CN114177588B - Vibration feedback system, method and device of rehabilitation robot - Google Patents
Vibration feedback system, method and device of rehabilitation robot Download PDFInfo
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/0655—Tactile feedback
Abstract
The invention belongs to the field of rehabilitation robots, and particularly relates to a vibration feedback system, a vibration feedback method and a vibration feedback device of a rehabilitation robot. Judging the muscle strength grade of the patient by a muscle strength grade judging module; and the vibration feedback calculation module obtains a vibration feedback grade according to the muscle strength grade and calculates a vibration signal parameter. The event signal calculation module calculates a real-time vibration feedback signal according to the vibration event, the vibration feedback grade and the vibration signal parameter; and (4) forming a total torque control signal through superposition, and sending the total torque control signal to a motor driver. The invention provides vibration feedback force by using the existing motor on the equipment, and does not need to additionally install a vibration motor; the volume of the operating handle is reduced, and the equipment cost is reduced; the amplitude and the frequency of the vibration signal can be adjusted in a larger range, and the problem that a patient with impaired hand perception ability cannot feel the vibration is solved.
Description
Technical Field
The invention belongs to the field of rehabilitation robots, and particularly relates to a vibration feedback system, method and device of a rehabilitation robot.
Background
At present, in the process of exercise rehabilitation, a patient generally uses rehabilitation equipment to perform exercise training in cooperation with a corresponding game scene. In part of game scenes, the equipment is required to provide vibration feedback to improve the interactive experience of patients and the game scenes, so that a better treatment effect is achieved. In addition, for patients with amblyopia or blindness, tactile feedback is required to guide the patient through rehabilitation training. At present, the rehabilitation products on the market do not have the function.
The existing rehabilitation device is shown in fig. 1 (CN 113244578A, fig. 1 and 2), and the hand of the patient grasps the vertical handle to perform rehabilitation training. The controller collects the force of the patient through the two-dimensional force sensor to control the X-direction servo motor and the Y-direction servo motor to provide corresponding assistance/resistance, and transmits the assistance/resistance to the vertical handle through the synchronous belt (equivalent to the X-direction flexible cable and the Y-direction flexible cable in CN 113244578A), and further transmits the assistance/resistance to the hand of the user, so as to achieve the purpose of exercising the upper limb strength of the patient. However, almost no function of providing tactile feedback is provided in the existing upper limb rehabilitation equipment, and certain influence is brought to the interactive experience in the training process.
Patent CN208673182U discloses a vibration control handle providing vibration feedback to a user by mounting a vibration motor in the handle. This approach requires an additional vibration motor to be installed on the rehabilitation device, increasing the size of the handle and also increasing the cost of the device. The vibration motor can provide less vibration force and may not be able to sense vibration for patients with impaired hand perception.
To solve the above problems, the present invention proposes an apparatus and method for providing vibration feedback.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a vibration feedback system, a method and a device of a rehabilitation robot, which do not need to be additionally provided with a vibration motor and have a large vibration feedback adjustment range.
In order to achieve the above purpose, the invention adopts the following technical scheme: a vibration feedback system of a rehabilitation robot is characterized by comprising a training feedback module, an event signal calculation module and a moment and vibration signal superposition module;
the training feedback module comprises a muscle strength grade judging module and a vibration feedback calculating module; judging the muscle strength grade of the patient by a muscle strength grade judging module; the vibration feedback calculation module obtains a vibration feedback grade according to the muscle force grade and calculates a vibration signal parameter;
the event signal calculation module receives a vibration event signal from a game and calculates a real-time vibration feedback signal according to the vibration feedback grade and the vibration signal parameters of the current user;
the moment and vibration signal superposition module receives the real-time moment control instruction, the real-time vibration feedback signal and the modeling error compensation signal, superposes the real-time moment control instruction, the real-time vibration feedback signal and the modeling error compensation signal to form a total moment control signal, and sends the total moment control signal to the motor driver.
The real-time torque control instruction is as follows: according to the game scene and the training mode, different torque value commands sent by the robot controller to the motor driver are generated by the impedance control module.
The modeling error compensation signal is generated by a modeling error compensation module, and is equal to the real-time moment control instruction minus the force signal detected by the force sensor. The modeling error compensation module is also integrated into the robot controller.
