CN115484915A - Weak-connection upper limb rehabilitation training system based on double-arm robot and training method thereof - Google Patents
Weak-connection upper limb rehabilitation training system based on double-arm robot and training method thereof Download PDFInfo
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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
- 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
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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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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- 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
- A61H2201/1657—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
- A61H2201/50—Control means thereof
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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
- 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
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Abstract
The invention discloses a weak connection upper limb rehabilitation training system based on a double-arm robot and a training method thereof, which relate to the field of medical instruments and comprise a double-arm rehabilitation training robot unit, wherein the double-arm rehabilitation training robot unit comprises two multi-degree-of-freedom mechanical arms, a sensing detection module, a motion control module, a communication module and a master control interaction module; the system can generate a targeted rehabilitation scheme and rehabilitation actions according to the conditions of patients, can perform rehabilitation training on most of patients with impaired motion functions of shoulder-elbow joints caused by stroke, and can also perform prevention and health care on shoulder-elbow joint diseases of healthy people.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to a weak connection upper limb rehabilitation training system based on a double-arm robot and a training method thereof.
Background
Impaired motor function of upper limbs is a common sequela of cerebral apoplexy, up to 80% of patients with cerebral apoplexy suffer from upper limb dysfunction within 3 months after stroke, and the life independence and the living quality of a large number of patients are seriously influenced. The rehabilitation process of the upper limb function of the patient generally can not be kept for a long time. However, in addition to the increase in the number of patients due to aging population, the rehabilitation therapists are far from meeting clinical needs for heavy rehabilitation tasks, many rehabilitation tasks fall on clinical medical care personnel, the burden of the medical care personnel is greatly increased, and an automatic upper limb rehabilitation training robot system is needed.
The existing robot system for upper limb rehabilitation training is mainly divided into an exoskeleton type robot system and a terminal connection type robot system in design according to different physical connection modes of a user:
typical Exoskeleton type upper limb rehabilitation training robot systems such as ARMin of Zurich university of Switzerland, CADEN-7 of Washington university of America, multi-Joint Arm Exoskeleton of Germany Tubinggen university, an upper limb Exoskeleton robot rehabilitation training system of Harbin industry university and the like are fixedly connected with a user, can completely constrain the upper limb of the user, well control the motion of each Joint, and can realize the rehabilitation training action of multiple degrees of freedom; however, due to the over-constraint problem, it needs to adjust hardware, adjust and calibrate the system, and design the hardware structure and the controller, and needs to give consideration to safety, comfort and training effectiveness, and thus faces many challenges.
The end-connected upper limb rehabilitation training robot can be divided into two categories of a single arm and two arms, and a typical single-arm end-connected upper limb rehabilitation training robot system such as MIT-MANUS of American Massachusetts institute of technology, GENTLE/s of the university of Redin, england has less constraint on a user, is more natural, is convenient to install and use, and has advantages in safety and comfort; however, the independent movement of each joint of the body is not convenient to be directly controlled, the compensation phenomenon is caused due to the existence of the redundant freedom degree of the human body, the position state of each joint of the upper limb is usually uncertain, and the required rehabilitation training movement can not be obtained in a sufficient amount by some freedom degrees of the upper limb of the user; typical double-arm end connection type upper limb rehabilitation training robot systems such as iPAM of Ritz university in England and an upper limb rehabilitation robot researched by university of southern China, wherein the tail ends of two arms of the robot are fixedly connected with a user, so that the defect that the degree of freedom of the upper limb of the user cannot be completely controlled by single-arm end connection is overcome, but the problem of over-constraint is still introduced.
The above solutions either have over-constraint problems or do not allow the user to get sufficient rehabilitation training.
Therefore, the weak connection upper limb rehabilitation training system based on the double-arm robot is designed, so that the degrees of freedom of the upper limbs of a user can be fully rehabilitated, the problem of over-constraint does not exist, the design difficulty of the system can be reduced, the measurement requirement during use is relaxed, and the system obviously has positive practical significance.
