Title:
REHABILITATION ROBOT CONTROL METHOD BASED ON PROBABILISTIC MOVEMENT PRIMITIVES AND HIDDEN SEMI-MARKOV
Document Type and Number:
WIPO Patent Application WO/2022/188238
Kind Code:
A1
Abstract:
A rehabilitation robot control method based on probabilistic movement primitives and hidden semi-Markov, comprising the following steps: (1) recording movement information of an upper limb on a healthy side multiple times, the movement information comprising arm end stiffness and trajectory and other information; (2) generalizing, by means of probabilistic movement primitives, the stiffness recorded in step (1); (3) generalizing, by using a hidden semi-Markov model, the data recorded in step (1) to generate a trajectory; (4) mirroring the generalized trajectory; and (5) performing variable impedance control on the tail end of a rehabilitation robot by means of the mirrored information. According to the control method, by using probabilistic movement primitives and hidden semi-Markov to generate control parameters of the rehabilitation robot, the limb on the heathy side of a patient can be effectively utilized to assist in rehabilitation training; and controlling the rehabilitation robot by simulating the movement of the limb on the heathy side can achieve better rehabilitation training effect and improve the rehabilitation efficiency, thereby greatly reducing the workload of a rehabilitation doctor.
Inventors:
XU BAOGUO (CN)
WANG YIFEI (CN)
DENG LEYING (CN)
WANG XIN (CN)
SONG AIGUO (CN)
WANG YIFEI (CN)
DENG LEYING (CN)
WANG XIN (CN)
SONG AIGUO (CN)
Application Number:
PCT/CN2021/087801
Publication Date:
September 15, 2022
Filing Date:
April 16, 2021
Export Citation:
Assignee:
UNIV SOUTHEAST (CN)
International Classes:
A61H1/02
Domestic Patent References:
| WO2003001507A1 | 2003-01-03 |
Foreign References:
| CN111904795A | 2020-11-10 | |||
| US20200384639A1 | 2020-12-10 | |||
| CN111759672A | 2020-10-13 | |||
| US20160193101A1 | 2016-07-07 | |||
| CN110464349A | 2019-11-19 | |||
| CN111243706A | 2020-06-05 | |||
| CN109394476A | 2019-03-01 |
Other References:
HE JINBAO, LUO ZAI-FEI;LI GUO-JUN;ZHOU SHI-GUAN: "Impedance Control for Lower Limb Rehabilitation Robot Based on Elevation of Impaired Limb", JOURNAL OF NINGBO UNIVERSITY OF TECHNOLOGY, vol. 26, no. 4, 15 December 2014 (2014-12-15), pages 1 - 6, XP055965185, ISSN: 1008-7109, DOI: 10.3969/j.issn.1008-7109.2014.04.001
XU GUOZHENG, SONG AI-GUO,LI HUI-JUN: "Adaptive Impedance Control for Upper-limb Rehabilitation Robot Based on Evolutionary Fuzzy Neural Network", JOURNAL OF SYSTEM SIMULATION, GAI-KAN BIANJIBU , BEIJING, CN, vol. 22, no. 8, 8 August 2010 (2010-08-08), CN , XP055965182, ISSN: 1004-731X, DOI: 10.16182/j.cnki.joss.2010.08.043
XU GUOZHENG, SONG AI-GUO,LI HUI-JUN: "Adaptive Impedance Control for Upper-limb Rehabilitation Robot Based on Evolutionary Fuzzy Neural Network", JOURNAL OF SYSTEM SIMULATION, GAI-KAN BIANJIBU , BEIJING, CN, vol. 22, no. 8, 8 August 2010 (2010-08-08), CN , XP055965182, ISSN: 1004-731X, DOI: 10.16182/j.cnki.joss.2010.08.043
Attorney, Agent or Firm:
NANJING ZHONGLIAN PATENT AGENCY CO., LTD. (CN)
Download PDF: