Sitting mode control method of wearable bionic exoskeleton mechanical leg rehabilitation device

Abstract

The invention discloses a sitting mode control method for a wearable bionic exoskeleton mechanical leg rehabilitation device. The method comprises the steps as follows: a control module judges whether a posture of a user simultaneously meets trigger conditions C1, C2, C3 and C4 or not through collected signals; if the control module detects that the user meets the sitting trigger conditions, the control module sends out an instruction to a hip motor and a knee motor; the hip motor begins to constantly speed up to a speed v0 from stillness at an accelerated speed a0 and rotates at the speed v0, the angle<hip> is reduced, and a trunk and thighs of the user are driven to generate a relative angle motion; and meanwhile, the knee motor also begins to constantly speed up to the speed v0 from stillness at the accelerated speed a0 and then rotates at the constant speed v0, the angle<knee> is reduced, and the thighs and shanks of the user are driven to generate the relative angle motion. The sitting mode control method is capable of helping a patient carry out sitting training at an initial stage, so that the joint range of motion and the muscular force can be strengthened; and meanwhile, gradual improvement of the adaptability of the patient to the exoskeleton is facilitated, and thus a foundation is laid for later walking motion.

Description

technical field

[0001] The invention relates to an auxiliary rehabilitation device, in particular to a sitting mode control method of a wearable bionic exoskeleton mechanical leg rehabilitation device, which is used for the movement and rehabilitation of paralyzed persons. Background technique

[0002] At present, the number of patients with paraplegia due to various reasons continues to increase. They not only have limited mobility, but also bear a great psychological burden. For those patients with paralyzed lower limbs but sound upper limbs, it is necessary to use rehabilitation engineering to improve the physical function of their lower limbs.

[0003] The wearable bionic exoskeleton mechanical leg rehabilitation device is a mechanical device that is worn on the lower limbs and driven by motor joints to move the corresponding joints of patients with lower limb motor dysfunction to achieve the training function. In order to solve the physical problems of paraplegic patie...

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