ROBOTIC SYSTEM AND TRAINING METHOD FOR REHABILITATION USING EMG SIGNALS TO PROVIDE MECHANICAL HELP
First Claim
1. A robotic system for rehabilitation using EMG signals to provide mechanical help, comprising:
- an EMG electrode;
a data acquisition card;
a control unit connecting to said EMG electrode and said data acquisition card in series;
a driver connecting to said data acquisition card;
an additional torque providing unit connecting to said driver,wherein the EMG signals from the muscle corresponding to affected joints are detected by said EMG electrode, and inputted into said control unit via said data acquisition card; and
based on the inputted EMG signals and a preset constant torque required for mechanical help, an additional torque to affected joints is calculated by said control unit and further is provided via said data acquisition to said driver;
said driver controls said additional torque providing unit to provide said additional torque for assisting affected joints.
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Accused Products
Abstract
A robotic system for rehabilitation using EMG signals to provide mechanical help includes EMG electrodes (6) sequentially connected in series, a DAS card (2) and a control portion (1), and further includes an actuator (3) connected to the DAS card (2) and an additional moment providing portion (4) connected to the actuator (3). The EMG electrodes sense EMG signals corresponding to the muscle of suffering joint, and input the sensed EMG signals to the control portion (1) through the DAS card (2). The control portion (1) uses the input EMG signals and a constant moment set as desired to calculate an additional moment to be applied to the suffering joint, and additional moment providing portion (4) is controlled to apply the corresponding additional moment to the suffering joint through the DAS card (2) and the actuator (3).
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Citations
13 Claims
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1. A robotic system for rehabilitation using EMG signals to provide mechanical help, comprising:
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an EMG electrode; a data acquisition card; a control unit connecting to said EMG electrode and said data acquisition card in series; a driver connecting to said data acquisition card; an additional torque providing unit connecting to said driver, wherein the EMG signals from the muscle corresponding to affected joints are detected by said EMG electrode, and inputted into said control unit via said data acquisition card; and based on the inputted EMG signals and a preset constant torque required for mechanical help, an additional torque to affected joints is calculated by said control unit and further is provided via said data acquisition to said driver; said driver controls said additional torque providing unit to provide said additional torque for assisting affected joints. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An initiative rehabilitation training method for providing mechanical help using EMG signals acquired from patients'"'"' affected side such as elbows, wrists, knees, ankles and shoulders, said method comprising the steps of:
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detecting the EMG signals from the muscle corresponding to affected joints by an EMG electrode; inputting the EMG signals into a control unit via a data acquisition card; calculating an additional torque to affected joints basing on the inputted EMG signals and a preset constant torque required for mechanical help by a control unit and further providing said additional torque to a driver via said data acquisition card; controlling an additional torque providing unit to provide said additional torque for assisting affected joints by said driver. - View Dependent Claims (9, 10, 11, 12, 13)
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Specification