Lower limb on-line walking rehabilitation system and method fused with autokinetic movement consciousness

Abstract

The invention discloses a lower limb on-line walking rehabilitation system and method fused with autokinetic movement consciousness. The system is established by imitating a nerve and movement system for normal walking of a human body. The lower limb on-line walking rehabilitation system comprises a brain-computer interface, a forcing function generator and a lower limb machine external skeleton. The brain-computer interface decodes autokinetic movement intension, and sends an instruction to the forcing function generator in real time. The forcing function generator receives the instruction sent by the brain-computer interface, generates rhythmic joint angle information according with brain intension, outputs the information to the lower limb machine external skeleton, and controls the lower lib machine external skeleton to achieve the four basic walking modes of stopping, normal walking, acceleration and deceleration. According to the lower limb on-line walking rehabilitation system and method fused with autokinetic movement consciousness, through the control mode, the autokinetic movement consciousness of a tested person is fused into rehabilitation training, the four basic walking modes of stopping, normal walking, acceleration and deceleration can be achieved, the real-time online control of the system can be achieved, and smooth movement and mode switching can be guaranteed. The lower limb on-line walking rehabilitation system and method fused with autokinetic movement consciousness are feasible and capable of improving the rehabilitation effect of an existing external skeleton system.

Description

technical field [0001] The present invention relates to a walking rehabilitation system, in particular to an online walking rehabilitation system and method for lower limbs integrated with voluntary movement awareness. Background technique [0002] In the late 1990s, as an emerging rehabilitation technology, exoskeletons replaced the traditional rehabilitation model based on rehabilitation therapists, greatly reducing the workload of therapists. At present, there are many lower extremity robotic exoskeleton systems used for rehabilitation training of paralyzed patients. The famous ones are the Locomat lower limb rehabilitation system developed by Swiss HOCOMA company, and the Flexbot of domestic Jinghe company. This kind of exoskeleton robot relies on the motor to provide a large auxiliary torque, which can realize the coordinated movement of the joints of the lower limbs. However, from the perspective of rehabilitation effect, this method is no different from the tradition...

AI Technical Summary

Problems solved by technology

This device has some shortcomings: 1. The walking mode provided by the rehabilitation robot is limited; 2. The rehabilitation robot cannot be controlled online in real time; 3. The rehabilitation robot only provides passive assistance, and the patient's autonomous movement awareness is not covered.

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