Rehabilitation robot perception system and method
A rehabilitation robot and perception system technology, which is applied in the field of rehabilitation equipment, can solve the problems of high accuracy of motion intention perception, good environmental adaptability of rehabilitation robots, and inability to combine external environment perception with motion intention perception, so as to achieve the accuracy of motion intention perception High, good environmental adaptability
Active Publication Date: 2016-08-17
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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[0006] However, the rehabilitation robot perception system in the prior art cannot combine the perception of the external environment with the perception of motion intention, so that the patient's control and use of the rehabilitation robot cannot take into account good environmental adaptability and high accuracy of motion intention perception
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[0033] In order to have a clearer understanding of the technical features, objectives and effects of the present invention, the specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The following specific embodiments and the accompanying drawings are only for a better understanding of the present invention and are not intended to Invention does any restriction.
[0034] Such as figure 1 As shown, the mechanical structure of the rehabilitation robot is mainly composed of the following parts: back support part 1, back sling 2, synchronous gears 3, 6, drive motor 4, thigh fixing part 5, calf fixing part 9, lower limb robot skeleton 7, motor coding Device 8, foot 10.
[0035] Such as figure 2 As shown, the hardware system composition of the rehabilitation robot includes the external environment sensor 11, the motion intention sensing sensor 12, the main control system 13, the driver and the motor 14. The external env...
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The invention discloses a rehabilitation robot sensing system which comprises an initialization module, an environment sensing module, a motion intention sensing module and a motion execution module. The initialization module is used for initializing the rehabilitation robot sensing system and starting the rehabilitation training mode; the environment sensing module is used for conducting analytical judgment on the environment where a rehabilitation robot is located and selecting an appropriate walking mode; the motion intention sensing module is used for collecting sensing data through a sensor after the appropriate walking mode is determined and generating motion intention commands of a patient according to the sensing data; the motion execution module is used for controlling the rehabilitation robot to execute the rehabilitation training motion according to the motion intention commands. By means of a rehabilitation robot sensing method, the patient can control and use the rehabilitation robot with the good environmental suitability and the high motion intention sensing accuracy. The invention further discloses the rehabilitation robot sensing method.
Description
Technical field [0001] The invention relates to the technical field of rehabilitation equipment, and more specifically, to a rehabilitation robot perception system and a method thereof. Background technique [0002] Patients with strokes, traumatic brain injuries and other diseases have suffered severe inconvenience to their lives due to damage to the central nervous system, which in turn leads to lower limb movement disorders. If they cannot be effectively treated, they may never be able to stand and walk. The central nervous system has plasticity, and timely and scientific rehabilitation therapy plays a very important role in the recovery and improvement of limb motor function. [0003] Rehabilitation robots are a new application that combines robots and rehabilitation medicine. It can provide scientifically rich training methods and training effect evaluation indicators for patients with lower limb paralysis, and become a new breakthrough in the field of rehabilitation treatment...
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IPC IPC(8): A61H1/02A61B5/0488A61B5/22A61B5/103
Inventor 葛树志李敏贺威张旭麻天照
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA