CN116637002A - Correction method and device for rehabilitation position of upper limb rehabilitation robot - Google Patents

Abstract

The invention provides a method and device for correcting the rehabilitation position of an upper limb rehabilitation robot, and relates to the technical field of rehabilitation robot control, including: acquiring a camera to collect the movement trajectory of the patient's healthy upper limb, and constructing a three-dimensional motion space for the healthy upper limb; The three-dimensional movement space and movement trajectory of the upper limb are mirrored to obtain the initial three-dimensional movement space of the affected upper limb and the predicted movement trajectory of the affected upper limb, and the initial three-dimensional movement space is corrected based on the data of the affected upper limb to obtain a safe movement space; The predicted motion trajectory of the affected upper limb is sent to the upper limb rehabilitation robot, and the adjusted upper limb rehabilitation robot drives the affected upper limb to move based on the predicted trajectory of the affected upper limb and the PID algorithm; based on the first position information and the second position information, the predicted The movement trajectory and the position information of the upper limb of the affected side at the next moment are corrected, which solves the technical problem of low correction accuracy of the rehabilitation position correction method of the upper limb rehabilitation robot.

Description

Method and device for correcting rehabilitation position of an upper limb rehabilitation robot

technical field

The invention relates to the technical field of upper limb rehabilitation robot control, in particular to a correction method and device for a rehabilitation position of an upper limb rehabilitation robot.

Background technique

Existing upper limb rehabilitation robot products include exoskeleton and single-end traction form. Here we mainly compare the end-traction form. Many of them use visual control to capture the patient's movements. The Kalman filter trajectory at the current moment, the BP neural network trajectory, and the midpoint of the two nearest points on the particle filter trajectory are used to calculate the Kalman filter at the next moment. Filtering prediction results and BP neural network prediction results; through the optimization of time and space two dimensions, that is, KF+BP and PF+KF+BP methods to realize the positioning optimization of the trajectory; on the other hand, in terms of equipment control, by calculating the equipment running trajectory The error, and the difference between the actual running angle and the expected running angle of each step is added together to calculate and finally get the error for correction.

However, the correction accuracy of the correction method for the rehabilitation position of the above-mentioned upper limb rehabilitation robot is relatively low.

For the above problems, no effective solution has been proposed yet.

Contents of the invention

In view of this, the purpose of the present invention is to provide a method and device for correcting the rehabilitation position of the upper limb rehabilitation robot, so as to alleviate the low correction accuracy of the correction method for the rehabilitation position of the upper limb rehabilitation robot.

In the first aspect, an embodiment of the present invention provides a method for correcting the rehabilitation position of an upper limb rehabilitation robot, including: when the patient is in a fixed sitting posture, acquiring a camera to collect the movement trajectory of the patient's healthy upper limb, and based on the movement trajectory, Constructing the three-dimensional motion space of the uninjured upper limb; mirroring the three-dimensional motion space of the unaffected upper limb and the motion trajectory to obtain the initial three-dimensional motion space of the affected upper limb and the predicted motion trajectory of the affected upper limb, and based on the patient's Correct the initial three-dimensional motion space to obtain the safe motion space of the affected upper limb of the patient; send the predicted motion track of the affected upper limb to the upper limb rehabilitation robot, so that the upper limb rehabilitation robot can control the motor Adjust the position loop, and control the adjusted upper limb rehabilitation robot to drive the affected upper limb to move based on the predicted motion trajectory and PID algorithm of the affected upper limb; after obtaining the first position information, determine the The second position information, wherein, the first position information is the position information of the affected upper limb in the safe movement space of the affected upper limb at the current moment, and the second position information is the position information of the affected upper limb in the safe movement space of the affected side The predicted movement trajectory of the upper limb on the affected side corresponds to the position information of the first position information; based on the first position information and the second position information, the predicted movement trajectory and the affected side at the next moment at the current moment The position information of the upper limb in the safe movement space of the affected upper limb is corrected.

Further, the upper limb data includes: arm length and shoulder height.