The event signal calculation module receives a vibration event signal sent by a game, wherein the vibration event signal comprises a vibration frequency omega and a duration time T; if N vibration events occur simultaneously in the game, the signal of the ith vibration event is F i ＝sin(ω i t) t∈[0，T i ](2) Then the real-time vibration event signal is
The vibration feedback grade and the muscle strength grade are in positive correlation, namely the higher the muscle strength grade is, the higher the vibration feedback grade is. One possible solution is to have the vibration feedback level equal to the muscle force level. The amplitude of the vibration feedback signal is in positive correlation with the vibration feedback level, namely the higher the vibration feedback level is, the larger the amplitude of the vibration feedback signal is. One possible solution is that the amplitude of the vibration feedback signal is a =2L v Wherein L is v Indicating the level of vibration feedback. Finally obtaining an actual vibration feedback signal F v = AF. I.e. the actual vibration feedback signal F v Equal to the amplitude a of the vibration feedback signal multiplied by the real-time vibration event signal F.
Vibration feedback level L v The vibration feedback signal is calculated by the vibration feedback calculation module, and the actual vibration feedback signal is calculated by the event signal calculation module.
Still another object of the present invention is to provide a vibration feedback method of a rehabilitation robot, comprising the steps of:
judging the muscle strength grade of the patient by a muscle strength grade judging module; the vibration feedback calculation module obtains a vibration feedback grade according to the muscle strength grade and calculates a vibration signal parameter;
the event signal calculation module receives a vibration event signal from a game and calculates a real-time vibration feedback signal according to the vibration feedback grade and the vibration signal parameters of the current user;
the moment and vibration signal superposition module receives a real-time moment control instruction, a real-time vibration feedback signal and a modeling error compensation signal, superposes the real-time moment control instruction, the real-time vibration feedback signal and the modeling error compensation signal to form a total moment control signal, and sends the total moment control signal to a motor driver to drive a motor to generate torque.
The invention also aims to provide a vibration feedback device of a rehabilitation robot, which comprises a robot controller, wherein a training feedback module, an event signal calculation module, a moment and vibration signal superposition module, an impedance control module and a modeling error compensation module are integrated in the robot controller;
the training feedback module comprises a muscle strength grade judging module and a vibration feedback calculating module; judging the muscle strength grade of the patient by a muscle strength grade judging module; the vibration feedback calculation module obtains a vibration feedback grade according to the muscle strength grade and calculates a vibration signal parameter;
the event signal calculation module receives a vibration event signal from a game and calculates a real-time vibration feedback signal according to the vibration feedback grade and the vibration signal parameters of the current user;
generating a real-time torque control command by an impedance control module, and generating a modeling error compensation signal by a modeling error compensation module;
the moment and vibration signal superposition module receives the real-time moment control instruction, the real-time vibration feedback signal and the modeling error compensation signal, superposes the real-time moment control instruction, the real-time vibration feedback signal and the modeling error compensation signal to form a total moment control signal, and sends the total moment control signal to the motor driver.
Compared with the prior art, the invention has the beneficial effects that: the existing driving motor of the upper limb rehabilitation equipment is used as a vibration generator to provide vibration feedback for the patient. A vibration feedback control scheme based on impedance control is provided, which can provide vibration feedback for a patient according to a real-time interaction scene.
The existing motor on the equipment is utilized to provide vibration feedback force, and a vibration motor does not need to be additionally installed. The volume of the operating handle is reduced, and the equipment cost is reduced. Compared with a vibration motor, the amplitude and the frequency of the vibration signal of the scheme can be adjusted in a larger range, and the problem that a patient with impaired hand perception capability cannot feel the vibration is solved.
Drawings
FIG. 1 is a vibration feedback flow chart of a rehabilitation robot;
FIG. 2 is a general impedance control block diagram;
FIG. 3 is a control block diagram of the present invention;
fig. 4 is a schematic diagram of muscle strength level determination.
Detailed Description
The invention is described in detail below with reference to the figures and the embodiments.
