Sitting and lying type lower limb rehabilitation robot

Abstract

The invention discloses a sitting and lying type lower limb rehabilitation robot, which can respectively carry out a passive training, an assisted training or an active training according to the damage degree or the rehabilitation stage of a patient. The robot comprises a seat, a mechanical arm, a main industrial control box, a man-machine interaction interface, an electrical stimulation handheld switch, an electrical stimulation electrode plate, an electromyographic signal acquisition electrode plate, a functional electrical stimulation instrument and an electromyographic signal acquisition industrial control box. During the passive training, the lower limb of the patient is trained according to a set movement locus; during the assisted training, the main muscle group of the lower limb of the patient is applied with electrical stimulation pulse; according to the movement locus of a tail end, the electrical stimulation pulse is subjected to sequential control to finish the assisted training; during the active training, the electromyographic signal of the corresponding muscle of the patient is collected; and according to different control algorithms, the patient drives robot to realize the active training. According to the sitting and lying type lower limb rehabilitation robot disclosed by the invention, the traditional physical therapy, occupational therapy and kinesitherapy are organically combined, so that the patient rehabilitation effect can be effectively improved, and the desire of the patient to actively participate is enhanced.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medical equipment, in particular to a sitting and lying lower limb rehabilitation robot. 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 to carry out the above treatments, not only the recovery efficiency Low, and the therapist's labor intensity is high, limiting the patient's training time. Active rehabilitation training using rehabilitation robot technology is the future development trend in the field of rehabil...

AI Technical Summary

Problems solved by technology

[0003] It is a hotspot in the research of rehabilitation robots to use bioelectrical signals to pattern-recognize the patient's movement intention, and to control the corresponding action of the robot based on the recognition result. However, this method can only control several specific movement patterns, and cannot Stimulate the patient's active desire to exercise in real time

In addition, functional electrical stimulation therapy using 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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