Further, the initial three-dimensional motion space is corrected based on the data of the affected upper limb of the patient to obtain the safe motion space of the affected upper limb of the patient, including: controlling the upper limb rehabilitation robot to straighten the affected upper limb, and determining The upper limb data of the affected side, and based on the upper limb data of the affected side, construct the limit motion space of the upper limb of the affected side; control the upper limb rehabilitation robot to drive the upper limb of the affected side to perform force feedback movement, and construct the affected side The actual movement space of the upper limbs; if the actual movement space is smaller than the limit movement space, the initial three-dimensional movement space is corrected based on the actual movement space and the dichotomy to obtain a corrected initial three-dimensional movement space; The corrected initial three-dimensional motion space is integrated with the actual motion space to obtain the safe motion space of the affected upper limb.

Further, based on the first position information and the second position information, the predicted movement trajectory and the position information of the affected upper limb in the safe movement space of the affected upper limb at the next moment at the current moment are corrected, Including: determining the position deviation between the first position information and the second position information; based on the position deviation, correcting the predicted movement trajectory of the affected upper limb, and correcting the predicted movement trajectory of the affected upper limb ; Determine the trajectory deviation value based on the corrected predicted trajectory of the affected upper limb and the actual trajectory of the affected upper limb; The position information in the safe movement space of the lateral upper limbs is corrected.

In the second aspect, the embodiment of the present invention also provides a correction device for the rehabilitation position of the upper limb rehabilitation robot, including: a construction unit, which is used to acquire the movement track of the healthy side of the patient's upper limb by the camera when the patient is in a fixed sitting position, and Based on the motion trajectory, construct the three-dimensional motion space of the upper limb of the healthy side; the mirroring unit is used to mirror the three-dimensional motion space of the upper limb of the healthy side and the motion trajectory to obtain the initial three-dimensional motion space of the upper limb of the affected side and the affected side The predicted movement trajectory of the upper limb, and based on the patient's affected upper limb data, the initial three-dimensional movement space is corrected to obtain the patient's affected upper limb safe movement space; the control unit is used to predict the affected upper limb movement The trajectory is sent to the upper limb rehabilitation robot, so that the upper limb rehabilitation robot adjusts the motor position loop, and controls the adjusted upper limb rehabilitation robot to drive the affected upper limb to move based on the predicted trajectory of the affected upper limb and the PID algorithm; the determination unit , for determining the second position information based on the first position information after the first position information is acquired, wherein the first position information is the upper limb on the affected side in the safe exercise space of the upper limb on the affected side at the current moment position information, the second position information is the position information corresponding to the predicted movement trajectory of the affected upper limb in the safe exercise space of the affected upper limb and the first position information; the correction unit is configured to be based on the first position information The first position information and the second position information are used to correct the predicted movement trajectory and the position information of the affected upper limb in the safe movement space of the affected upper limb at the next moment at the current moment.

Further, the upper limb data includes: arm length and shoulder height.

Further, the mirroring unit is configured to: control the upper limb rehabilitation robot to straighten the upper limb of the affected side, determine the data of the upper limb of the affected side, and construct an extreme exercise space of the upper limb of the affected side based on the data of the upper limb of the affected side; Control the upper limb rehabilitation robot to drive the affected upper limb to perform force feedback movement, and construct the actual movement space of the affected upper limb based on the force feedback movement process; if the actual movement space is smaller than the limit movement space, then based on the actual movement The space and dichotomy are used to correct the initial three-dimensional motion space to obtain the corrected initial three-dimensional motion space; to integrate the corrected initial three-dimensional motion space and the actual motion space to obtain the safe motion of the affected upper limb space.

Further, the correction unit is configured to: determine a position deviation between the first position information and the second position information; based on the position deviation, correct the predicted movement trajectory of the upper limb on the affected side, correct The predicted trajectory of the upper limb on the affected side; based on the corrected predicted trajectory of the upper limb on the affected side and the actual trajectory of the upper limb on the affected side, the trajectory deviation value is determined; based on the trajectory deviation value, the lower limb at the current moment The position information of the upper limb of the affected side in the safe movement space of the upper limb of the affected side is corrected at a moment.

In a third aspect, an embodiment of the present invention also provides an electronic device, including a memory and a processor, the memory is used to store a program that supports the processor to execute the method described in the first aspect above, and the processor is configured to for executing programs stored in the memory.

In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored.

