Method for controlling a limb motion intention understanding and upper limb rehabilitation training robot based on force sense information and posture information
US10994416B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 23, 2018 |
| Grant date | May 4, 2021 |
| Priority date | — |
| Expiry date | May 23, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45109
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method for controlling a limb motion intention recognizing and rehabilitation training robot based on force sense information includes: acquiring data of a three-dimensional force and a three-dimensional moment by a six-dimensional force sensor held in a hand; calculating forces and moments produced by a palm, a forearm and an upper arm of a human body according to a constructed human arm model to achieve recognition of limb motion intention; fixing the six-dimensional force sensor on a rocker at an end of the three-degree-of-freedom upper limb rehabilitation training robot, acquiring motion intention of an arm of the human body according to the motion intention recognition method, and controlling the rehabilitation training robot to achieve auxiliary active training under a weak active force.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.