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Rehabilitation device traveling speed control method based on trunk shaking

A rehabilitation device, technology of walking speed, applied in the field of rehabilitation engineering

Inactive Publication Date: 2016-02-03
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For completely paralyzed patients, pure drug therapy and surgical treatment cannot make the patients recover completely. Therefore, it is necessary to use rehabilitation engineering to improve or replace the lost functions of paralyzed patients

Method used

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  • Rehabilitation device traveling speed control method based on trunk shaking
  • Rehabilitation device traveling speed control method based on trunk shaking
  • Rehabilitation device traveling speed control method based on trunk shaking

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Embodiment Construction

[0037] The present invention will be further described below in conjunction with the accompanying drawings, but the embodiments are not intended to limit the protection scope of the present invention.

[0038] figure 1 It is a schematic diagram of the overall mechanical structure of the wearable bionic exoskeleton mechanical leg rehabilitation device. Such as figure 1 As shown, the exoskeleton mechanical leg rehabilitation device mainly includes a trunk support 1, a thigh support 2, a calf support 3, a hip motor 4, a hip motor angle sensor 5, a knee motor 6, a knee motor angle sensor 7, and a foot pressure sensor 8. Trunk inclination sensor 9, control module 11, wrist watch 12, crutches 13, ground contact pressure sensor 14, foot support plate 15, voice prompt module 16; Wherein, hip motor 4 comprises left leg hip motor 4_1 and right leg motor 4_1 Leg hip motor 4_2; Hip motor angle sensor 5 comprises left leg hip motor angle sensor 5_1 and right leg hip motor angle sensor 5_...

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PUM

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Abstract

The invention discloses a rehabilitation device traveling speed control method based on trunk shaking. The method comprises the steps that when a control module judges that a rehabilitation device user changes from a parallel standing state to a walking state by means of signals collected by a sensor, the control module controls the rotating speed of a hip motor and the rotating speed of a knee motor, and enables the initial rotating speed of the hip motor to be v00, and the rotating speed of the knee motor to be v10; the walking speed of the user is V0; then the control module monitors the posture of the user continuously, and if the user is in a continuous walking state, the control module calculates out frequency f of continuous trunk shaking of many times by continuously receiving data of a tilt angle sensor; if f1 is equal to 1t, and f is equal to 1t, the control module controls the rotating speed v0f of the hip motor and the rotating speed v1f of the knee motor. By the adoption of the closed ring control method, the frequency of trunk shaking of the user is monitored continuously so as to carry out real-time variable control over the walking speed, and the user can obtain the expected speed actively in the walking process.

Description

technical field [0001] The invention relates to a walking speed control method, in particular to a walking speed control method of a rehabilitation device based on trunk shaking, and belongs to the technical field of rehabilitation engineering. Rehabilitation device is the abbreviation of wearable bionic exoskeleton mechanical leg rehabilitation device. Background technique [0002] In recent years, due to the rapid development of economy and technology, there are more and more means of transportation. According to relevant survey data, the traffic accident rate in China is 8 times that of developed countries. Upward trend. At the same time, with the improvement of people's living standards, there are more and more people suffering from cardiovascular and cerebrovascular diseases or nervous system diseases, and they are also showing a younger trend in age. Most of these patients are accompanied by hemiplegia symptoms. For completely paralyzed patients, pure drug therapy an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A61H3/00
CPCA61H1/0262A61H3/00A61H2003/005A61H2003/007A61H2201/164A61H2201/165A61H2201/50A61H2201/5069A61H2201/5071A61H2205/10A61H2230/625
Inventor 史景伦王燕芳赵伟健阳南珍佘翰笙
Owner SOUTH CHINA UNIV OF TECH