Seated horizontal type lower limb rehabilitation robot and corresponding assisting training control method

Abstract

The invention discloses a seated horizontal type lower limb rehabilitation robot and a corresponding assisting training control method. The robot comprises a chair, mechanical arms, a man-machine interaction interface, a main industrial control box, an electrical stimulation holding switch, an electrical stimulation electrode slice, a functional electrical stimulation industrial control box and a functional electrical stimulation instrument. When a patient is assisted in participating in assisting training, a motion track of the tail end of the robot is set according to a clinical requirement; the motion track of each joint is solved by a host computer in the main industrial control box according to reverse kinematics; the corresponding motion control card, joint driver and motor/encoder are utilized to control the mechanical arms to drive the lower limbs on two sides of the patient to participate in the rehabilitation training; and meanwhile, an electrical stimulation pulse is applied to a main muscle group of the lower limbs of the patient; the electrical stimulation pulse is subjected to sequential control according to the motion track of the tail end, thereby finishing the assisting training; and the traditional physical therapy, occupational therapy and motion therapy are organically combined according to the invention, so that the rehabilitation effect of the patient is effectively improved and the aspiration of the patient for actively participating is enhanced.

Description

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AI Technical Summary

Benefits of technology

This patented technology combines two different types of treatment with physiotherapies for improving patient engagement and recovering from disability or illnesses such as spinal cord injury (SCI). It uses an electric current that helps activate certain parts of the body's muscles by providing them more energy than what they are doing during ordinary activities.

Problems solved by technology

This patented technical problem addressed by this patent relates to improving rehurality during spine injuries caused by accidentally falling down from an upright position without causing further complications like nerve root blockage (NRS) due to lack of motor coordination between legs. Current manually operated devices may also require multiple sessions before achieving full recovery with limited range of motion simulation capabilities.

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