Title:
METHOD FOR OPERATING REHABILITATION ROBOT, AND REHABILITATION ROBOT AND READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/249315
Kind Code:
A1
Abstract:
A method for operating a rehabilitation robot, and a rehabilitation robot and a readable storage medium. The method comprises: acquiring a first external force applied to a rehabilitation robot (S1); acquiring a feedback signal of a servo motor of the rehabilitation robot (S2); according to the feedback signal, and on the basis of a kinematics and dynamics model of the rehabilitation robot, performing calculation to obtain the magnitude and direction of the first external force applied to the rehabilitation robot (S3); according to the magnitude and direction of the first external force, compensating for the self weight and resistance of the rehabilitation robot, then driving the rehabilitation robot to move along with the first external force, so as to obtain a movement trajectory parameter of the rehabilitation robot, and obtaining a basic motion boundary parameter of a rehabilitation object (S4); and the rehabilitation robot moving repeatedly according to the trajectory parameter, so that the rehabilitation robot drives the rehabilitation object to exercise repeatedly (S5), wherein the basic motion boundary parameter is gradually increased according to a preset condition, so as to form a transition motion boundary parameter, and the transition motion boundary parameter compensates for the trajectory parameter.
Inventors:
SONG TAO (CN)
GAO ZHIJUN (CN)
LI ZHIQING (CN)
TIAN TIAN (CN)
GAO ZHIJUN (CN)
LI ZHIQING (CN)
TIAN TIAN (CN)
Application Number:
PCT/CN2021/098475
Publication Date:
December 16, 2021
Filing Date:
June 04, 2021
Export Citation:
Assignee:
SHENTAI MEDICAL TECH SHANGHAI CO LTD (CN)
International Classes:
A61H1/02
Domestic Patent References:
| WO2006064657A1 | 2006-06-22 |
Foreign References:
| CN111419644A | 2020-07-17 | |||
| CN104706499A | 2015-06-17 | |||
| CN105919774A | 2016-09-07 | |||
| CN109172257A | 2019-01-11 | |||
| CN1956692A | 2007-05-02 | |||
| JP2012148056A | 2012-08-09 | |||
| JPH08141961A | 1996-06-04 | |||
| US20110282253A1 | 2011-11-17 |
Attorney, Agent or Firm:
SHANGHAI SAVVY IP AGENCY CO., LTD. (CN)
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