CN114795846A - Brain-computer interface upper limb rehabilitation robot system and rehabilitation training method - Google Patents
Brain-computer interface upper limb rehabilitation robot system and rehabilitation training method Download PDFInfo
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- 210000003710 cerebral cortex Anatomy 0.000 claims description 3
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A—HUMAN NECESSITIES
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- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
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- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36014—External stimulators, e.g. with patch electrodes
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- A—HUMAN NECESSITIES
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- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
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Abstract
The invention discloses an upper limb rehabilitation robot system with a brain-computer interface, which comprises: the brain module is worn on the brain of a human body and is used for acquiring electroencephalogram signals of the human body; the upper limb rehabilitation robot is worn on the upper limb of the human body and used for stimulating and controlling the upper limb to move and identifying the movement information of the upper limb; the upper limb rehabilitation robot comprises an outer machine module, wherein the outer machine module is worn on a human body and connected with a brain module, and the outer machine module is used for identifying and analyzing movement intention according to electroencephalogram signals and controlling the upper limb rehabilitation robot to move according to the movement intention. The invention can be worn on a human body, and can stimulate the upper limbs of the human body and assist the upper limbs to move by identifying the electroencephalogram signals of the human body, thereby improving the rehabilitation training speed of the upper limbs of the human body, having simple whole rehabilitation training process, short training period and obvious rehabilitation effect, and improving the autonomous activity of the dyskinesia personnel.
Description
Technical Field
The invention belongs to the technical field of rehabilitation robot systems, and particularly relates to an upper limb rehabilitation robot system with a brain-computer interface and a rehabilitation training method.
Background
The human body can not work and live after being injured or the motor function is degenerated, in order to meet the daily life of the human body, the human body needs to be assisted to move according to the will of the human body, the recognition rate of the prior art to the human brain is low, and whether the movement is according to the will of the human body can not be judged.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
Therefore, the invention provides a brain-computer interface upper limb rehabilitation robot system and a rehabilitation training method.
The brain-computer interface upper limb rehabilitation robot system according to the embodiment of the invention comprises: the brain module is worn on the brain of a human body and is used for acquiring electroencephalogram signals of the human body; the upper limb rehabilitation robot is worn on the upper limb of the human body and used for stimulating and controlling the upper limb to move and identifying the movement information of the upper limb; the upper limb rehabilitation robot comprises an outer machine module, wherein the outer machine module is worn on a human body and connected with the brain module, and is used for identifying and analyzing movement intention according to the electroencephalogram signals and controlling the upper limb rehabilitation robot to move according to the movement intention.
The rehabilitation training device has the beneficial effects that the rehabilitation training device can be worn on a human body, and can stimulate the upper limbs of the human body and assist the upper limbs to move by identifying the electroencephalogram signals of the human body, so that the rehabilitation training speed of the upper limbs of the human body is increased, the whole rehabilitation training process is simple, the training period is short, the rehabilitation effect is obvious, and the autonomous activity of the dyskinesia personnel is improved.
According to one embodiment of the invention, the brain module comprises a communication module and an acquisition module, the communication module is connected with the acquisition module, and the acquisition module sends acquired electroencephalogram signals to the external machine module through the communication module; the acquisition module is provided with a plurality of acquisition electrodes implanted in cerebral cortex, and the acquisition electrodes are used for acquiring the electroencephalogram signals.
According to one embodiment of the invention, the upper limb rehabilitation robot comprises an arm control mechanism, a finger control mechanism and a stimulation module, wherein the arm control mechanism is used for controlling arm movement, the finger control mechanism is used for controlling finger movement, and the stimulation module is used for outputting different stimulation types, stimulation frequencies and stimulation time to an arm and a finger; the upper limb rehabilitation robot further comprises a motion feedback module which is used for identifying and feeding back motion information of arms and fingers to the outer machine module.
