Research on adaptive assisted training methods of upper-limb rehabilitation robots for post-stroke patients
Objective Targeting the rehabilitation needs of post-stroke patients at different stages after surgery,the aim is to improve their participation and motor performance in the rehabilitation training process.Methods The patient's motion pattern information in the training trajectory is perceived,and combined with the universal feature constraint,the training trajectory is adaptively corrected;The human-machine interaction controller based on dynamic impedance is designed to optimize the rehabilitation robot's interactive force level based on the expected motion task and the patient's actual rehabilitation status.Results Based on the motor function status of post-stroke patients at different rehabilitation stages,the pathological motion trajectory induced by stroke was adaptively corrected,reducing the trajectory tracking error by 25.64%in the robot-assisted rehabilitation training.Conclusion The proposed method can provide dynamic interactive force in rehabilitation training to improve the patient's active participation,which is beneficial to assist patients in reshaping brain function and thus achieving relearning of normal limb movement patterns.
万方数据
维普
