Motion control method of lower limb rehabilitative robot

Abstract

The invention relates to a motion control method of a lower limb rehabilitative robot. In the method, aiming at different rehabilitation stages of a patient, two working modes of passive training and active training are carried out: under the mode of passive training, the patient is driven by controlling the robot to finish specific motions or motion according to a right physiological gait track; abnormal motions of the patient are completely restrained; and the patient passively follows the robot to do walking rehabilitation training; under the mode of active training, limited abnormal motions of the patient are restrained by the robot; through a real-time detection on joint driving forces generated when the patient acts on the robot in the motion process, human-computer interaction moment is extracted by utilizing an inverse dynamic model to judge the active motion intention of lower limbs of the patient; and the interaction moment is converted into correction value of gait track by utilizing an impedance controller to directly correct or generate the gait training track the patient expects through an adaptive controller, therefore, the purpose that the robot can provide auxiliary force and resistant force for the rehabilitation training can be indirectly realized. By means of the motion control method of the lower limb rehabilitative robot, rehabilitation training motions suitable for different rehabilitation stages can be provided for a dysbasia patient, thereby enhancing active participation degree of the rehabilitation training of the patient, building confidence of the rehabilitation and positivity of the motion, and then enhancing effect of the rehabilitation training.

Description

technical field [0001] The invention relates to a motion control method of a lower limb rehabilitation robot. It is mainly used for walking rehabilitation training for patients with lower limb motor dysfunction caused by spinal cord injury, stroke and other nervous system diseases. Background technique [0002] In recent years, the number of patients with lower extremity motor dysfunction caused by central nervous system diseases such as spinal injuries and strokes has been increasing sharply, seriously endangering human health. Weight-loss walking training is one of the important means of walking rehabilitation for patients with such diseases, and a large number of clinical studies have confirmed its effectiveness. The traditional manual weight loss walking training state is usually as attached figure 1 As shown in the figure, the patient is suspended on the movable pedal by a weight-reducing device, which reduces the load on the lower limbs while maintaining body balance...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to aim at the problems and deficiencies in the artificial weight loss walking training for patients with walking disabilities, to provide a kind of training equipment that can improve the patient's initiative to participate in rehabilitation training, enhance the patient's rehabilitation confidence and exercise interest, and is suitable for patients at different rehabilitation stages. Motion control method for lower limb rehabilitation robot

Images