According to one embodiment of the invention, the finger control mechanism comprises: gloves body and two control assembly, a control assembly are located the back of the hand to the control hand opens, and another control assembly is located the palm of the hand, grips with the control hand, control assembly includes a plurality of condyle rings, a plurality of nylon wire and stay cord device, the gloves body is worn on hand, and is a plurality of the condyle ring is woven the inside of gloves body, the outside of finger bone of finger is located to the condyle ring cover, a plurality of nylon wires and a plurality of condyle ring one-to-one, the nylon wire is woven the inside of gloves body, the one end of nylon wire with the condyle ring links to each other, the other end of nylon wire with the stay cord device links to each other.
According to one embodiment of the invention, the rope pulling device comprises a plurality of rope pulling units which are arranged in parallel, the rope pulling units and the nylon ropes correspond to each other one by one, each rope pulling unit comprises a cylinder body, a piston and a displacement sensor, the piston is arranged in the cylinder body in a sliding mode, one end of the piston is connected with the other end of the nylon wire, a closed space is formed between the other end of the piston and a rod body, the closed space is connected with an external air source, the displacement sensor is arranged on the cylinder body, and the displacement sensor is used for monitoring the displacement of the piston.
According to one embodiment of the invention, the external machine module comprises a processor, a storage module and a power module, the power module and the storage module are connected with the processor, the power module is used for supplying power to the brain module and the upper limb rehabilitation robot module, the storage module is used for storing the electroencephalogram signals and the motion information, and the processor is used for identifying and analyzing the motion intention according to the electroencephalogram signals and controlling the upper limb rehabilitation robot to drive arms and fingers to move according to the motion intention.
According to one embodiment of the invention, the stimulation module is provided with a plurality of stimulation electrodes, the stimulation electrodes are distributed on the arms and the fingers, and the stimulation electrodes are used for stimulating the arms and the fingers when the brain sends out electroencephalogram signals of movement and the arms and the fingers do not move correspondingly.
According to one embodiment of the invention, when the acquisition module acquires the electroencephalogram signals of the movement and the arm control mechanism and the finger control mechanism do not work, the processor matches the electroencephalogram signals of the movement with the corresponding movement information and stores the electroencephalogram signals of the movement in the storage module after the movement feedback module identifies the corresponding movement information.
According to an embodiment of the invention, a rehabilitation training method adopts the brain-computer interface upper limb rehabilitation robot system, and comprises the following steps: implanting a brain module on the brain of a human body, wearing an upper limb rehabilitation robot on the upper limb of the human body, and wearing an outer machine module on the human body; step two: under the condition that the function of the upper limb is normal, the arm control mechanism, the finger control mechanism and the stimulation module do not work, when the upper limb moves, the brain module collects moving electroencephalogram signals, meanwhile, the motion feedback module identifies the motion information of the upper limb, and the processor matches the moving electroencephalogram signals with the corresponding motion information and stores the signals; step three: under the condition of incomplete upper limbs, the brain module acquires electroencephalogram signals sent by the brain, the processor identifies and analyzes movement intentions according to the electroencephalogram signals, the upper limb rehabilitation robot is controlled to move according to the movement intentions, and meanwhile the stimulation module stimulates muscles corresponding to the movement intentions on the human body.
