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External skeleton robot for exercising lower limbs and exercise control method thereof

An exoskeleton robot and robot movement technology, applied in the direction of use feedback control, sports accessories, passive exercise equipment, etc., can solve the problems of small movement range, few types, and ignore the active movement intention of the operator's lower limbs, so as to improve automation degree, ease of online adjustment, enhanced active participation

Inactive Publication Date: 2013-04-17
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, many researchers at home and abroad are carrying out research work on lower limb exoskeleton robots, but these exoskeleton mechanical legs have relatively few types of training movements, limited range of motion, and small range of motion. Most of them ignore the active movement intention of the operator's lower limbs. Lack of real-time feedback of motion information, the stability, safety and realism of operation need to be improved

Method used

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  • External skeleton robot for exercising lower limbs and exercise control method thereof
  • External skeleton robot for exercising lower limbs and exercise control method thereof
  • External skeleton robot for exercising lower limbs and exercise control method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0033] see figure 1 and figure 2 , a lower limb exoskeleton robot for lower limb exercise training consists of a supporting balance frame (1), an exoskeleton mechanical leg (2), a treadmill (3) and a control system. It is characterized in that: the lower end of the supporting balance frame (1) is fixedly connected with the treadmill, the exoskeleton mechanical leg (2) is fixed in the middle of the supporting balance frame (1), the soles of the feet are in contact with the running belt of the treadmill (3), and the user wears it Put on the exoskeleton mechanical leg (2), and perform exercise training on the treadmill (3) through the control of the control system.

Embodiment 2

[0035] This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0036] The exoskeleton mechanical leg (2) (see figure 2 ) has three degrees of freedom of hip joint flexion / extension, knee joint flexion / extension, and ankle joint plantarflexion / dorsiflexion, which can simulate the rotation of three joints in the sagittal plane during walking and realize three-degree-of-freedom movements. A ball screw linear driver (4) is installed at each joint to drive the movement of each joint of the orthosis. The walking lower extremity exoskeleton robot system provides the operator with single-joint motion and walking motion of each joint. The (6) angle sensors 6 installed at the hip, knee, and ankle joints are used to measure the joint angle during movement, and the (6) tension and pressure sensors (5) installed behind each linear actuator are used to detect the actuator (4) The driving force provided, both kinds of information are used to detec...

Embodiment 3

[0039] see Figure 5 , an exoskeleton robot motion control method for lower limb exercise training, using the robot for exercise training, characterized in that: according to the different wishes of the operator, the lower limb exercise training includes two types of passive walking movement and active walking movement Operating mode.

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Abstract

The invention relates to an external skeleton robot for exercising lower limbs and an exercise control method thereof. The robot comprises the following four parts of a support balance frame, external skeleton mechanical legs, a running machine and a control system. The exercise control method has two modes, namely a passive walking exercise mode and an active walking exercise mode. In the passive walking exercise mode, the robot is controlled to drive an operator to complete specific exercise or exercise by a correct physiological gait trajectory; in the active walking exercise mode, the robot inhibits the limited abnormal exercise of the operator, directly corrects the limited abnormal exercise or generates gait exercise trajectories expected by the operator through a self-adaptive controller and indirectly fulfills the aim that the robot supplies walking exercise auxiliary force and resistance. The external skeleton robot can improve the exercise ability of limbs of human bodies, can assist persons walking and can reduce the exercise intensity under the condition that the persons bear load or walk for a long time.

Description

technical field [0001] The invention relates to an exoskeleton robot used for lower limb exercise training and a motion control method thereof. An exoskeleton robot device mainly used for human lower limb motion information detection and lower limb motion assistance. Background technique [0002] With the advancement of science and technology, the improvement of living standards and the increasing pace of life, people are enjoying the convenience brought by various high-tech tools while ignoring the necessity of physical exercise. More and more young people His physical fitness continued to decline. On the other hand, our country, like many countries in the world, is entering an aging society, and the proportion of elderly people with limited mobility is also increasing. Therefore, it is very necessary to research and develop a booster device that improves the motor function of human limbs, helps people to perform lower limb exercise training, and enhances physical fitness...

Claims

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Application Information

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IPC IPC(8): A61H1/00A63B23/04A63B24/00G05D3/12
Inventor 沈林勇吴静文文忠钱晋武章亚男
Owner SHANGHAI UNIV
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