for
Control startup and the stopping of rehabilitation training device systems.
3. the equipment for the upper limbs one side autonomous rehabilitation training of hemiplegic patient according to claim 1 is it is characterised in that institute
State mechanical arm and include rotating disk, scalable mechanical arm and band ball-joint handle, described scalable mechanical arm one end is fixing even
Connect described rotation disk, the other end is fixedly connected described band ball-joint handle, described rotation disk is fixed on described console.
4. the equipment for the upper limbs one side autonomous rehabilitation training of hemiplegic patient according to claim 1 or 3, its feature exists
In described mechanical arm is divided into active mechanical arm and passive mechanical arm.
5. the equipment for the upper limbs one side autonomous rehabilitation training of hemiplegic patient according to claim 1 is it is characterised in that institute
State fixed platform and include 4 universal wheels and 4 small racks, described universal wheel is used for setting to all directions mobile integral rehabilitation training
Standby, described small rack is used for the upper-lower height of adjustment equipment.
6. the equipment for the upper limbs one side autonomous rehabilitation training of hemiplegic patient according to claim 1 is it is characterised in that institute
The equipment stating autonomous rehabilitation training also includes gripper shoe, and described gripper shoe is fixed in described fixed platform, and described gripper shoe is used
In the both arms supporting patient when carrying out autonomous rehabilitation training.
7. the equipment for the upper limbs one side autonomous rehabilitation training of hemiplegic patient according to claim 1 is it is characterised in that institute
The equipment stating autonomous rehabilitation training also includes bracelet device, and described bracelet device is connected with described computer, described bracelet device
For gathering the electromyographic signal on human body active arm muscles surface.
8. a kind of control method for the upper limbs one side autonomous rehabilitation training of hemiplegic patient is it is characterised in that comprise the following steps：
S1, press startup/stop button, starting device, patient selects the active hand of itself according to right-hand man's actual sufferer situation
Arm and driven arm, press master/slave dynamic mechanical arm and select active mechanical arm and follower arm；
S2, patient select healthy arm as active arm, all wear bracelet device, bracelet in the upper arm of healthy arm and forearm
Device gathers human body active arm muscles surface electromyogram signal, by related signal analysis and linear transformation, is extracted health
The muscles of the arm intensity；
S3, patient health arm operation active mechanical arm, bracelet device issues computer according to the relevant information of operation；
S4, computer, through calculation process, control the motion of follower arm so that driven arm is followed by console
Active arm is taken exercises.
9. the control method for the upper limbs one side autonomous rehabilitation training of hemiplegic patient according to claim 8, its feature exists
In, described step S4 Computer through calculation process, specially：Patient passes through control computer selection intensity Automatic adjusument
Pattern or intensity user's shaping modes, wherein
Described Self-adaptive strength shaping modes are：Coupling device is set up by the movement differential of two arms of patient, this coupling
Attach together the force feedback that offer is provided to interact with muscle surface electromyographic signal it is ensured that driven machinery arm drives has motion barrier
The arm hindering follows healthy arm motion；Wherein, the key character that feedback force is interacted with muscle surface electromyographic signal is power
Feedback is so that patient's nature, producing of intuition increase the electromyographic signal coupling needed for stiffness factor；
Described intensity user's shaping modes are：Employ learning algorithm so that between active mechanical arm and follower arm
Coupling stiffness factor adapt to have the moving condition of dyskinesia arm, when dyskinetic degree is big, coupling stiffness will
Adaptively diminish, so that patient relatively easily follows the track of healthy arm；When dyskinetic degree hour, couple
Stiffness will adaptively become big so that have dyskinetic arm itself to a certain extent can autokinetic movement, reach
Good rehabilitation training effect.
10. the control method for the upper limbs one side autonomous rehabilitation training of hemiplegic patient according to claim 8, its feature exists
In, in described step S4, driven arm is followed active arm and is taken exercises, patient selected by control computer driven arm with
Do the motion of equidirectional and same action with active arm, or do symmetric motion.
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| CN107647951A (en) * | 2017-09-29 | 2018-02-02 | 上海术理智能科技有限公司 | For method, system and the computer-readable medium for aiding in upper and lower extremities to move |
| CN107714398A (en) * | 2017-11-24 | 2018-02-23 | 哈工大机器人（合肥）国际创新研究院 | A kind of both arms rehabilitation training robot system |
| CN108095977A (en) * | 2018-02-06 | 2018-06-01 | 同济大学浙江学院 | A kind of polar coordinate system disc type upper limb healing equipment |
| CN108553265A (en) * | 2018-03-30 | 2018-09-21 | 东南大学 | Both upper extremities device for healing and training |
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| WO2019061162A1 (en) * | 2017-09-28 | 2019-04-04 | 广州博厚医疗技术有限公司 | Method, device and system for assisting in collaborative rehabilitation of bilateral limbs |
| CN109568082A (en) * | 2018-12-11 | 2019-04-05 | 上海大学 | A kind of upper-limbs rehabilitation training robot and rehabilitation training of upper limbs method |
| CN113539465A (en) * | 2021-07-19 | 2021-10-22 | 河南翔宇医疗设备股份有限公司 | Component scheduling method, device, equipment and computer readable storage medium |
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| WO2019061162A1 (en) * | 2017-09-28 | 2019-04-04 | 广州博厚医疗技术有限公司 | Method, device and system for assisting in collaborative rehabilitation of bilateral limbs |
| CN107647951A (en) * | 2017-09-29 | 2018-02-02 | 上海术理智能科技有限公司 | For method, system and the computer-readable medium for aiding in upper and lower extremities to move |
| CN107714398A (en) * | 2017-11-24 | 2018-02-23 | 哈工大机器人（合肥）国际创新研究院 | A kind of both arms rehabilitation training robot system |
| CN108095977A (en) * | 2018-02-06 | 2018-06-01 | 同济大学浙江学院 | A kind of polar coordinate system disc type upper limb healing equipment |
| CN108553265A (en) * | 2018-03-30 | 2018-09-21 | 东南大学 | Both upper extremities device for healing and training |
| CN108743214A (en) * | 2018-04-11 | 2018-11-06 | 深圳睿瀚医疗科技有限公司 | A kind of both hands visual transmission auxiliary system and method for neural rehabilitation |
| CN109172257A (en) * | 2018-07-13 | 2019-01-11 | 江苏卫生健康职业学院 | Lower limb constant speed force feedback training system |
| CN109330819A (en) * | 2018-09-18 | 2019-02-15 | 山东建筑大学 | Master-slave mode upper limb exoskeleton rehabilitation robot control system and its control method |
| CN109330819B (en) * | 2018-09-18 | 2021-12-31 | 山东建筑大学 | Master-slave type upper limb exoskeleton rehabilitation robot control system and control method thereof |
| CN109568082A (en) * | 2018-12-11 | 2019-04-05 | 上海大学 | A kind of upper-limbs rehabilitation training robot and rehabilitation training of upper limbs method |
| CN113539465A (en) * | 2021-07-19 | 2021-10-22 | 河南翔宇医疗设备股份有限公司 | Component scheduling method, device, equipment and computer readable storage medium |
| CN113539465B (en) * | 2021-07-19 | 2023-09-05 | 河南翔宇医疗设备股份有限公司 | Component scheduling method, device, equipment and computer readable storage medium |
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