According to one embodiment of the invention, the preprocessing process of the electroencephalogram signal by the processor is as follows: the processor amplifies the electroencephalogram signals through a preamplifier, and performs down-sampling on the amplified electroencephalogram signals to obtain the electroencephalogram signals with the required period; the electroencephalogram signals with the required period pass through a 3Hz high-pass filter and then pass through a 30Hz low-pass filter to obtain electroencephalogram signals within 3-30 Hz related to the movement intention of the upper limb, and therefore interference of the electrooculogram signals and the electromyogram signals within 3-30 Hz is removed.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious 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 aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic diagram of a brain-computer interface upper limb rehabilitation robot system according to the present invention;
fig. 2 is a schematic structural diagram of a finger control mechanism in a brain-computer interface upper limb rehabilitation robot system according to the present invention;
fig. 3 is a sectional view of a finger portion on a finger control mechanism in a brain-computer interface upper limb rehabilitation robot system according to the present invention;
fig. 4 is a schematic structural diagram of a pull rope unit in the brain-computer interface upper limb rehabilitation robot system according to the invention;
reference numerals:
the glove comprises a glove body 1, an condyle ring 2, a nylon wire 3, a pull rope device 4, a cylinder 41, a piston 42 and a displacement sensor 43.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The brain-computer interface upper limb rehabilitation robot system according to the embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the brain-computer interface upper limb rehabilitation robot system according to the embodiment of the present invention includes: the upper limb rehabilitation robot comprises a brain module, an upper limb rehabilitation robot and an external machine module, wherein the brain module is worn on the brain of a human body and is used for collecting electroencephalogram signals of the human body; the upper limb rehabilitation robot is worn on the upper limb of the human body and used for stimulating and controlling the upper limb to move and identifying the movement information of the upper limb; the outer machine module is worn on a human body and connected with the brain module, and the outer machine module is used for identifying and analyzing movement intention according to the electroencephalogram signals and controlling the upper limb rehabilitation robot to move according to the movement intention.
That is to say, outer quick-witted module can be convenient wear on one's body, also can place and wear in article such as schoolbag, and upper limbs rehabilitation robot dresses on the human body, and supplementary upper limbs carry out motions such as raise the hand, grip, snatch, gesture operation, and brain module needs human brain hair to shave light to laminating people's brain setting, different human brains are corresponding to the brain module of different shapes.
The invention can be worn on a human body, and by identifying the electroencephalogram signal of the human body, the invention stimulates the upper limbs of the human body and assists the upper limbs to move, thereby improving the rehabilitation training speed of the upper limbs of the human body, having simple whole rehabilitation training process, short training period and obvious rehabilitation effect, and improving the autonomous activity of the dyskinesia personnel.
According to one embodiment of the invention, the brain module comprises a communication module and a collection module, the communication module is connected with the collection module, and the collection module sends the collected electroencephalogram signals to the external machine module through the communication module. Furthermore, the acquisition module is provided with a plurality of acquisition electrodes implanted in the cerebral cortex, and the plurality of acquisition electrodes are used for acquiring electroencephalogram signals.
In other words, the acquisition module acquires brain electrical signals of the brain through the plurality of acquisition electrodes, and transmits the acquired brain electrical signals to the external machine module in real time through the communication module, wherein the communication module is one of a wired communication module and a wireless communication module, the wireless communication module is preferably bluetooth, and the wired communication module adopts a TCP or UDP communication protocol.
According to one embodiment of the invention, the upper limb rehabilitation robot comprises an arm control mechanism, a finger control mechanism and a stimulation module, wherein the arm control mechanism is used for controlling arm movement, the finger control mechanism is used for controlling finger movement, and the stimulation module is used for outputting different stimulation types, stimulation frequencies and stimulation time to an arm and a finger. Preferably, the upper limb rehabilitation robot further comprises a motion feedback module for identifying and feeding back the motion information of the arms and the fingers to the external machine module. The motion feedback module may be machine vision or motion sensors distributed on the upper limb.
Usually, the upper limb movement mainly comprises the movement of a left arm, a right arm, a left hand and a right hand, the arm control mechanism can control the actions of lifting, putting down, bending the arm and the like of the arm, the finger control mechanism mainly controls five fingers to independently open or grab, and simultaneously controls the wrist to rotate.
As shown in fig. 2 to 4, the finger control mechanism includes: gloves body 1 and two control assembly, a control assembly is located the back of the hand, open with the control hand, another control assembly is located the palm of the hand, grip with the control hand, control assembly includes a plurality of bone joint rings 2, a plurality of nylon wire 3 and stay cord device 4, gloves body 1 is worn on hand, a plurality of bone joint rings 2 are woven in gloves body 1's inside, the finger bone outside of finger is located to bone joint ring 2 cover, a plurality of nylon wire 3 and a plurality of bone joint ring 2 one-to-one, nylon wire 3 is worked out in gloves body 1's inside, the one end of nylon wire 3 links to each other with bone joint ring 2, the other end of nylon wire 3 links to each other with stay cord device 2.
