Recovery robot system for providing mechanical assistant by using myoelectric signal and the training method thereof

Abstract

The invention discloses a rehabilitation robot system and training method with muscle electrical signal for patient, which is characterized by the following: sensing corresponding muscle electrical signal of disease joint through muscle electrical pole; exporting the sensing signal to control part; counting out additional torque according to constant force moment and muscle electrical signal; providing corresponding additional torque for patient. This invention can be used to rehabilitation exercise of elbow joint, carpal joints, knee joint, ankle joint and shoulder joint, which accelerates recovery of disease joint. 本发明提出一种利用肌电信号提供给患者机械帮助的康复机器人系统。该康复机器人系统通过肌电电极感测患部关节相对应的肌肉的肌电信号，并将所感测到的肌电信号输入到控制部分，由控制部分使用所输入的肌电信号、以及根据需要设置的恒定力矩计算出将要提供给患部关节的附加力矩，并控制附加力矩提供部分提供给患部关节相应的附加力矩。本发明可以应用在肘关节、腕关节、膝关节、踝关节和肩关节的康复训练，能够基于肌电信号提供给患者机械帮助、视觉反馈，帮助患者在改善的运动空间里进行主动康复训练，极大地加快患部关节的恢复。