Tracking control method for circularly switching active and passive training modes of rehabilitation robot

• Main Authors: CHANG HONGBIN, YANG XIANGJIE, GUO QI, YANG SHUO, ZHOU PENG, QU GUANCHEN, SUN PING
• Format: Patent
• Language: Chinese; English
• Published: 19.03.2024
• 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; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GAMES; HUMAN NECESSITIES; HYGIENE; MASSAGE; MEDICAL OR VETERINARY SCIENCE; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY; PHYSICS; REGULATING; SPORTS; TRAINING EQUIPMENT

The invention discloses a tracking control method for circularly switching active and passive training modes of a rehabilitation robot. The method is characterized in that according to different interference environments generated on a man-machine system in the active training process and the passive training process of a convalescent, a switching dynamics model of the rehabilitation robot is constructed, and a random configuration network with switching characteristics is designed to estimate the interference environments; an error tracking system for active and passive training is established, and a man-machine system can realize cyclic switching between active training and passive training under the condition of meeting the shortest average training time; an STM32F411 series single-chip microcomputer is used for providing an output PWM signal to a motor driving module, so that the robot can help a rehabilitative person to carry out active and passive circulation switching training specified by a doctor. Ac