CONTROL DEVICE OF DEVICE FOR REHABILITATING UPPER BODY OF PARTIALLY PARALYZED PATIENT USING JOINT ANGLE ESTIMATION, AND METHOD THEREOF

摘要

The present invention relates to a device for rehabilitating the upper body of a hemiparalysis paralyzed patient using a joint angle estimation. More specifically, the present invention relates to a method for controlling the device for rehabilitating the upper body of a hemiparalysis paralyzed patient using a joint angle estimation, in which the angle of each joint is estimated to optimize the operation of the rehabilitation device for rehabilitating a hemiparalysis paralyzed patient, by estimating the movement of the limbs attached to the upper body of the patient. The device includes: a movement sensor for detecting the movement of the upper limbs of the hemiparalysis patient; and a rehabilitation device control part which corrects the twisting of an axis for measuring the movement of the upper limbs sensed by the movement sensor, estimating the joint angle of the upper limbs based on the corrected movement of the upper limbs, and controlling the rehabilitation device in a bilateral style, based on the estimated angle.;COPYRIGHT KIPO 2016