Control method for paraplegia waling-assisted power exoskeleton

A control method and exoskeleton technology, applied in the field of rehabilitation engineering, to achieve the effect of realizing the value of life, improving the quality of life and reducing the economic burden

Inactive Publication Date: 2014-07-23
TSINGHUA UNIV
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  • Abstract
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  • Claims
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Problems solved by technology

For those patients who are completely paralyzed, pure drug treatment and surgical treatment cannot make the patients recover completely. Therefore, it is necessary to use rehabilitation engineering to improve or replace the lost functions of paralyzed patients

Method used

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  • Control method for paraplegia waling-assisted power exoskeleton

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Embodiment Construction

[0025] The present invention provides a method for controlling a paraplegic mobility-assisting power exoskeleton. The present invention will be described in detail below in conjunction with specific embodiments.

[0026] The mechanical part of the paraplegia-assisted mobility exoskeleton mainly includes a back frame, a hip connection device, a thigh rod, a passive ankle joint, an active driving hip and knee joint, and the like. After wearing the exoskeleton, the patient needs to use a pair of elbow sticks to assist in sitting up and walking.

[0027] Considering the functions to be satisfied in the practical application of the mobility-assisting exoskeleton, the control method controls the paraplegic mobility-assisting exoskeleton so that it has 8 motion modes for the user to choose and switch, respectively:

[0028] Mode 1: sit → stand;

[0029] Mode 2: stand→sit;

[0030] Mode 3: stand→walk;

[0031] Mode 4: walk → stand;

[0032] Mode 5: walking on flat ground at a cons...

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Abstract

The invention relates to a control method for a paraplegia waling-assisted power exoskeleton, and belongs to the technical field of rehabilitation engineering. The control method controls the paraplegia waling-assisted power exoskeleton, so that the paraplegia waling-assisted power exoskeleton has eight movement modes which can be selected and switched by a user, wherein the eight movement modes comprise sitting-standing, standing-sitting, standing-walking, walking-standing, walking on the flat ground at normal speed, going up and down the slope at slow speed, walking upstairs, and walking downstairs. In daily life, the wearer can select the modes according to specific environment and requirements of the wearer, and the exoskeleton and the corresponding exoskeleton control method can provide convenience for life of the patient to the maximum, and help the patient realize the value of life.

Description

technical field [0001] The invention relates to a control method of a paraplegia-assisted mobility exoskeleton, which belongs to the technical field of rehabilitation engineering. Background technique [0002] According to relevant survey data, the number of paraplegic patients in the world is increasing year by year, which not only causes a large economic burden to the patients, but also causes a certain psychological burden. Therefore, walking aid and rehabilitation of paraplegia have become an increasingly serious social problem. In recent years, due to various reasons (such as natural disasters such as earthquakes), the number of people with lower limb paralysis in my country has reached hundreds of thousands. For those patients who are completely paralyzed, pure drug therapy and surgical treatment cannot make the patients recover completely. Therefore, it is necessary to use rehabilitation engineering to improve or replace the lost functions of paralyzed patients. The...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A61H3/02
Inventor 王人成杨正东沈强
Owner TSINGHUA UNIV
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