Rehabilitation robot control system and method

A rehabilitation robot and control system technology, applied in electrical program control, program control in sequence/logic controllers, passive exercise equipment, etc. Control and other issues to achieve the effect of improving reliability and ease of maintenance

Active Publication Date: 2014-09-10
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0008] In view of the structure of the existing rehabilitation robot control system, the centralized structure is mostly adopted, and the control tasks of multiple joints are all concentrated in the main controller, which will have an adverse effect on the reliability, easy maintenance and real-time performance of the control system. Capability can not meet the needs of real-time control defects, the present invention adopts the d

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  • Rehabilitation robot control system and method
  • Rehabilitation robot control system and method

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Embodiment Construction

[0050] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that what is described here is only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0051] One of the purposes of the embodiments of the present invention is to provide a rehabilitation robot control system, such as figure 1 As shown, the control goal of the lower extremity exoskeleton rehabilitation robot control system is to output the motion trajectory of the legs to help or drive the patient to perform rehabilitation training, which specifically includes the following parts:

[0052] Man-machine interf...

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Abstract

The invention discloses a rehabilitation robot control system which comprises human-machine interface equipment 1, an upper computer PC 2, a multi-axis motion controller 4, a motor control unit 5, a sensing unit 6 and a CAN (controller area network) bus 7. The rehabilitation robot control system ensures that postures of a robot and a patient are balanced in a rehabilitation training process; the reliability, the maintainability and the instantaneity of the system are improved. The invention further discloses a rehabilitation robot control method.

Description

technical field [0001] The invention relates to the fields of rehabilitation medicine and machinery, in particular to a lower limb exoskeleton rehabilitation robot system and method based on CAN bus. Background technique [0002] Patients with stroke, traumatic brain injury and other diseases, due to damage to the central nervous system, lead to movement disorders of the lower limbs, which has brought serious inconvenience to their lives. If they cannot be treated effectively, they may never be able to stand and walk. The central nervous system has plasticity, and timely and scientific rehabilitation plays a very important role in the recovery and improvement of limb motor function. Rehabilitation robot is a new application of the combination of robot and rehabilitation medicine. It can provide scientifically rich training methods and training effect evaluation indicators for patients with paralysis. It has become a new breakthrough in the field of rehabilitation treatment i...

Claims

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Application Information

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IPC IPC(8): A61H1/00G05B19/04
Inventor 葛树志
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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