Self-adaption control method for rehabilitation robot based on expression

• Main Authors: SHEN ZHIHANG, SONG RONG
• Format: Patent
• Language: Chinese; English
• Published: 23.04.2019
• Subjects: AMUSEMENTS; APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING,CLIMBING, OR FENCING; ARTIFICIAL RESPIRATION; BALL GAMES; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY; GAMES; HUMAN NECESSITIES; HYGIENE; MASSAGE; MEDICAL OR VETERINARY SCIENCE; PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY; SPORTS; TRAINING EQUIPMENT

The invention discloses a self-adaption control method for a rehabilitation robot based on expression. Range dividing is conducted on errors between a preset track angle and an actual joint angle so that a user can still acquire the best rehabilitation exercise effect under different circumstances, and the defect that in an existing control process, only errors are taken as expression factors, sothat the expression level of a patient cannot be reflected is overcome. 本发明公开了种基于表现的自适应康复机器人控制方法，通过对预设轨迹角度以及实际关节角度的误差进行范围划分，使得使用者在不同情况下仍然能够获得最佳的康复锻炼效果，解决了现有控制过程中单纯根据误差作为表现因子不能够体现患者的表现水平的弊端。