Control method for rehabilitation robot capable of recognizing movement intent based on pressure sensor

• Main Authors: HE CHANG, ZHANG HAO, SUN RONGLEI, HE JIE, LIU KAI
• Format: Patent
• Language: Chinese; English
• Published: 15.05.2020
• Subjects: ARTIFICIAL RESPIRATION; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY; HUMAN NECESSITIES; HYGIENE; MASSAGE; MEDICAL OR VETERINARY SCIENCE; PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY

The invention relates to the technical field of control on exoskeleton robots and particularly relates to a control method for a rehabilitation robot capable of recognizing a movement intent based ona pressure sensor. The method comprises the following steps: S1. providing an under-actuated rehabilitation robot equipped with a movement intent recognizing device, and determining the quantity of driving motors and the quantity of joint driving discs; S2. determining a position relationship of all the joint driving discs; S3. determining a link parameter table of all the joint driving discs; S4.determining a position relationship between the movement intent recognizing device and the driving discs; S5. converting a force vector into resultant vectors of a force and moment of force of each joint; S6. figuring out an axial moment of force of each joint below a shoulder joint; S7. figuring out a projection matrix from a joint space to a driving space; and S8. composing a moment vector of ajoint shaft, and multiplyi