In the embodiment of the present invention, when the patient is in a fixed state of sitting, the camera is used to collect the movement trajectory of the patient's healthy upper limb, and based on the movement trajectory, the three-dimensional movement space of the healthy upper limb is constructed; Space and the motion trajectory are mirrored to obtain the initial three-dimensional motion space of the affected upper limb of the patient and the predicted motion trajectory of the affected upper limb, and based on the data of the affected upper limb of the patient, the initial three-dimensional motion space is corrected to obtain Safe movement space of the affected upper limb of the patient; sending the predicted motion trajectory of the affected upper limb to the upper limb rehabilitation robot, so that the upper limb rehabilitation robot can adjust the motor position loop, and control the adjusted upper limb rehabilitation robot based on the The predicted movement trajectory of the affected upper limb and the PID algorithm drive the affected upper limb to move; after the first position information is obtained, the second position information is determined based on the first position information, wherein the first position information is the current moment The position information of the affected upper limb in the safe movement space of the affected upper limb, the second position information is that the predicted movement track of the affected upper limb in the safe movement space of the affected upper limb corresponds to the first position information Position information; based on the first position information and the second position information, correct the predicted motion trajectory and the position information of the affected upper limb in the safe movement space of the affected upper limb at the next moment at the current moment , to achieve the purpose of real-time high-precision correction of the rehabilitation position of the upper limb rehabilitation robot, and then solve the technical problem of low correction accuracy of the correction method of the rehabilitation position of the upper limb rehabilitation robot, thus realizing a better upper limb rehabilitation process for patients technical effect.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

In order to make the above-mentioned objects, features and advantages of the present invention more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative effort.

FIG. 1 is a flowchart of a correction method for a rehabilitation position of an upper limb rehabilitation robot provided by an embodiment of the present invention;

2 is a schematic diagram of a correction device for a rehabilitation position of an upper limb rehabilitation robot provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of an electronic device provided by an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Embodiment one:

According to an embodiment of the present invention, an embodiment of a method for correcting the rehabilitation position of an upper limb rehabilitation robot is provided. It should be noted that the steps shown in the flow chart of the accompanying drawings can be implemented in a computer system such as a set of computer-executable instructions and, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

Fig. 1 is a flowchart of a method for correcting a rehabilitation position of an upper limb rehabilitation robot according to an embodiment of the present invention. As shown in Fig. 1, the method includes the following steps:

Step S102, when the patient is in a fixed sitting posture, acquire a camera to collect the movement trajectory of the patient's healthy upper limb, and based on the movement trajectory, construct a three-dimensional movement space of the healthy upper limb;

It should be noted that the fixed state of the sitting posture is restrained by two points on the upper side of the thigh and the inner side of the calf through the leg shield, so that the patient will not slide in the sitting posture, and the specific structure will not be mentioned in this case. The patient's trunk is restrained through the binding above the shoulders to prevent the upper body from twisting, so as to restrain the patient's sitting posture.

Fixed sitting posture is the precondition for rehabilitation position correction. When the patient's upper limbs, including the arms, are under unconstrained conditions, their movement paths are randomly variable, and their changing acceleration far exceeds the time of dynamic capture and data processing. There is a certain calculation Therefore, in order to improve the position accuracy of the terminal rehabilitation upper limbs, it is necessary to restrict the patient's torso. The movement of the two legs in the front and rear direction is restricted by the leg shield, followed by the torso, and the anterior torso of the torso is restrained by the fixing parts on the back. Tilt the heel and lean back, give the calculation platform a stable object, determine the patient’s healthy upper limb data through the movement trajectory, and construct a three-dimensional movement space for the healthy upper limb based on the healthy upper limb data. The healthy upper limb data include: the patient’s healthy arm The arm length and the shoulder height of the healthy side of the patient, the above-mentioned points include the wrist joint, elbow joint, shoulder joint, trunk, and thigh.