Disclosure of Invention
The invention aims to provide a weak connection upper limb rehabilitation training system based on a double-arm robot, so as to solve the defects caused in the prior art.
A weakly-connected upper limb rehabilitation training system based on a double-arm robot comprises a double-arm rehabilitation training robot unit, wherein the double-arm rehabilitation training robot unit comprises two multi-degree-of-freedom mechanical arms, a sensing detection module, a motion control module, a communication module and a master control interaction module;
one of the two multi-degree-of-freedom mechanical arms is an active arm which is fixedly connected with the tail end of the affected limb of the patient and used for driving the patient to complete rehabilitation training actions; the other arm is an auxiliary arm which is not fixedly connected with the user and is in a weak connection mode, the contact position with the user is not fixed, and the contact position with the user can be changed in the rehabilitation training process and is used for providing auxiliary support and restraint in due time;
the sensing detection module is positioned on the multi-degree-of-freedom mechanical arm and used for acquiring some motion parameters of the multi-degree-of-freedom mechanical arm, and comprises an encoder, a torque sensor and a multi-dimensional force sensor;
the motion control module is arranged on the multi-degree-of-freedom mechanical arm and used for executing the motion instruction of the main control interaction module, simultaneously carrying out primary processing on data obtained by the sensing detection module and then carrying out data packaging.
The communication module is arranged on the multi-degree-of-freedom mechanical arm and used for sending the data packet from the motion control module to the main control interaction module and sending the motion instruction from the main control interaction module to the motion control module.
The main control interaction module is used for man-machine interaction of a patient during training and comprises a PC, a sound device and a transceiver.
Preferably, the encoder is positioned at each joint of the multi-degree-of-freedom mechanical arm and used for detecting angular displacement of each degree of freedom of the mechanical arm;
the torque sensor is used for detecting the torque of each joint of the multi-degree-of-freedom mechanical arm;
the multi-dimensional force sensor is positioned at the tail end of the multi-degree-of-freedom mechanical arm and used for detecting the interaction force between a patient and the robot.
Preferably, the PC is used for further processing the data packet of the motion control module and sending a control command in real time according to a rehabilitation action requirement, and the PC is further capable of registering patient information and carrying a rehabilitation action plan and generation unit;
the sound box is used for sending out action prompt tones in the detection and rehabilitation training processes, and performing auxiliary counting and safety range reminding;
the transceiver is used for receiving and transmitting data packets of the communication module.
Preferably, the rehabilitation action planning and generating unit comprises a patient data acquisition module, a rehabilitation action planning module and a rehabilitation action generating module;
the patient data acquisition module is used for acquiring a rehabilitation action plan and generating required patient data;
the rehabilitation action planning module is used for planning a targeted rehabilitation scheme and rehabilitation training actions according to joints required by a patient for rehabilitation training;
the rehabilitation action generation module is used for generating a robot arm reference motion track corresponding to rehabilitation actions according to the human body limb model, the patient data and the rehabilitation actions.
A training method of the weak connection upper limb rehabilitation training system based on the double-arm robot comprises the following steps:
s1, acquiring user information and generating rehabilitation actions, acquiring user limb parameters, joints needing rehabilitation training and required training degrees through a patient data acquisition module, and then acquiring a rehabilitation scheme and a reference action track of a robot arm corresponding to the rehabilitation actions through a rehabilitation action planning module and a rehabilitation action generation module;
s2, connecting the patient with a rehabilitation training system, and physically connecting the patient with the tail end of the multi-degree-of-freedom mechanical arm;
and S3, performing upper limb rehabilitation training, wherein the patient is trained according to targeted rehabilitation training actions through the multi-degree-of-freedom mechanical arm, and the sound of the main control interaction module assists in counting aside and reminds the patient to train within a recommended safety range.
Preferably, in the step S2, the active arm is fixedly connected with the patient, and the auxiliary arm is not fixed with the patient, and only moves to a corresponding position to contact with the patient when needed, so that the connection is weak.
