CN109223444B - 康复机器人及其人机协同交互力控制方法 - Google Patents
康复机器人及其人机协同交互力控制方法 Download PDFInfo
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- CN109223444B CN109223444B CN201811237005.0A CN201811237005A CN109223444B CN 109223444 B CN109223444 B CN 109223444B CN 201811237005 A CN201811237005 A CN 201811237005A CN 109223444 B CN109223444 B CN 109223444B
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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
- 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
- A61H1/0277—Elbow
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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
- A61H1/0281—Shoulder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- A—HUMAN NECESSITIES
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- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
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- A—HUMAN NECESSITIES
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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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
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- A—HUMAN NECESSITIES
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- 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
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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
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physical Education & Sports Medicine (AREA)
- Mechanical Engineering (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Robotics (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
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CN109223444B true CN109223444B (zh) | 2021-03-26 |
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Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109924984B (zh) * | 2019-03-22 | 2022-01-21 | 上海电气集团股份有限公司 | 基于人体运动意图检测的机器人运动控制方法及系统 |
CN110787026B (zh) * | 2019-11-11 | 2022-04-12 | 上海电气集团股份有限公司 | 一种基于多传感器信息的运动异常保护方法及康复设备 |
CN112847327B (zh) * | 2019-11-12 | 2022-02-11 | 中国科学院沈阳自动化研究所 | 一种用于协作机器人关节的柔顺控制方法 |
CN110940301B (zh) * | 2019-11-28 | 2021-06-01 | 杭州电子科技大学 | 关节式坐标测量机的实时主动力矩补偿型平衡方法 |
CN111419644B (zh) * | 2020-06-09 | 2020-09-29 | 上海神泰医疗科技有限公司 | 康复机器人的操作方法、康复机器人及可读存储介质 |
CN111956452B (zh) * | 2020-08-29 | 2022-08-02 | 上海电气集团股份有限公司 | 一种上肢康复机器人控制方法及装置 |
CN112932897B (zh) * | 2021-01-28 | 2023-11-28 | 上海电气集团股份有限公司 | 一种康复机器人运动的方法、装置及其康复机器人 |
CN112936278B (zh) * | 2021-02-07 | 2022-07-29 | 深圳市优必选科技股份有限公司 | 机器人的人机协作控制方法、装置和机器人 |
CN112809687B (zh) * | 2021-02-08 | 2022-04-12 | 上海电气集团股份有限公司 | 一种机器人控制器的仿真方法、装置及设备 |
CN113197752B (zh) * | 2021-04-30 | 2023-05-05 | 华中科技大学 | 一种上肢康复机器人的肢体重力动态补偿方法 |
CN113855473B (zh) * | 2021-08-25 | 2023-08-15 | 上海傅利叶智能科技有限公司 | 用于控制外骨骼机器人的方法、装置和外骨骼机器人 |
CN113855474B (zh) * | 2021-08-25 | 2023-10-31 | 上海傅利叶智能科技有限公司 | 用于控制两个康复机器人的方法、装置和康复机器人系统 |
CN113655719B (zh) * | 2021-09-01 | 2023-11-17 | 东南大学 | 一种力反馈装置的反馈力动态误差建模与补偿方法 |
CN114272077A (zh) * | 2021-12-10 | 2022-04-05 | 宁波慈溪生物医学工程研究所 | 一种双臂训练机器人及双臂训练方法 |
CN114366552B (zh) * | 2021-12-23 | 2023-10-24 | 威海经济技术开发区天智创新技术研究院 | 一种上肢康复训练外骨骼控制方法及系统 |
CN114831847B (zh) * | 2022-03-29 | 2023-06-09 | 中国农业大学 | 一种四支链并联机构颈部康复训练机器人及其力控制方法 |
CN115157246A (zh) * | 2022-07-08 | 2022-10-11 | 深圳市灵手科技有限公司 | 一种理疗机器人及其理疗方法 |
CN115946131B (zh) * | 2023-03-14 | 2023-06-20 | 之江实验室 | 一种柔性关节机械臂运动控制仿真计算方法及装置 |
CN117116459B (zh) * | 2023-10-20 | 2024-01-16 | 中国科学院自动化研究所 | 康复机器人主动康复训练控制方法及装置 |
CN117085301B (zh) * | 2023-10-20 | 2024-02-13 | 中国科学院自动化研究所 | 基于虚拟现实的康复机器人多反馈康复训练方法及系统 |
CN117991719A (zh) * | 2024-04-03 | 2024-05-07 | 华中科技大学 | 用于机器人磨抛力控制的动态摩擦建模与补偿方法及系统 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
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US7774177B2 (en) * | 2001-06-29 | 2010-08-10 | Honda Motor Co., Ltd. | Exoskeleton controller for a human-exoskeleton system |
CN101612735B (zh) * | 2009-07-24 | 2012-03-28 | 哈尔滨工业大学 | 移动机器人视觉系统防抖装置与防抖补偿控制方法 |
CN103655122B (zh) * | 2013-12-17 | 2015-07-08 | 上海交通大学 | 融合功能性电刺激的膝关节外骨骼系统 |
WO2017105996A1 (en) * | 2015-12-14 | 2017-06-22 | Board Of Regents, The University Of Texas System | Torque control methods and devices for powered orthosis |
CN108319144B (zh) * | 2018-02-21 | 2021-07-09 | 湘潭大学 | 一种机器人轨迹跟踪控制方法及系统 |
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