A Training Method for a Sensor-Based Exercise Rehabilitation Robot

摘要

In order to solve the problem that the traditional mirror therapy did not take into account the real-time recovery of the affected limb and the training effect was limited, a training method of sports rehabilitation robot based on sensor was proposed. A mirror active rehabilitation training system was proposed, which was composed of four steps including trajectory acquisition of the limb inertial measurement unit (IMU), fuzzy adaptive proportion differentiation (PD) control in closed-loop variable domain, muscle force estimation of the surface electromyographic signal (sEMG) of the affected limb, and power compensation of the outer ring of the affected limb. The experimental results showed that the sagittal forward flexion angle of the healthy shoulder increased from 0° to 128° at a relatively uniform speed, and the sagittal forward flexion angle of the shoulder was basically consistent with that of the healthy limb after the adaptive power compensation of the affected limb. The calculated trajectory tracking error of the healthy limb controlled by the fuzzy adaptive PD controller in the variable domain was <a:math xmlns:a="http://www.w3.org/1998/Math/MathML" id="M1"> <a:mn>0.21</a:mn> <a:mo>±</a:mo> <a:msup> <a:mrow> <a:mn>1.35</a:mn> </a:mrow> <a:mrow> <a:mo>°</a:mo> </a:mrow> </a:msup> </a:math> . The horizontal backward extension angle of the healthy shoulder joint increased from 0° to 43°, and the following trajectory of the affected limb was roughly consistent with the movement trajectory of the healthy limb. The calculated tracking error of the healthy limb trajectory was <c:math xmlns:c="http://www.w3.org/1998/Math/MathML" id="M2"> <c:mn>0.39</c:mn> <c:mo>±</c:mo> <c:msup> <c:mrow> <c:mn>1.45</c:mn> </c:mrow> <c:mrow> <c:mo>°</c:mo> </c:mrow> </c:msup> </c:math> . It was concluded that the control system could provide the real-time power compensation according to the recovery of the affected limb, give full play to the training initiative of the affected limb, and make the affected limb achieve a better rehabilitation training effect.