| 摘要 |
The therapeutic exercise robot, subject to the invention, is about a therapeutic exercise robot (1) which features a robotic arm (13) to get the upper limbs do therapeutic exercises, a control unit (11) to control the robotic arm, at least one force sensor (1334) making biomechanical measurements, at least one position sensor (1306, 1319, 1329) and an EMG device making biological measurements (120) to measure the reactions of the person undergoing therapy (H), the said force sensor (1334) and/or a position sensor (1306, 1319, 1329) and/or an EMG device (120) sending the biomechanical and biological reactions measured to the control unit (1 1) as feedback, and a control unit (11) which realizes at least one of the following actions to be applied to the person doing the exercise based upon such feedback and makes all the control and/or evaluations by use of the hybrid impedance control method: - change the speed of motion and/or the intensity of motion and/or the position of motion and/or the number of repetition for the motion automatically, i.e. continue operating at a lower value; or - give a warning to change the position of motion and/or the type of motion and/or the number of repetition for the motion and/or the intensity of motion; or - stop the motion, with 3 degree of freedom for upper limbs, and learns and performs passive, active assistive, isotonic, isometric and isokinetic exercises and isotonic-isometric exercises in the same mode of the therapeutic exercise types as well as physiotherapist motions (exercises done manually and active assistive exercises). |