Step S104, mirroring the three-dimensional motion space of the unaffected upper limb and the motion trajectory to obtain the initial three-dimensional motion space of the affected upper limb of the patient and the predicted motion trajectory of the affected upper limb, and based on the data of the affected upper limb of the patient Correcting the initial three-dimensional motion space to obtain a safe motion space for the affected upper limb of the patient;

Step S106, sending the predicted trajectory of the affected upper limb to the upper limb rehabilitation robot, so that the upper limb rehabilitation robot can adjust the motor position loop, and control the adjusted upper limb rehabilitation robot based on the predicted trajectory of the affected upper limb and The PID algorithm drives the movement of the affected upper limb;

Step S108, after obtaining the first position information, determine the second position information based on the first position information, wherein the first position information is the upper limb on the affected side in the safe movement space of the upper limb on the affected side at the current moment position information, the second position information is the position information corresponding to the predicted movement trajectory of the affected upper limb in the safe exercise space of the affected upper limb and the first position information;

Step S110, based on the first position information and the second position information, correct the predicted movement trajectory and the position information of the affected upper limb in the safe movement space of the affected upper limb at the next moment at the current moment.

In the embodiment of the present invention, when the patient is in a fixed state of sitting, the camera is used to collect the movement trajectory of the patient's healthy upper limb, and based on the movement trajectory, the three-dimensional movement space of the healthy upper limb is constructed; Space and the motion trajectory are mirrored to obtain the initial three-dimensional motion space of the affected upper limb of the patient and the predicted motion trajectory of the affected upper limb, and based on the data of the affected upper limb of the patient, the initial three-dimensional motion space is corrected to obtain Safe movement space of the affected upper limb of the patient; sending the predicted motion trajectory of the affected upper limb to the upper limb rehabilitation robot, so that the upper limb rehabilitation robot can adjust the motor position loop, and control the adjusted upper limb rehabilitation robot based on the The predicted movement trajectory of the affected upper limb and the PID algorithm drive the affected upper limb to move; after the first position information is obtained, the second position information is determined based on the first position information, wherein the first position information is the current moment The position information of the affected upper limb in the safe movement space of the affected upper limb, the second position information is that the predicted movement track of the affected upper limb in the safe movement space of the affected upper limb corresponds to the first position information Position information; based on the first position information and the second position information, correct the predicted motion trajectory and the position information of the affected upper limb in the safe movement space of the affected upper limb at the next moment at the current moment , to achieve the purpose of real-time high-precision correction of the rehabilitation position of the upper limb rehabilitation robot, and then solve the technical problem of low correction accuracy of the correction method of the rehabilitation position of the upper limb rehabilitation robot, thus realizing a better upper limb rehabilitation process for patients technical effect.

Step S102 will be described in detail below.

Start the camera and pre-set the patients that need to be collected to avoid object collection errors. The posture of the patient is used to determine whether to start the collection, and the position of the sitting patient is collected to obtain the corresponding data. The patient's arm length and shoulder height can be calculated from the data. At the same time, by collecting point data and arm length, the XYZ position of the healthy side in space can be calculated and a digital-level safe space (ie, the three-dimensional movement space of the healthy side's upper limb) can be generated.

In the embodiment of the present invention, step S104 includes the following steps:

Sending the data of the healthy upper limb to the upper limb rehabilitation robot, so that the upper limb rehabilitation robot determines the initial safe movement space of the affected upper limb of the patient based on the data of the healthy upper limb;

Controlling the upper limb rehabilitation robot to straighten the affected upper limb, determining the data of the affected upper limb, and constructing an extreme exercise space for the affected upper limb based on the affected upper limb data;

Control the upper limb rehabilitation robot to drive the affected upper limb to perform force feedback movement, and construct the actual movement space of the affected upper limb based on the force feedback movement process;

If the actual motion space is smaller than the limit motion space, correcting the initial three-dimensional motion space based on the actual motion space and a dichotomy to obtain a corrected initial three-dimensional motion space;

The corrected initial three-dimensional motion space and the actual motion space are integrated to obtain the safe motion space of the affected upper limb.

In the embodiment of the present invention, the upper limb rehabilitation robot is powered on, the motor of the upper limb rehabilitation robot is enabled, and related parameters are configured, and then the main control of the upper limb rehabilitation robot receives the data of the upper limb of the healthy side. Determine the limit value of the safe space at a physical level to obtain the maximum safe space (ie, extreme sports space). In this space, the arm length of the patient's affected side is measured, that is, the arm length is calculated by controlling the motor drive of the upper limb rehabilitation robot in force feedback mode so that the patient's shoulder and hand are straightened. After the arm length is calculated, the motion data is returned to the main board of the upper limb rehabilitation robot to calculate the safe space of the upper limb rehabilitation robot (that is, the actual movement space). And after the arm data is measured, it will be sent back to the host computer to prepare for data verification and adjust the visual measurement safety space.