The invention discloses a vibration feedback system, a method and a device of an upper limb rehabilitation robot. The specific principle is as follows:
the training feedback module, the event signal calculation module, the moment and vibration signal superposition module, the impedance control module and the modeling error compensation module are all integrated in the robot controller. The training feedback module comprises a muscle strength grade judging module and a vibration feedback calculating module; judging the muscle strength grade of the current user by a muscle strength grade judging module; the vibration feedback calculation module obtains a vibration feedback level (for example, the muscle force level is equal to the vibration feedback level) according to the muscle force level, and calculates a vibration signal parameter (amplitude A of the vibration feedback signal). The event signal calculation module receives vibration event signals from games, and calculates real-time vibration feedback signals F according to the vibration feedback grade and the vibration signal parameters of the current user v (ii) a The impedance control module generates a real-time torque control command fd, and the modeling error compensation module generates a modeling error compensation signal (modeling error compensation signal = real-time torque control command fd-force signal F detected by the force sensor) s ) (ii) a Wherein the modeling error compensation module receives a real-time moment control command f sent by the impedance control module d And a force signal F detected by the force sensor s Subtracting the two signals to obtain a modeling error compensation signal; moment and vibration signalThe signal superposition module receives a real-time moment control instruction given by the impedance control module and a real-time vibration feedback signal F given by the event signal calculation module v And a modeling error compensation signal sent by the modeling error compensation module, and the modeling error compensation signal, the modeling error compensation module and the total torque control signal are superposed to form a total torque control signal (namely f) d +(f d -F s )+F v ) And sent to the motor driver. The real-time torque control instruction is as follows: according to a game scene and a training mode selected by a patient, the instruction is given by an impedance control module of the robot controller, the instruction is sent to a moment and vibration signal superposition module, is superposed with a real-time vibration feedback signal and a modeling error compensation signal and then is sent to a motor driver by the moment and vibration signal superposition module, and drives a motor and provides assistance or resistance and vibration feedback for the patient so as to achieve the training purpose.
The invention discloses a vibration feedback system, a method and a device of an upper limb rehabilitation robot. The specific principle is as follows:
1. before rehabilitation training of a patient, the tactile perception capability of the patient is judged through a training feedback module so as to determine the grade and the parameter of a vibration feedback signal. During the training process, the patient holds the vertical handle to move on the plane of the equipment (the equipment is an upper limb rehabilitation robot). Meanwhile, the coordinates of the equipment (the coordinates of the vertical handle) are sent to a game interface through the robot controller, and the elements in the game are controlled to move. When a vibration event (such as a collision event or an event needing to simulate vibration (such as when an uneven road is simulated)) occurs in a game scene, the game gives a corresponding vibration feedback signal according to the event signal calculation module and sends the vibration feedback signal to the equipment, and specifically, the vibration feedback signal is sent to a moment and vibration signal superposition module of a robot controller of the upper limb rehabilitation robot. Meanwhile, the impedance control module sends a real-time moment control instruction to the moment and vibration signal superposition module. Meanwhile, a modeling error compensation module generates a modeling error compensation signal and sends the modeling error compensation signal to a moment and vibration signal superposition module; after receiving the real-time torque control instruction, a torque and vibration signal superposition module of the robot controller superposes a real-time vibration feedback signal and a modeling error compensation signal (the real-time torque control instruction, the real-time vibration feedback signal and the modeling error compensation signal are directly added) on the current real-time torque control instruction, and thus the robot controller can generate the vibration feedback while generating the assistance/resistance. The vibration feedback of the motor is transmitted to the tail end operating handle (namely the vertical handle) through a synchronous belt (not limited to the synchronous belt) and then transmitted to the arm of a person. The flow chart is shown in fig. 1.
On the basis of the hardware structure of the upper limb rehabilitation robot in CN113244578A, the vibration feedback system is arranged in the robot controller. The hardware structure of the upper limb rehabilitation robot to which the invention is applicable can be completely the same as or equivalent to that of the CNCN113244578A, but the control system of the invention is different from that of the CNCN 113244578A.
2. The vibration feedback signal is generally a sinusoidal signal (but not limited to a sinusoidal signal), and the parameters include vibration frequency, vibration amplitude and vibration duration;
f＝A·sin(ω·t) 0＜t＜T (1)
wherein f represents a signal value, A represents the amplitude (the value range is 0-10N) of the vibration feedback signal, omega represents the signal frequency (the value range is 8-60 Hz), T represents time (the unit is s), and T represents the duration of the vibration signal. The amplitude a of the vibration feedback signal is typically taken to be small in order not to affect the boost/resistance required for training.
