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

Abstract

The invention discloses a seated horizontal type lower limb rehabilitation robot and a corresponding passive training control method. The robot comprises a chair, mechanical arms, a man-machine interaction interface and a main industrial control box. When the rehabilitation robot is utilized to assist a patient in participating in passive training, the patient reclines on the chair; the lower limbs on two sides of the patient are respectively fixed with the mechanical arms; a speed instruction signal and a position instruction signal are generated by a host computer in the main industrial control box according to a motion track preset by a user, present positions of the mechanical arms and an expected motion track; 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 the traditional occupational therapy and motion therapy are organically combined according to the invention, so that the rehabilitation effect of the patient is effectively improved.

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 passive 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 passive...

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

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