A real-time method for giving reference motion of knee joint of affected limb

Abstract

The invention discloses a method for providing affected limb side knee joint reference motions in real time. According to the method, a motion trail of an affected limb knee joint is speculated in real time on the basis of own unaffected limb knee joint motion information and planta counter force of a patient, a gait cycle of each of an unaffected limb and an affected limb sequentially includes eight phases, namely a foot holding period, a supporting earlier period, a supporting medium period, a supporting later period, a pre-swing period, a swing earlier period, a swing medium period and a swing later period, a motion trail of each phase is described approximately by a sine function or a cosine function, a phase period is determined according to a phase of real-time motion of the unaffected limb, and the motion trail of the affected limb is provided in real time by taking motions corresponding to the front half gait cycle of the unaffected limb for reference, so that continuity and accuracy of the reference motions of walk aid equipment such as an artificial limb are improved, working stability and intellectuality of the walk aid equipment are enhanced, comfort and motion freeness of the patient are improved, and safety motion of the patient aided by the walk aid equipment is guaranteed.

Description

technical field [0001] The invention relates to a method for realizing real-time reference motion of the knee joint on the side of the affected limb. Background technique [0002] With the transformation of society, the number of disabled patients due to traffic accidents, industrial injuries, accidental injuries and diseases has increased rapidly, and the population structure has changed, and there are more and more elderly patients with motor dysfunction. Walking aids are the main means to help them walk independently and return to the mainstream of society. However, most of the existing walking aids lack intelligence, and relatively intelligent walking aids are mostly used to assist patients with movement disorders below the knee joint. Some research institutions are working on the development of prosthetics or exoskeleton walking aids with active control capabilities. However, there are still the following main problems in the stage of providing knee joint reference mot...

AI Technical Summary

Problems solved by technology

However, most of the existing walking aids lack intelligence, and relatively intelligent walking aids are mostly used to assist patients with movement disorders below the knee joint. Some research institutions are working on the development of prosthetics or exoskeleton walking aids with active control capabilities. However, there are still the following main problems in the stage of providing knee joint reference motion for walking aids:

However, there are obvious differences in movement between individuals, and individual individuals move at different paces or step lengths, and the gait parameters of each phase cycle will be different; therefore, it is easy to use specific statistical parameter values ​​​​as references in traditional techniques Misjudgment of the phase cycle will directly affect the continuity of the reference motion trajectory of the knee joint on the affected side and the stability of the walking aid, which is not conducive to ensuring the safety of the patient;

[0004] 2. Although each phase cycle can be correctly judged based on the gait statistical parameters of healthy people, when the statistical motion trajectory is used to provide reference motion for the knee joint of the affected limb, the movement difference between individuals will also lead to the difference between the healthy limb and the affected limb. The movement symmetry of walking aids is very poor, which is not conducive to the smooth movement of patients with prosthetics or exoskeleton walking aids, and brings discomfort to patients;

[0005] 3. Due to the fixed gait statistical parameters of healthy people, it is difficult to properly adjust the parameters such as the speed and amplitude of the reference movement provided for the knee joint on the affected side according to the patient's movement awareness and the external environment, making the control of walking aids lack of intelligence Sexuality, not conducive to supporting the patient to walk freely

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