3. The event signal calculation receives the vibration event signals and vibration parameters (including signal frequency and duration) from the game, and if there are multiple vibration event signals, then all vibration event signals are weighted averaged. And multiplying the result by the vibration amplitude to obtain a final actual vibration feedback signal. The signal frequency ω and duration T of different vibration events are different and are given directly by the game. The specific process is as follows:
a) The signal frequency and duration corresponding to different vibration events are preset in the game, and when one or more vibration events occur, the game sends vibration event signals and parameters to the controller. If N vibration events occur simultaneously, the signal of the ith (i =1.. N) vibration event is
F i ＝sin(ω i t) t∈[0，T i ](2) ω in the formula (2) i A signal frequency representing the ith vibration event, wherein i =1, 2, 3 \ 8230n; t is i Represents the duration of the ith vibration event; t represents time (in units of s);
the real-time vibration event signal is
That is, when N vibration events occur within one control period (e.g., 2 ms), F of all events is set i The values are directly added and averaged to obtain a real-time vibration event signal (i.e., the vibration event signals of all vibration events at the current time are weighted and averaged).
b) Obtaining a vibration feedback grade through a training feedback module and obtaining the vibration feedback grade according to the formula A =2L v Determining the amplitude of the vibration feedback signal (i.e. A is L) v 2 times higher). The amplitude A of the vibration feedback signal is multiplied by the real-time vibration event signal F to obtain a final real-time vibration feedback signal F v 。
In one embodiment, the real-time vibration feedback signal F v And decomposing the vibration feedback signal according to the real-time motion direction of the equipment (namely the vertical handle), and respectively adding the decomposed vibration feedback signal values to motor drivers of the X-direction servo motor and the Y-direction servo motor. For example, for the hardware structure of CN113244578A, the specific decomposition process is as follows:
respectively reading the linear velocity V of the vertical handle in the X direction from the two motor drivers x And the linear velocity V of the vertical handle in the Y direction y . The vibration signal F resolved to the X-direction servo motor is obtained according to the following formula vx And a vibration signal F decomposed to the Y-direction servo motor vy . Wherein V norm Representing the modulo length of the velocity vector.
4. The motor driver works in a torque mode, and a corresponding total torque control signal is obtained through calculation of the robot controller and is sent to the motor driver to drive the motor to generate torque. It is real-time control, and the control period can be 2ms in general.
A general impedance control block diagram is shown in fig. 2, which is a prior art, i.e., an impedance control module of the present invention; wherein the content of the first and second substances,
to the desired speed, z d As controller impedance, J T Is the transpose of the Jacobian matrix of the robot,
a dynamical model of the robot is represented, and J represents a Jacobian matrix of the robot. Impedance z d The expression of (b) has the following form (the first mode is taken as an example in the present scheme);
wherein x represents the actual position (i.e. the actual position of the vertical handle),
representing the actual speed (of the vertical handle),
representing the actual acceleration (of the vertical handle). x is a radical of a fluorine atom d Indicating the desired position (desired position of the vertical handle when the patient is not exerting force),
indicating a desired speed (desired speed of the vertical handle when the patient is not exerting force),
indicating a desired acceleration (of the vertical handle when the patient is not exerting force). M represents a mass parameter, B represents a damping parameter, and K represents a stiffness parameter. M is generally 0.1 to 10Kg, B is generally 5 to 1000N × M/s, and K is generally 0. These parameters vary depending on the training mode or the game scenario. Under the condition that the strength of the upper limbs of the patient is strong, the 3 parameters of M, B and K can be increased to increase the training resistance of the patient. In case of weak strength of the patient, these 3 parameters can be reduced to reduce the training resistance of the patient. f. of d Representing the force required to be applied to the patient's hand, transposed J through the Jacobian matrix T Change into joint force after conversion
While the patient exerts a force F directly on the tip u The transformation also transposed by the Jacobian matrix acts on the robot. The resultant force of the two acts on a robot dynamic model
Upper, drive the robot joint to generate the movement speed
Obtaining the motion speed of a space coordinate system through Jacobian matrix transformation
And contacts the hand of the patient and generates a contact force F u (also known as the force applied directly to the tip by the patient).
The improved control block diagram of the present invention is shown in fig. 3. Wherein the content of the first and second substances,
at a desired speed (desired speed of the vertical handle when the patient is not exerting force), z d To the controller impedance, J T Is the transpose of the Jacobian matrix of the robot,
representing a kinetic model of the robot, J representing a Jacobian matrix of the robot, F v Representing a real-time vibration feedback signal, f d Indicating the force required to be applied to the patient's hand (f) d Namely a real-time moment control instruction given by the impedance control module); force F applied directly at the tip by the patient v Detected by the force sensor, and the force signal detected by the force sensor is F s Modeling error compensation module makes f d Minus F s And obtaining a modeling error compensation signal. Real-time vibration feedback signal F v Real-time torque control command, f d And modeling an error compensation signal, f d -F s Together by transposition of the Jacobian matrix J T Becomes a joint force tau c (for the structure of one X-direction servo motor and one Y-direction servo motor, which are vectors, including the torque applied to the X-direction servo motor and the torque applied to the Y-direction servo motor). I.e. the vibration feedback signal F v Real-time torque control command f d The total moment control signal formed by the superposition of the modeling error compensation signal and the transposition J of the Jacobian matrix T The torques of the two motors are respectively obtained, and the total torque control signal is decomposed to the two motors. The number of motors is arbitrary and is not limited to a combination of one X-direction servo motor and one Y-direction servo motor. Compared with the general impedance control, the invention adds the force sensor to measure the contact force between the tail end of the equipment and the patient, compensates the modeling error of the robot dynamic model and adds the real-time vibration feedback signal F v For simulating vibration feedback.