That is to say, the parent's skin material establishment is selected for use to gloves body 1, according to the position of phalanx on the hand, weave knuckle ring 2 and phalanx one-to-one, fix nylon wire 3 on knuckle ring 2 simultaneously, and weave into gloves body 1 with nylon wire 3, stay cord device 4 sets up on the forearm, stay cord device 4 stimulates nylon rope 3, driving the finger motion through knuckle ring 2, nylon rope 3 sets up on gloves body 1 through the mode of weaving, make nylon rope 3 can only follow the direction of weaving flexible, need not additionally to set up guiding mechanism. The two control components are respectively arranged on the back and the palm of the hand, in the figure 3, the nylon rope 3 above is positioned on the back of the hand, and fingers are opened when the nylon rope is pulled; the nylon rope 3 of below is located the palm of the hand, and the finger grips during the pulling, and simultaneously, the nylon rope 3 of top and the nylon rope 3 motion process of below are opposite.
Further, the rope pulling device 2 comprises a plurality of rope pulling units arranged in parallel, the rope pulling units correspond to the nylon ropes 3 one by one, each rope pulling unit comprises a cylinder body 41, a piston 42 and a displacement sensor 43, the piston 42 is arranged in the cylinder body 41 in a sliding mode, one end of the piston 42 is connected with the other end of each nylon rope 3, a closed space is formed between the other end of the piston 42 and the rod body 41 and is connected with an external air source, the displacement sensors 43 are arranged on the cylinder body 41, and the displacement sensors 43 are used for monitoring displacement of the pistons 42.
In other words, the displacement sensor 43 can monitor the piston 42 to reversely deduce the finger state corresponding to the piston 42, and in the present invention, the displacement sensor 43 is used as one of the motion feedback modules.
According to one embodiment of the invention, the external machine module comprises a processor, a storage module and a power module, wherein the power module and the storage module are connected with the processor, the power module is used for supplying power to the brain module and the upper limb rehabilitation robot module, the storage module is used for storing electroencephalogram signals and motion information, and the processor is used for identifying and analyzing motion intention according to the electroencephalogram signals and controlling the upper limb rehabilitation robot to drive arms and fingers to move according to the motion intention. The power module is used for supplying power to all parts on the brain-computer interface upper limb rehabilitation robot system, the processor can process and analyze the electroencephalogram signals and control the upper limb rehabilitation robot to assist the human body in upper limb movement, and the storage module stores a large amount of electroencephalogram signal data and movement data of the upper limb rehabilitation robot.
Furthermore, the stimulation module is provided with a plurality of stimulation electrodes 5, the stimulation electrodes 5 are distributed on the arms and the fingers, and the stimulation electrodes 5 are used for stimulating the arms and the fingers when the brain sends out moving electroencephalogram signals and the arms and the fingers do not move correspondingly. When the upper limbs of the human body have dyskinesia and the brain sends an electroencephalogram signal of movement, the stimulation module stimulates the upper limbs, so that the connection between the brain and the upper limbs is established, and the rehabilitation of the human body is promoted.
On the basis, when the acquisition module acquires the electroencephalogram signals of the movement and the arm control mechanism and the finger control mechanism do not work, the movement feedback module identifies the corresponding movement information, and the processor matches the electroencephalogram signals of the movement with the corresponding movement information and stores the electroencephalogram signals of the movement in the storage module. When the upper limbs of the human body move normally, the processor can match electroencephalogram signals sent out by the brain with corresponding motion information, on one hand, correct training data can be established to be used for the processor to train, and on the other hand, the electroencephalogram signals and the corresponding motion information can be directly called to be used after the motion encounters obstacles.