Preferably, in the step S3, the master control interaction module processes the sensor data transmitted by the communication module and the robot arm reference motion track generated by the rehabilitation action plan and generation unit, comprehensively generates a control command, and transmits the control command to the motion control module for execution through the communication module;
safety ranges and the number of recommended action repeat groups and the number of times of each group are also designed.
The invention has the advantages that: the invention adopts a mode of weakly connecting the two-arm robot and the auxiliary arm, has no over-constraint problem in principle, can ensure that the shoulder, elbow and joint of a patient can obtain sufficient and effective rehabilitation training, can avoid the over-constraint problem, and reduces the design difficulty and relaxes the use requirement.
Drawings
Fig. 1 is a diagram showing a unit configuration of a two-arm rehabilitation training robot of a weakly-connected upper limb rehabilitation training system based on a two-arm robot.
Fig. 2 is a diagram of a rehabilitation action plan and generation unit composition of a weak-connection upper limb rehabilitation training system based on a two-arm robot.
Fig. 3 is a flowchart of a rehabilitation training method of the weak-connection upper limb rehabilitation training system based on a two-arm robot.
Fig. 4 is a diagram of a training object of the dual-arm rehabilitation training robot in the preferred embodiment.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1, the unit of the dual-arm rehabilitation training robot of the weak-connection upper limb rehabilitation training system based on the dual-arm robot includes: the system comprises two multi-degree-of-freedom mechanical arms, a sensing detection module, a motion control module, a communication module and a master control interaction module; one of the two multi-degree-of-freedom mechanical arms is an active arm and is fixedly connected with the tail end of the affected limb of the patient to drive the patient to finish rehabilitation training actions, and the other arm is an auxiliary arm which is not fixedly connected with the user and is in a weak connection mode, the contact position of the auxiliary arm with the user is not fixed, and the contact position of the auxiliary arm with the user can be changed in the rehabilitation training process to provide auxiliary support and restraint in due time; the sensing detection module consists of an encoder, a torque sensor and a multi-dimensional force sensor, wherein the encoder detects angular displacement of each degree of freedom of the mechanical arm, the torque sensor detects the torque of each joint of the mechanical arm, and the multi-dimensional force sensor detects the interaction force between a patient and the robot; the motion control module is used for executing a motion instruction of the main control interaction module, simultaneously carrying out primary processing on data obtained by the sensing detection module, and then carrying out data packaging; the communication module is arranged on the multi-degree-of-freedom mechanical arm and used for sending a data packet from the motion control module to the main control interaction module and sending a motion instruction from the main control interaction module to the motion control module; the master control interaction module comprises a PC (personal computer), a sound and a transceiver, the PC is used for further processing a data packet of the motion control module and sending a control command in real time according to a rehabilitation action requirement, the patient information is registered and a rehabilitation action plan and generation unit is carried, the sound is used for sending an action prompt tone in the detection and rehabilitation training process and carrying out auxiliary counting and safety range prompting, and the transceiver is used for receiving and sending the data packet of the communication module.
As shown in fig. 2, the rehabilitation action planning and generating unit of the weakly-connected upper limb rehabilitation training system based on the two-arm robot comprises: the device comprises a patient data acquisition module, a rehabilitation action planning module and a rehabilitation action generation module. The patient data acquisition module is used for acquiring a rehabilitation action plan and generating required patient data. The rehabilitation action planning module is used for planning a targeted rehabilitation scheme and rehabilitation training actions according to the joints of the patient needing rehabilitation training. The rehabilitation action generation module is used for generating a robot arm reference motion track corresponding to rehabilitation actions according to the human body limb model, the patient data and the rehabilitation actions.
As shown in fig. 3, a rehabilitation training method of a weak connection type upper limb rehabilitation training system based on a two-arm robot includes the following steps:
1) Acquiring user information and generating rehabilitation actions, and acquiring user limb parameters, joints needing rehabilitation training and required training degrees through a patient data acquisition module; and then, a rehabilitation scheme and a reference motion track of the robot arm corresponding to the rehabilitation motion are obtained through a rehabilitation motion planning module and a rehabilitation motion generation module.