In fig. 2 and 3, only the first expression in the formula (4) is shown
For example.
Real-time vibration feedback signal F v And the impedance signal (i.e. the aforementioned real-time torque control command, calculated by equation (4), for example, calculated by the first equation in equation (4)) are independent of each other, and both act together on the current user (patient). The impedance is used for simulating the elastic force, the damping force andthe force of inertia. The vibration signal is an analog vibration.
The training feedback module determines a level of the vibratory feedback signal by determining a muscle strength level of the patient. Referring to fig. 4, the flow of determining the muscle strength level is as follows.
a) Calculating the muscle strength grade of the current user by a muscle strength grade judging module: the patient is led to respectively exert force in 8 directions (A1-A8, the included angle between two adjacent directions is 45 degrees) in the figure 4 under the guidance of a software interface, the force sensor detects the force exerted by the patient and sends the force to the robot controller, the robot controller records the force, and the muscle strength grade (J) of the patient is obtained after calculation.
The patient forces detected in the 8 directions A1-A8 in FIG. 4 are F1, F2, F3, F4, F5, F6, F7, F8, respectively, and in one embodiment, the average of F1-F8 is calculated as pF, and if pF is 0-10N, the muscle force is ranked as 1; if pF is 10-20N (excluding 10N, including 20N), the muscle strength grade is 2 grade; if pF is 20-30N (excluding 20N, including 30N), the muscle strength grade is 3 grade; if pF is 30-40N (excluding 30N, including 40N), the muscle strength grade is 4 grade; if pF is 40N or more (40N is not included), the muscle strength level is 5. The muscle force level is equal to the vibration feedback level.
In another embodiment, considering that the muscle strength levels of the patients in different movement directions may be different, the muscle strength levels corresponding to the forces F1, F2, F3, F4, F5, F6, F7 and F8 in 8 directions are respectively recorded; when any one of F1-F8 is 0-10N, the muscle strength grade is 1 grade; if the muscle strength is 10-20N (excluding 10N and including 20N), the muscle strength grade is 2 grade; if the muscle strength is 20-30N (excluding 20N, including 30N), the muscle strength grade is 3 grade; if the muscle strength is 30-40N (excluding 30N and including 40N), the muscle strength grade is 4 grade; if the muscle strength is more than 40N (excluding 40N), the muscle strength grade is 5 grade; then, when calculating the vibration signal, the current movement direction of the device (vertical handle) is calculated, and then it is determined which of the 8 directions the current movement direction belongs to or is closest to. And substituting the corresponding muscle strength grade into the calculated vibration signal. For example, the moving direction belongs to the A2 direction when the moving direction is 22.5-67.5, and belongs to the A3 direction when the moving direction is 67.5-112.5.
b) By vibrationThe dynamic feedback calculation module calculates A and L v : and calculating the vibration feedback grade and the vibration signal parameter according to the muscle force grade of the patient. One feasible calculation method is to calculate the vibration feedback level L v Equal to the muscle force level J, the amplitude a of the vibration feedback signal is linear with the vibration feedback level, i.e.:
A＝2L v (5)
wherein L is v For vibration feedback level, the general case is 1-5 levels.
It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.
Claims (8)
1. A vibration feedback system of a rehabilitation robot is characterized by comprising a training feedback module, an event signal calculation module and a moment and vibration signal superposition module;
the training feedback module comprises a muscle strength grade judging module and a vibration feedback calculating module; judging the muscle strength grade of the patient by a muscle strength grade judging module; the vibration feedback calculation module obtains a vibration feedback grade according to the muscle strength grade and calculates a vibration signal parameter;
the event signal calculation module receives a vibration event signal from a game and calculates a real-time vibration feedback signal according to the vibration feedback grade and the vibration signal parameter of the current user;
the moment and vibration signal superposition module receives the real-time moment control instruction, the real-time vibration feedback signal and the modeling error compensation signal, superposes the real-time moment control instruction, the real-time vibration feedback signal and the modeling error compensation signal to form a total moment control signal, and sends the total moment control signal to the motor driver.
