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Aimed at the problem of human–machine interaction between patients and robots in the process of using rehabilitation robots for rehabilitation training, this paper proposes a human–machine interactive control method based on an independently developed upper limb rehabilitation robot. In this method, the camera is used as a sensor, the human skeleton model is used to analyse the moving image, and the key points of the human body are extracted. Then, the three-dimensional coordinates of the key points of the human arm are extracted by depth estimation and spatial geometry, and then the real-time motion data are obtained, and the control instructions of the robot are generated from it to realise the real-time interactive control of the robot. This method can not only improve the adaptability of the system to individual patient differences, but also improve the robustness of the system, which is less affected by environmental changes. The experimental results show that this method can realise real-time control of the rehabilitation robot, and that the robot assists the patient to complete the action with high accuracy. The results show that this control method is effective and can be applied to the fields of robot control and robot-assisted rehabilitation training.
Ye et al. (Thu,) studied this question.