Walk-aiding exoskeleton robot system and control method

An exoskeleton robot and bone technology, which is applied in the field of rehabilitation engineering, can solve the problems of patient movement difficulties and quality restrictions, and achieve the effects of compact design structure, improved stability and high control precision.

Inactive Publication Date: 2010-08-04
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

Therefore, although the use of EMG signals for rehabilitation training helps to improve the active participation of patients, the quality is greatly limited due to the difficulty of movement of the patients themselves, so it is still not very good to help patients with rehabilitation training

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  • Walk-aiding exoskeleton robot system and control method
  • Walk-aiding exoskeleton robot system and control method
  • Walk-aiding exoskeleton robot system and control method

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Embodiment Construction

[0030] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0031] Such as figure 1 and figure 2 As shown, this embodiment includes: a suspension bracket 1, a mobile platform 2, a bone joint 3, a protective cover 4, a sensor module 5, a signal acquisition module 6, a central processing module 7 and a motion control module 8, wherein: the suspension bracket 1 is fixedly arranged On the mobile platform 2, the skeletal joint 3 is connected with the suspension bracket 1 to form an exoskeleton robot 9, the sensor module 5, the signal acquisition module 6, the central processing module 7 and the motion control module 8 are sequentially connected, and the joint angle is collecte...

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Abstract

The invention relates to a walk-aiding exoskeleton robot system and a control method, which belong to the technical field of rehabilitation engineering. The system comprises a hanging support, a moving platform, joints, protecting sleeves, a sensor module, a signal acquisition module, a central processing module and a motion control module, wherein the hanging support is fixed on the moving platform, the joints are connected with the hanging support to form an exoskeleton robot, the sensor module, the signal acquisition module, the central processing module and the motion control module are sequentially connected, the sensor module is used for acquiring joint angles, the interacting force of the exoskeleton robot and the human being and the myoelectric signals of the muscles of the human body, the signal acquisition module carries out signal conditioning and digital-to-analog conversion, the central processing module carries out action generation and the reverse solution of motion, and transmits an action command to the motion control module, and the motion control module is connected with the exoskeleton robot and generates a pulse signal to control the coordinated motion of the exoskeleton robot. The invention realizes the synchronous motion of the exoskeleton robot and the human body and real-time active control.

Description

technical field [0001] The invention relates to a device and a control method in the technical field of rehabilitation engineering, in particular to a walking aid exoskeleton robot system and a control method. Background technique [0002] With the rapid development of my country's social economy and the great improvement of medical and health services, the base of my country's elderly population is relatively large, and the aging population has brought about major social service problems. Due to accidents or diseases, the number of physically disabled persons is also increasing year by year, and the health problems of the disabled have received widespread attention from the whole society. [0003] In recent years, an exoskeleton robot for rehabilitation training for the elderly and patients with movement disorders in the lower limbs has been applied and promoted. Gait rehabilitation training for the physically disabled. [0004] In the design of the lower extremity exoske...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/60A61F2/72A61H3/00
Inventor 殷跃红范渊杰郭朝尤跃东孙宏伟
Owner SHANGHAI JIAO TONG UNIV
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