Seated horizontal type lower limb rehabilitation robot

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

technical field [0001] The invention relates to the technical field of rehabilitation medical equipment, in particular to a sitting-lying lower limb rehabilitation robot and a corresponding power-assisted training control method. Background technique [0002] Spinal cord injury and stroke are the two main causes of nervous system damage and subsequent paralysis. Appropriate rehabilitation training after nervous system injury can reduce or avoid disability. According to the principle of plasticity of the nervous system, currently commonly used clinical treatment methods include physical therapy, occupational therapy, exercise therapy, etc. However, most rehabilitation hospitals in China still use manual or simple passive rehabilitation medical equipment for the above treatments. Although the form of rehabilitation is more flexible, the labor intensity is very high, which limits the patient's single training time and cannot simulate physiological gait for training; the simple ...

AI Technical Summary

Problems solved by technology

According to the principle of plasticity of the nervous system, currently commonly used clinical treatment methods include physical therapy, occupational therapy, exercise therapy, etc. However, most rehabilitation hospitals in China still use manual or simple passive rehabilitation medical equipment for the above treatments. Although the form of rehabilitation is relatively flexible, the labor intensity is very high, which limits the patient's single training time and cannot simulate physiological gait training; the simple passive rehabilitation medical equipment currently used in rehabilitation hospitals such as The bicycle can only help the patient to perform a single treadmill training, and the training track cannot be adjusted, thus limiting its rehabilitation effect

[0003] Functional electrical stimulation therapy, which uses low-frequency currents to stimulate muscles that have lost neural control, can cause muscle contraction, but this method is still carried out while the patient remains still, which has great limitations

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