Next, the safe movement space in the middle of the patient's upper limb on the affected side and the mirror image of the three-dimensional movement space of the upper limb on the healthy side are fused and calculated to obtain the safe movement space of the patient's upper limb on the affected side, and then the safe movement space of the upper limb on the affected side is sent to the upper limb Rehabilitation robot, and then finely adjust the motor position ring of the upper limb rehabilitation robot to obtain a safe movement space for the upper limb on the affected side.

In the embodiment of the present invention, step S110 includes the following steps:

determining a position deviation between the first position information and the second position information;

Based on the position deviation, the predicted movement trajectory of the affected upper limb is corrected, and the corrected predicted movement trajectory of the affected upper limb;

Determine the trajectory deviation value based on the corrected predicted motion trajectory of the affected upper limb and the actual trajectory of the affected upper limb;

Based on the trajectory deviation value, the position information of the upper limb on the affected side in the safe movement space of the upper limb on the affected side at the next moment at the current moment is corrected.

The execution process of the above method will be described in detail below.

The camera captures the arm length and shoulder height of the healthy side of the patient, and constructs a safe activity space for the healthy side of the patient based on the trajectory data collected during forward bending, backward extension, side expansion, and adduction.

Based on the arm isometric basis, the safe movement space of the healthy side of the patient is mirrored to obtain the safe movement space of the affected side;

Then, the affected side of the patient straightens the arm under the control of the rehabilitation robot. At this time, the arm length of the patient’s affected side is calculated through the angle value and coordinates between the motors of the rehabilitation robot, and the shoulder joint of the affected side is the center, and the arm length is the radius , draw a limit motion space for the patient's affected arm.

Then, the motor of the rehabilitation robot drives the force feedback movement of the patient's affected arm up and down, left, right, front, back, and back, that is, there is a certain resistance to stop the movement. Through force feedback movement, the actual movement space of the patient's affected arm can be mapped.

Compare the range value of the actual movement space of the patient's arm with the range value of the limit movement space of the patient's arm, if the range value of the actual movement space of the patient's arm is smaller than the range of the limit movement space of the patient's arm The value shows that the safe space is further accurate.

At the same time, the range value of the actual activity space of the patient's affected arm is sent to the host computer and the safety activity space of the healthy side of the patient for deviation analysis, and the corrected safety space is obtained through dichotomy correction.

The corrected safe space is integrated with the actual activity space of the patient's affected arm, and the calculated inaccurate value in the actual activity space of the patient's affected arm is adjusted to obtain the optimized actual safe space.

In terms of movement position, the spatial coordinates of the arm of the healthy side are obtained through the camera, and the corresponding virtual trajectory of the arm of the healthy side can be obtained when the radius of the arm or forearm is used as the radius, which is the predicted movement position; the affected side is adjusted by the rehabilitation robot The motor position loop, and then using the PID motion control method, the rehabilitation robot drives the arm on the affected side to run according to the symmetrical trajectory of the healthy side.

But at this time, it is only a description of the motion trajectory, and the coordinates of the end point of the motion are uncertain. Therefore, continuous comparison is carried out through bilateral dynamic monitoring. When the coordinates where the motor is going are asymmetrical to the coordinates captured by the vision, the monitoring system will recalculate it, replan the route to be moved and the captured dynamic coordinate values. The deviation value here can be preset in advance, such as coordinate value deviation If it is less than 10mm, stop the calculation when it is less than 10mm. If the calculated value is still greater than the set accuracy, repeat the calculation and offset the capture position coordinates and device coordinates, and verify whether the offset is suitable for the current training through the next exercise. Similarly, when the deviation of the two coordinates is less than the set accuracy, the calculation is stopped, and the recalculated value is fed back to the motor position loop to improve the motion position accuracy.