2) The patient is connected with the rehabilitation training system and physically connected with the tail end of the multi-degree-of-freedom mechanical arm.
3) And in the upper limb rehabilitation training, a patient trains according to the targeted rehabilitation training action through the multi-degree-of-freedom mechanical arm, the sound of the master control interaction module assists in counting aside, and the patient is reminded to train within a recommended safety range.
And after the training is finished, recording the use feedback of the patient, and optimizing the rehabilitation training scheme according to the feedback.
The technical scheme of the invention can not only ensure that each degree of freedom of the upper limbs of the user can be fully rehabilitated, but also avoid the over-constraint problem.
In the invention, the structural form of the double-arm rehabilitation training robot unit is not limited, as long as the action traction of the upper limbs of the user is realized without a fixed connection form. The main body of the robot is two multi-degree-of-freedom mechanical arms, and a sensing detection module, a motion control module, a communication module and a master control interaction module are arranged in the robot. To facilitate understanding by those skilled in the art, the following provides a preferred embodiment of a dual arm rehabilitation training robotic unit implementation. However, it should be noted that this embodiment is only used for the purpose of assisting the description, and is not the only implementation form of the dual-arm rehabilitation training robot unit of the present invention.
As shown in fig. 4, in the preferred embodiment, the two-arm rehabilitation training robot unit body is two multi-degree-of-freedom mechanical arms, including a driving arm 1 and an auxiliary arm 2. Initiative arm 1 and the terminal fixed connection of user's upper limbs for drive the patient and accomplish the rehabilitation training action, supplementary arm 2 not with user fixed connection, for weak connected mode, with user's contact position indefinite, and with user's contact position can change in the rehabilitation training process, be used for in good time providing auxiliary stay and restraint.
For the sake of understanding, the following describes in detail a method for using the two-arm rehabilitation training robot unit, which includes the following steps:
1) Acquiring user information and generating rehabilitation actions, and acquiring user limb parameters, joints needing rehabilitation training and required training degrees through a patient data acquisition module; and then, a rehabilitation scheme, reference action tracks of the active arm and the auxiliary arm of the robot corresponding to the rehabilitation action, a planned contact position of the auxiliary arm of the robot and the patient and a displacement scheme thereof are obtained through a rehabilitation action planning module and a rehabilitation action generating module.
2) The user is connected with the rehabilitation training system, sits at a proper position and is physically connected with the tail end of the active arm of the double-arm rehabilitation training robot through the hand; and measuring the relative position of the user's hand and shoulder to determine the starting position.
3) And in the upper limb rehabilitation training, the patient is dragged to train according to the targeted rehabilitation training action through the multi-degree-of-freedom mechanical arm, the sound of the main control interaction module assists in counting aside, and the patient is reminded to train within a recommended safety range.
It will be appreciated by those skilled in the art that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or are equivalent to the scope of the invention are intended to be embraced therein.
Claims (7)
1. A weakly-connected upper limb rehabilitation training system based on a double-arm robot is characterized by comprising a double-arm rehabilitation training robot unit, wherein the double-arm rehabilitation training robot unit comprises two multi-degree-of-freedom mechanical arms, a sensing detection module, a motion control module, a communication module and a master control interaction module;
one of the two multi-degree-of-freedom mechanical arms is an active arm, is fixedly connected with the tail end of the affected limb of the patient and is used for driving the patient to complete rehabilitation training actions; the other arm is an auxiliary arm which is not fixedly connected with the user and is in a weak connection mode, the contact position with the user is not fixed, and the contact position with the user can be changed in the rehabilitation training process and is used for providing auxiliary support and restraint in time;
the sensing detection module is positioned on the multi-degree-of-freedom mechanical arm and used for acquiring some motion parameters of the multi-degree-of-freedom mechanical arm, and comprises an encoder, a torque sensor and a multi-dimensional force sensor;
the motion control module is arranged on the multi-degree-of-freedom mechanical arm and used for executing the motion instruction of the main control interaction module, simultaneously performing primary processing on data obtained by the sensing detection module, and then packaging the data.
