Control method of gait rehabilitation training robot

Abstract

The invention discloses a control method of a gait rehabilitation training robot. The control method is applied in an online gait planning technique, moving parameters of a patient's healthy limb in each walking cycle are detected, functional relationship of healthy limb hip joint angular displacement and time, functional relationship of hip joint angular velocity and time, functional relationship of knee joint angular displacement and time and functional relationship of knee joint angular velocity and time are acquired, and a gait model is produced and serves as an evaluation standard of patient's unhealthy limb movement; on the basis, angular displacement, angular velocity and force feedback information are used to perceive moving states of a unhealthy limb, the movement states are compared with that of the healthy gait model, situation whether the gait of the unhealthy limb is normal or not is analyzed, if so, the robot is controlled to move with the patient's unhealthy limb; if not, the robot is controlled to provide assistance to assist the unhealthy gait to be consistent with normal gait, intended movement compensation of the unhealthy limb is implemented, and human-machine cooperative rehabilitation training can be completed.

Description

technical field [0001] The invention relates to a robot control method, in particular to a control method for a gait rehabilitation training robot, in particular to a control method for a gait rehabilitation training robot for hemiplegic patients. Background technique [0002] The motion control strategy of the lower limb gait rehabilitation training robot directly affects the rehabilitation function and effect of the rehabilitation robot, and there have been many research results. [0003] The Swiss Lokomat gait rehabilitation robot is equipped with a force sensor between the driver and the exoskeleton, which can adjust the gait trajectory in real time according to the interaction between the patient and the robot to ensure training according to the preset physiological gait curve. The lower extremity powered exoskeleton system developed by the University of Twente in the Netherlands is equipped with multiple force sensors, which can realize impedance control based on force...

AI Technical Summary

Problems solved by technology

For patients with hemiplegia, the healthy limbs of the patient have strong movement ability. Although the movement ability of some joints is severely lost, some joints of the affected limb still retain some movement ability. However, the application of the current motion control strategy of rehabilitation robots cannot make the patient It can not only exercise according to one's own intention, but also give full play to the patient's remaining exercise ability

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