In the embodiment of the present invention, when the camera captures the position coordinates t (X, Y, Z) and the coordinates of t-1 (X, Y, Z) of the user's healthy side at the current moment t and sends them to the upper limb rehabilitation robot, the upper limb rehabilitation After the robot receives the coordinate data, it controls the motor of the upper limb rehabilitation robot on the affected side to move in the corresponding space. There will be position deviation during the movement process. At this time, the upper limb rehabilitation robot itself will pass the PID algorithm. During the movement at time t-1, Compensate the position deviation generated at the previous time t, and feed back the first deviation value and motion trajectory to the host computer. The host computer compares the collected trajectory data with the actual motor trajectory by mirroring, that is, the affected side and the healthy side perform data comparison. The trajectory comparison of the layers is used to correct the deviation caused by the visual capture on the healthy side. The upper computer then gives the deviation value to the upper limb rehabilitation robot. The upper limb rehabilitation robot compares the deviation with its own adjustment value at time t in a redundant manner, and then corrects the adjustment value. Through the above method, the upper and lower computers jointly dynamically adjust to After the accuracy is less than a certain accuracy, the position accuracy in the rehabilitation process is improved.

In the embodiment of the present invention, based on a fixed sitting posture, the control accuracy is improved through dynamic interaction between visual data processing and motor data processing, thereby improving the accuracy of the rehabilitation position of the upper limb rehabilitation robot.

Embodiment two:

The embodiment of the present invention also provides a device for correcting the rehabilitation position of the upper limb rehabilitation robot, which is used to implement the method for correcting the rehabilitation position of the upper limb rehabilitation robot provided in the above-mentioned content of the embodiment of the present invention. The following is provided by the embodiment of the present invention The specific introduction of the device.

As shown in Figure 2, Figure 2 is a schematic diagram of the correction device for the rehabilitation position of the above-mentioned upper limb rehabilitation robot, the correction device for the rehabilitation position of the upper limb rehabilitation robot includes:

The construction unit 10 is used to obtain a camera to collect the movement trajectory of the patient's healthy upper limb when the patient is in a fixed sitting posture, and based on the movement trajectory, construct a three-dimensional movement space of the healthy upper limb;

The mirroring unit 20 is configured to mirror the three-dimensional motion space of the healthy upper limb and the motion trajectory to obtain the initial three-dimensional motion space of the affected upper limb of the patient and the predicted motion trajectory of the affected upper limb, and based on the patient's The side upper limb data is used to correct the initial three-dimensional motion space to obtain the safe motion space of the affected upper limb of the patient;

The control unit 30 is configured to send the predicted movement trajectory of the affected upper limb to the upper limb rehabilitation robot, so that the upper limb rehabilitation robot can adjust the motor position loop, and control the adjusted upper limb rehabilitation robot based on the prediction of the affected upper limb The movement trajectory and PID algorithm drive the upper limb movement of the affected side;

The determination unit 40 is configured to determine the second position information based on the first position information after the first position information is acquired, wherein the first position information is the safe position of the upper limb on the affected side at the current moment. The position information in the exercise space, the second position information is the position information corresponding to the predicted motion track of the affected upper limb in the safe exercise space of the affected upper limb and the first position information;

The correction unit 50 is configured to, based on the first position information and the second position information, calculate the predicted movement trajectory and the position information of the affected upper limb in the safe movement space of the affected upper limb at the next moment at the current moment Make corrections.

In the embodiment of the present invention, when the patient is in a fixed state of sitting, the camera is used to collect the movement trajectory of the patient's healthy upper limb, and based on the movement trajectory, the three-dimensional movement space of the healthy upper limb is constructed; Space and the motion trajectory are mirrored to obtain the initial three-dimensional motion space of the affected upper limb of the patient and the predicted motion trajectory of the affected upper limb, and based on the data of the affected upper limb of the patient, the initial three-dimensional motion space is corrected to obtain Safe movement space of the affected upper limb of the patient; sending the predicted motion trajectory of the affected upper limb to the upper limb rehabilitation robot, so that the upper limb rehabilitation robot can adjust the motor position loop, and control the adjusted upper limb rehabilitation robot based on the The predicted movement trajectory of the affected upper limb and the PID algorithm drive the affected upper limb to move; after the first position information is obtained, the second position information is determined based on the first position information, wherein the first position information is the current moment The position information of the affected upper limb in the safe movement space of the affected upper limb, the second position information is that the predicted movement track of the affected upper limb in the safe movement space of the affected upper limb corresponds to the first position information Position information; based on the first position information and the second position information, correct the predicted motion trajectory and the position information of the affected upper limb in the safe movement space of the affected upper limb at the next moment at the current moment , to achieve the purpose of real-time high-precision correction of the rehabilitation position of the upper limb rehabilitation robot, and then solve the technical problem of low correction accuracy of the correction method of the rehabilitation position of the upper limb rehabilitation robot, thus realizing a better upper limb rehabilitation process for patients technical effect.