A rehabilitation training method adopts the brain-computer interface upper limb rehabilitation robot system, and comprises the following steps: implanting a brain module on the brain of a human body, wearing an upper limb rehabilitation robot on the upper limb of the human body, and wearing an outer machine module on the human body; step two: under the condition that the function of the upper limb is normal, the arm control mechanism, the finger control mechanism and the stimulation module do not work, when the upper limb moves, the brain module collects moving electroencephalogram signals, meanwhile, the motion feedback module identifies the motion information of the upper limb, and the processor matches the moving electroencephalogram signals with the corresponding motion information and stores the signals; step three: under the condition of incomplete upper limbs, the brain module acquires electroencephalogram signals sent by the brain, the processor identifies and analyzes movement intentions according to the electroencephalogram signals, the upper limb rehabilitation robot is controlled to move according to the movement intentions, and meanwhile the stimulation module stimulates muscles corresponding to the movement intentions on the human body.
On the basis, the processor receives the acquired electroencephalogram signals and then needs to perform preprocessing, and the preprocessing process of the processor on the electroencephalogram signals is as follows: the processor amplifies the electroencephalogram signals through a preamplifier, and performs down-sampling on the amplified electroencephalogram signals to obtain the electroencephalogram signals with the required period; the electroencephalogram signals with the required period pass through a 3Hz high-pass filter and then pass through a 30Hz low-pass filter to obtain electroencephalogram signals within 3-30 Hz related to the movement intention of the upper limb, and therefore interference of the electrooculogram signals and the electromyogram signals within 3-30 Hz is removed. Therefore, the interference of other signals to the moving electroencephalogram signals can be avoided, and the recognition rate of the electroencephalogram signals is improved.
The storage module is also internally provided with a rehabilitation training program, the rehabilitation training program can collect different training data to establish a training model, the rehabilitation training program is trained through the training model so as to classify different electroencephalograms, then the rehabilitation training program is tested, and the processor calls the rehabilitation training program to perform rehabilitation training on a human body until the classification accuracy is over 70%.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A brain-computer interface upper limb rehabilitation robot system, comprising:
the brain module is worn on the brain of a human body and is used for acquiring electroencephalogram signals of the human body;
the upper limb rehabilitation robot is worn on the upper limb of the human body and used for stimulating and controlling the upper limb to move and identifying the movement information of the upper limb;
the upper limb rehabilitation robot comprises an outer machine module, wherein the outer machine module is worn on a human body and connected with the brain module, and is used for identifying and analyzing movement intention according to the electroencephalogram signals and controlling the upper limb rehabilitation robot to move according to the movement intention.
2. The brain-computer interface upper limb rehabilitation robot system according to claim 1, wherein the brain module comprises a communication module and an acquisition module, the communication module is connected with the acquisition module, and the acquisition module sends acquired electroencephalogram signals to the external machine module through the communication module; the acquisition module is provided with a plurality of acquisition electrodes implanted in cerebral cortex, and the acquisition electrodes are used for acquiring the electroencephalogram signals.
3. The brain-computer interface upper limb rehabilitation robot system according to claim 2, wherein the upper limb rehabilitation robot comprises an arm control mechanism for controlling arm movement, a finger control mechanism for controlling finger movement, and a stimulation module for outputting different stimulation types, stimulation frequencies, and stimulation times to an arm and a finger; the upper limb rehabilitation robot further comprises a motion feedback module which is used for identifying and feeding back motion information of arms and fingers to the outer machine module.
4. The brain-computer interface upper limb rehabilitation robot system according to claim 3, wherein the finger control mechanism comprises: gloves body (1) and two control assembly, a control assembly are located the back of the hand to the control hand opens, and another control assembly is located the palm of the hand, grips with the control hand, control assembly includes a plurality of bone joint rings (2), a plurality of nylon wire (3) and stay cord device (4), gloves body (1) is worn on hand, and is a plurality of bone joint ring (2) are woven the inside of gloves body (1), the phalanx outside of finger is located to bone joint ring (2) cover, a plurality of nylon wire (3) and a plurality of bone joint ring (2) one-to-one, nylon wire (3) are worked out the inside of gloves body (1), the one end of nylon wire (3) with bone joint ring (2) link to each other, the other end of nylon wire (3) with stay cord device (2) link to each other.
