Lower limbs rehabilitation robot motion control system

Abstract

The invention discloses a lower limbs rehabilitation robot movement control system which comprises a passive training mode and an active training mode these two working modes according to different rehabilitation effects at different restoration stages of a patient, wherein in the passive training mode, the patient is driven by mechanical legs to move according to a predetermined physiological gait trajectory, the generated abnormal movement is completely inhibited; in the active training mode, limited abnormal movement of the patient is inhibited by the mechanical legs, the joint driving force generated by the action of the patient on the mechanical legs is extracted by a man-machine inverse dynamics model through real-time detection of man-machine interaction, the active movement intent of the patient is acquired, so that the patient can initiatively adjust the gait trajectory in real time, and the enthusiasm of the patients initiatively participating in the rehabilitation training is improved. The lower limbs rehabilitation robot movement control system is suitable for the lower limbs rehabilitation training movement at different restoration stages, enhances the initiative of patients participating in the rehabilitation training, and establishes the rehabilitation confidence and the movement enthusiasm of the patients, so as to enhance the effect of rehabilitation training.

Description

technical field [0001] The invention relates to a lower limb rehabilitation robot motion control system, which is used for walking rehabilitation training of patients with lower limb motor dysfunction. Background technique [0002] Nowadays, it has become a common disease that the nerves of the human body are damaged due to spinal injury, stroke accident injury and other reasons, and then the human motor dysfunction is caused. At present, weight loss gait training is one of the effective methods commonly used in the rehabilitation treatment of patients with lower limb hemiplegia. This rehabilitation method has a special effect on stroke and incomplete spinal injuries, and its rehabilitation effect has been widely recognized by many medical experts at home and abroad. agree. When the patient's motor function is very poor, the joints are severely spastic, and he cannot walk independently, he needs the help of 1 to 3 rehabilitation professional physiotherapists to complete the...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems and deficiencies in the artificial weight loss walking training for patients with walking disabilities, the present invention provides a lower limb rehabilitation robot motion control system, which can improve patients' interest and initiative in participating in rehabilitation training, enhance their confidence in rehabilitation, and improve the efficiency of rehabilitation training; And can be suitable for different stages of recovery of patients

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