Embodiment three:

An embodiment of the present invention also provides an electronic device, including a memory and a processor, the memory is used to store a program that supports the processor to execute the method described in the first embodiment above, and the processor is configured to execute the program stored in memory.

Referring to Fig. 3, the embodiment of the present invention also provides an electronic device 100, comprising: a processor 60, a memory 61, a bus 62 and a communication interface 63, the processor 60, the communication interface 63 and the memory 61 are connected through the bus 62; processing The processor 60 is used to execute executable modules stored in the memory 61, such as computer programs.

Wherein, the memory 61 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 63 (which may be wired or wireless), and the Internet, wide area network, local network, metropolitan area network, etc. can be used.

The bus 62 can be an ISA bus, a PCI bus or an EISA bus, etc. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one double-headed arrow is used in FIG. 3 , but it does not mean that there is only one bus or one type of bus.

Wherein, the memory 61 is used to store the program, and the processor 60 executes the program after receiving the execution instruction, and the method executed by the flow process definition device disclosed in any embodiment of the foregoing embodiments of the present invention can be applied to processing device 60, or implemented by the processor 60.

The processor 60 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 60 or an instruction in the form of software. The above-mentioned processor 60 can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (Digital Signal Processing, referred to as DSP) , Application Specific Integrated Circuit (ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps and logic block diagrams disclosed in the embodiments of the present invention may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. The steps of the methods disclosed in the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory 61, and the processor 60 reads the information in the memory 61, and completes the steps of the above method in combination with its hardware.

Embodiment four:

An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the steps of the method described in the first embodiment above are executed.

In addition, in the description of the embodiments of the present invention, unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