5. The brain-computer interface upper limb rehabilitation robot system according to claim 4, wherein the rope pulling device (2) comprises a plurality of rope pulling units arranged in parallel, the rope pulling units correspond to the nylon ropes (3) one by one, each rope pulling unit comprises a cylinder body (41), a piston (42) and a displacement sensor (43), the piston (42) is arranged in the cylinder body (41) in a sliding mode, one end of the piston (42) is connected with the other end of the nylon rope (3), a closed space is formed between the other end of the piston (42) and the rod body (41), the closed space is connected with an external air source, the displacement sensor (43) is arranged on the cylinder body (41), and the displacement sensor (43) is used for monitoring the displacement of the piston (42).
6. The brain-computer interface upper limb rehabilitation robot system according to claim 5, wherein the external machine module comprises a processor, a storage module and a power module, the power module and the storage module are both connected with the processor, the power module is used for supplying power to the brain module and the upper limb rehabilitation robot module, the storage module is used for storing the electroencephalogram signals and the motion information, and the processor is used for identifying and analyzing the motion intention according to the electroencephalogram signals and controlling the upper limb rehabilitation robot to drive the arms and the fingers to move according to the motion intention.
7. The brain-computer interface upper limb rehabilitation robot system according to claim 6, characterized in that the stimulation module is provided with a plurality of stimulation electrodes (5), the stimulation electrodes (5) are distributed on the arms and the fingers, and the stimulation electrodes (5) are used for stimulating the arms and the fingers when the brain sends out electroencephalogram signals for movement and the arms and the fingers do not perform corresponding movement.
8. The brain-computer interface upper limb rehabilitation robot system according to claim 7, wherein after the acquisition module acquires the electroencephalogram signals of the movement and the arm control mechanism and the finger control mechanism are not in operation, and the movement feedback module identifies the corresponding movement information, the processor matches the electroencephalogram signals of the movement with the corresponding movement information and stores the corresponding movement information in the storage module.
9. A rehabilitation training method, characterized in that the brain-computer interface upper limb rehabilitation robot system according to any one of claims 1 to 8 is adopted, comprising the steps of,
the method comprises the following steps: implanting a brain module on the brain of a human body, wearing an upper limb rehabilitation robot on the upper limb of the human body, and wearing an outer machine module on the human body;
step two: under the condition that the function of the upper limbs is normal, the arm control mechanism, the finger control mechanism and the stimulation module do not work, when the upper limbs move, the brain module collects moving electroencephalogram signals, meanwhile, the movement feedback module identifies movement information of the upper limbs, and the processor matches the moving electroencephalogram signals with the corresponding movement information and stores the movement information;
step three: under the condition of incomplete upper limbs, the brain module acquires electroencephalogram signals sent by the brain, the processor identifies and analyzes movement intentions according to the electroencephalogram signals, the upper limb rehabilitation robot is controlled to move according to the movement intentions, and meanwhile the stimulation module stimulates muscles corresponding to the movement intentions on the human body.
10. The rehabilitation training method of claim 9, wherein the preprocessing of the electroencephalogram signal by the processor is as follows: the processor amplifies the electroencephalogram signals through a preamplifier, and performs down-sampling on the amplified electroencephalogram signals to obtain the electroencephalogram signals with the required period; the electroencephalogram signals with the required period pass through a 3Hz high-pass filter and then pass through a 30Hz low-pass filter to obtain electroencephalogram signals within 3-30 Hz related to the movement intention of the upper limb, and therefore interference of the electrooculogram signals and the electromyogram signals within 3-30 Hz is removed.
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