2. The vibration feedback system of a rehabilitation robot according to claim 1, wherein the real-time torque control command is: according to the game scene and the training mode, the robot controller sends different torque value commands to the motor driver, and the impedance control module generates the commands.
3. The vibration feedback system of a rehabilitation robot according to claim 1, wherein said modeling error compensation signal is generated by a modeling error compensation module, said modeling error compensation signal being equal to the real-time torque control command minus the force signal detected by the force sensor.
4. The vibration feedback system of a rehabilitation robot as claimed in claim 1, wherein the event signal calculating module receives a vibration event signal from a game, the vibration event signal including a vibration frequency ω and a duration T; if N vibration events occur simultaneously in the game, the signal of the ith vibration event is F i ＝sin(ω i t) t∈[0，T i ]Then the real-time vibration event signal is
5. The vibration feedback system of a rehabilitation robot as claimed in claim 4, wherein said vibration feedback level is positively correlated to the muscle strength level, i.e. the higher the muscle strength level is, the higher the vibration feedback level is; the amplitude of the vibration feedback signal is in positive correlation with the vibration feedback level, namely the higher the vibration feedback level is, the larger the amplitude of the vibration feedback signal is.
6. The vibration feedback system of a rehabilitation robot as claimed in claim 5, wherein said vibration feedback level is equal to a muscle force level; amplitude of vibration feedback signal a =2L υ Wherein L is υ Representing a vibration feedback level; finally obtaining a real-time vibration feedback signal F υ = AF, F is the real-time vibration event signal.
7. A vibration feedback method of a rehabilitation robot is characterized by comprising the following steps:
judging the muscle strength grade of the patient by a muscle strength grade judging module; the vibration feedback calculation module obtains a vibration feedback grade according to the muscle force grade and calculates a vibration signal parameter;
the event signal calculation module receives a vibration event signal from a game and calculates a real-time vibration feedback signal according to the vibration feedback grade and the vibration signal parameter of the current user;
the moment and vibration signal superposition module receives a real-time moment control instruction, a real-time vibration feedback signal and a modeling error compensation signal, superposes the real-time moment control instruction, the real-time vibration feedback signal and the modeling error compensation signal to form a total moment control signal, and sends the total moment control signal to a motor driver to drive a motor to generate torque.
8. A vibration feedback device of a rehabilitation robot is characterized by comprising a robot controller, wherein a training feedback module, an event signal calculation module, a moment and vibration signal superposition module and an impedance control module are integrated in the robot controller;
the training feedback module comprises a muscle strength grade judging module and a vibration feedback calculating module; judging the muscle strength grade of the patient by a muscle strength grade judging module; the vibration feedback calculation module obtains a vibration feedback grade according to the muscle force grade and calculates a vibration signal parameter;
the event signal calculation module receives a vibration event signal from a game and calculates a real-time vibration feedback signal according to the vibration feedback grade and the vibration signal parameters of the current user;
the moment and vibration signal superposition module receives a real-time moment control instruction, a real-time vibration feedback signal and a modeling error compensation signal, and superposes the real-time moment control instruction, the real-time vibration feedback signal and the modeling error compensation signal to form a total moment control signal which is sent to a motor driver.
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| CN109363888A (en) * | 2018-11-14 | 2019-02-22 | 华南理工大学 | A kind of immersion rehabilitation training of upper limbs system |
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| CN101582166A (en) * | 2008-05-12 | 2009-11-18 | 皇家飞利浦电子股份有限公司 | System and method for tracking target |
| US20120021872A1 (en) * | 2008-10-07 | 2012-01-26 | Louis Laurent Saha | Exercise apparatus |
| EP2316543A1 (en) * | 2009-10-27 | 2011-05-04 | Michael Barth | Device for training the musculature of a person |
| CN107397649A (en) * | 2017-08-10 | 2017-11-28 | 燕山大学 | A kind of upper limbs exoskeleton rehabilitation robot control method based on radial base neural net |
| CN109363888A (en) * | 2018-11-14 | 2019-02-22 | 华南理工大学 | A kind of immersion rehabilitation training of upper limbs system |
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