Finally, it should be noted that: the above-described embodiments are only specific implementations of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting them, and the scope of protection of the present invention is not limited thereto, although referring to the foregoing The embodiment has described the present invention in detail, and those of ordinary skill in the art should understand that any person familiar with the technical field can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention Changes can be easily thought of, or equivalent replacements are made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of the present invention within the scope of protection. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A method for correcting the rehabilitation position of an upper limb rehabilitation robot, characterized in that it is applied to a host computer, including: When the patient is in a fixed sitting posture, the camera is used to collect the movement trajectory of the patient's healthy upper limb, and based on the movement trajectory, a three-dimensional movement space of the healthy upper limb is constructed; Mirroring the three-dimensional motion space of the unaffected upper limb and the motion trajectory is performed to obtain the initial three-dimensional motion space of the affected upper limb of the patient and the predicted motion trajectory of the affected upper limb, and based on the data of the affected upper limb of the patient, the The initial three-dimensional motion space is corrected to obtain the safe motion space of the patient's upper limb on the affected side; Send the predicted trajectory of the upper limb on the affected side to the upper limb rehabilitation robot, so that the upper limb rehabilitation robot can adjust the motor position loop, and control the adjusted upper limb rehabilitation robot based on the predicted trajectory of the upper limb on the affected side and the PID algorithm to drive Movement of the upper limb on the affected side; After the first position information is acquired, the second position information is determined based on the first position information, wherein the first position information is the position information of the affected upper limb in the safe movement space of the affected upper limb at the current moment , the second position information is the position information corresponding to the predicted movement track of the affected upper limb in the safe movement space of the affected upper limb and the first position information; Based on the first position information and the second position information, the predicted movement trajectory and the position information of the affected upper limb in the safe movement space of the affected upper limb at the next moment at the current moment are corrected. 2. The method of claim 1, wherein, Upper body data include: arm length and shoulder height. 3. The method according to claim 1, wherein the initial three-dimensional motion space is corrected based on the patient's affected upper limb data to obtain the patient's affected upper limb safe motion space, including: Controlling the upper limb rehabilitation robot to straighten the affected upper limb, determining the data of the affected upper limb, and constructing an extreme exercise space for the affected upper limb based on the affected upper limb data; Control the upper limb rehabilitation robot to drive the affected upper limb to perform force feedback movement, and construct the actual movement space of the affected upper limb based on the force feedback movement process; If the actual motion space is smaller than the limit motion space, correcting the initial three-dimensional motion space based on the actual motion space and a dichotomy to obtain a corrected initial three-dimensional motion space; The corrected initial three-dimensional motion space and the actual motion space are integrated to obtain the safe motion space of the affected upper limb. 4. The method according to claim 1, characterized in that, based on the first position information and the second position information, the predicted motion trajectory and the current moment of the next moment of the affected upper limb in the affected Correct the position information in the safe movement space of the upper limbs, including: determining a position deviation between the first position information and the second position information; Based on the position deviation, the predicted movement trajectory of the affected upper limb is corrected, and the corrected predicted movement trajectory of the affected upper limb; Determine the trajectory deviation value based on the corrected predicted motion trajectory of the affected upper limb and the actual trajectory of the affected upper limb; Based on the trajectory deviation value, the position information of the upper limb on the affected side in the safe movement space of the upper limb on the affected side at the next moment at the current moment is corrected. 5. A correction device for the rehabilitation position of an upper limb rehabilitation robot, characterized in that it is applied to a host computer, including: The construction unit is used to obtain a camera to collect the movement trajectory of the patient's healthy upper limb when the patient is in a fixed sitting posture, and construct a three-dimensional movement space of the healthy upper limb based on the movement trajectory; The mirroring unit is configured to mirror the three-dimensional motion space of the healthy upper limb and the motion trajectory to obtain the initial three-dimensional motion space of the affected upper limb of the patient and the predicted motion trajectory of the affected upper limb, and based on the affected side of the patient The upper limb data is used to correct the initial three-dimensional motion space to obtain a safe motion space for the affected upper limb of the patient; The control unit is used to send the predicted movement track of the affected upper limb to the upper limb rehabilitation robot, so that the upper limb rehabilitation robot can adjust the motor position loop, and control the adjusted upper limb rehabilitation robot based on the predicted movement of the affected upper limb The trajectory and PID algorithm drive the upper limb movement of the affected side; A determining unit, configured to determine second position information based on the first position information after the first position information is acquired, wherein the first position information is the safe movement of the affected upper limb at the current moment Position information in space, the second position information is the position information corresponding to the predicted movement track of the affected upper limb in the safe movement space of the affected upper limb and the first position information; A correction unit, configured to perform, on the basis of the first position information and the second position information, the predicted movement trajectory and the position information of the affected upper limb in the safe movement space of the affected upper limb at the next moment at the current moment fix. 6. The device according to claim 5, characterized in that, Upper body data include: arm length and shoulder height. 7. The device according to claim 5, wherein the mirroring unit is configured to: Controlling the upper limb rehabilitation robot to straighten the affected upper limb, determining the data of the affected upper limb, and constructing an extreme exercise space for the affected upper limb based on the affected upper limb data; Control the upper limb rehabilitation robot to drive the affected upper limb to perform force feedback movement, and construct the actual movement space of the affected upper limb based on the force feedback movement process; If the actual motion space is smaller than the limit motion space, correcting the initial three-dimensional motion space based on the actual motion space and a dichotomy to obtain a corrected initial three-dimensional motion space; The corrected initial three-dimensional motion space and the actual motion space are integrated to obtain the safe motion space of the affected upper limb. 8. The device according to claim 5, wherein the correction unit is configured to: determining a position deviation between the first position information and the second position information; Based on the position deviation, the predicted movement trajectory of the affected upper limb is corrected, and the corrected predicted movement trajectory of the affected upper limb; Determine the trajectory deviation value based on the corrected predicted motion trajectory of the affected upper limb and the actual trajectory of the affected upper limb; Based on the trajectory deviation value, the position information of the upper limb on the affected side in the safe movement space of the upper limb on the affected side at the next moment at the current moment is corrected. 9. An electronic device, characterized in that it comprises a memory and a processor, the memory is used to store a program that supports the processor to execute the method according to any one of claims 1 to 4, and the processor is configured to A program stored in the memory is executed. 10. A computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is run by a processor, the steps of the method according to any one of claims 1 to 4 are executed.