Six degree-of-freedom foot/leg type lower limb rehabilitation training robot and control method thereof

Abstract

The invention provides a six degree-of-freedom foot / leg type lower limb rehabilitation training robot and a control method thereof, belonging to the technical field of rehabilitation engineering. The robot provided by the invention comprises a fixing frame, a treadmill, an adjustable panel and exoskeleton mechanical legs, wherein the adjustable panel is connected with one end of the thigh exoskeleton through the hip joint exoskeleton, the other end of the thigh exoskeleton is connected with one end of the shank exoskeleton through the knee joint exoskeleton, and the other end of the shank exoskeleton is connected with a pedal plate through the ankle joint exoskeleton; and a weight reduction system is connected with the adjustable panel, and an electric cylinder between the thigh exoskeleton and the hip joint exoskeleton, an electric cylinder between the thigh exoskeleton and the shank exoskeleton and an electric cylinder between the shank exoskeleton and the pedal plate are respectively connected with a control system through a driver. The control method comprises the following steps of: inputting physical characteristic parameters of a patient; reading a pre-stored text document,and writing information in global variables; and judging whether the driver is in a 'PWM (Pulse-Width Modulation) disenabling' state and an 'Operation' key is pressed down, if so, writing the information in the driver, and otherwise, waiting.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation engineering, in particular to a six-degree-of-freedom leg-type lower limb rehabilitation training robot; it is mainly used for lower limb rehabilitation training of hemiplegic patients with stroke or central nervous system or brain damage. Background technique [0002] At present, autonomous sports rehabilitation training has become a basic and effective therapy, and all kinds of rehabilitation training robots have been affirmed by medical experts and patients for their economical price, simple operation, real-time disease feedback and rehabilitation training guidance. [0003] Many countries are developing a variety of lower limb rehabilitation robots with complete functions, easy operation and high safety performance. As a kind of medical rehabilitation robot, lower limb rehabilitation robots have attracted more and more attention from the industry. In Europe, the United States, Japan and...

AI Technical Summary

Problems solved by technology

It directly acts on the human body, works in the same workspace with people, and the people and robots move together as a whole; while industrial robots usually do not allow people to enter the workspace when they are working, general sports training equipment is resistance type Yes, the muscles are exercised by applying exercise resistance to the trainee, it can only be used for healthy people, not for patients with movement disorders

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