The communication module is arranged on the multi-degree-of-freedom mechanical arm and used for sending the data packet from the motion control module to the main control interaction module and sending the motion instruction from the main control interaction module to the motion control module.
The main control interaction module is used for man-machine interaction of a patient during training and comprises a PC, a sound device and a transceiver.
2. The weak-connection upper limb rehabilitation training system based on the double-arm robot as claimed in claim 1, wherein: the encoder is positioned at each joint of the multi-degree-of-freedom mechanical arm and used for detecting angular displacement of each degree of freedom of the mechanical arm;
the torque sensor is used for detecting the torque of each joint of the mechanical arm with multiple degrees of freedom;
the multi-dimensional force sensor is positioned at the tail end of the multi-degree-of-freedom mechanical arm and used for detecting the interaction force between a patient and the robot.
3. The weak connection upper limb rehabilitation training system based on the double-arm robot as claimed in claim 1, characterized in that: the PC is used for further processing the data packet of the motion control module and sending a control command in real time according to the rehabilitation action requirement, and the PC can also register patient information and carry a rehabilitation action plan and generation unit;
the sound box is used for sending out action prompt tones in the detection and rehabilitation training processes, and performing auxiliary counting and safety range reminding;
the transceiver is used for receiving and transmitting data packets of the communication module.
4. The weak connection upper limb rehabilitation training system based on the double-arm robot as claimed in claim 1, characterized in that: the rehabilitation action planning and generating unit comprises a patient data acquisition module, a rehabilitation action planning module and a rehabilitation action generating module;
the patient data acquisition module is used for acquiring a rehabilitation action plan and generating required patient data;
the rehabilitation action planning module is used for planning a targeted rehabilitation scheme and rehabilitation training actions according to joints required by a patient for rehabilitation training;
the rehabilitation action generation module is used for generating a robot arm reference motion track corresponding to the rehabilitation action according to the human body limb model, the patient data and the rehabilitation action.
5. A training method of the weak link upper limb rehabilitation training system based on the dual-arm robot as claimed in any one of claims 1 to 4, characterized by comprising the steps of:
s1, acquiring user information and generating rehabilitation actions, acquiring user limb parameters, joints needing rehabilitation training and required training degrees through a patient data acquisition module, and then acquiring a rehabilitation scheme and a reference action track of a robot arm corresponding to rehabilitation actions through a rehabilitation action planning module and a rehabilitation action generation module;
s2, connecting a patient with a rehabilitation training system, and physically connecting the patient with the tail end of the multi-degree-of-freedom mechanical arm;
and S3, performing upper limb rehabilitation training, wherein the patient is trained according to the targeted rehabilitation training action through the multi-degree-of-freedom mechanical arm, and the sound of the main control interaction module is used for assisting in counting aside and reminding the patient to train within a recommended safety range.
6. The weak-connection upper limb rehabilitation training system based on the double-arm robot as claimed in claim 1, wherein: in the step S2, the active arm is fixedly connected with the patient, the auxiliary arm and the patient do not need to be fixed, and only move to a corresponding position to be in contact with the patient when needed, and the connection is weak.
7. The weak-connection upper limb rehabilitation training system based on the double-arm robot as claimed in claim 1, wherein: in the step S3, the master control interaction module processes the sensor data transmitted by the communication module and the robot arm reference motion track generated by the rehabilitation action plan and generation unit, comprehensively generates a control instruction, and transmits the control instruction to the motion control module for execution;
safety ranges and recommended action repeat group numbers and times per group are also designed.
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| PCT/CN2021/099371 WO2022257073A1 (en) | 2021-06-10 | 2021-06-10 | Dual-arm robot-based weakly connected upper limb rehabilitation training system and training method therefor |
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