Lower limb exoskeleton rehabilitation system and method based on human-machine cooperation

Abstract

The invention provides a lower extremity exoskeleton recovery system and a lower extremity exoskeleton recovery method based on human-machine cooperation. The system comprises an extremity structure module, an electromyographic signal acquisition module, an electromyographic signal processing module, a trace generation module, a position and speed feedback module, an adaptive control module and a motor torque output module, wherein the electromyographic signal acquisition module receives a signal from the extremity structure module and outputs the signal to the electromyographic signal processing module; the adaptive control module inputs a signal into the electromyographic signal processing module, the trace generation module and the position and speed feedback module, and outputs a signal to the motor torque output module; the position and speed feedback module acquires a signal from the electromyographic signal acquisition module; and the motor torque output module outputs a signal to the extremity structure module. The lower extremity exoskeleton recovery system is practicable; and due to a lower limb walking recovery training mode based on the human-machine cooperation, a paralyzed patient can be greatly encouraged to participate in the recovery training, and the recovery effect is expected to be enhanced.

Description

technical field [0001] The present invention relates to a lower limb rehabilitation exoskeleton rehabilitation system and method, in particular to a lower limb exoskeleton rehabilitation system and method based on human-machine cooperation. Background technique [0002] As a new rehabilitation technology, the lower extremity robotic exoskeleton is widely used in the rehabilitation training of patients with lower limb paralysis. Its rehabilitation effect has been continuously recognized by the public, and various countries have successively launched commercial lower extremity exoskeleton rehabilitation systems, such as the Flexbot system of Jinghe Company in China and the Locomat system of Swiss HOCOMA Company. However, these systems only provide a passive rehabilitation mode, and the autonomy of the subjects is often suppressed in the rehabilitation training, and their enthusiasm for participation is inhibited. For non-severely paralyzed patients, they have a certain streng...

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Problems solved by technology

However, these systems only provide a passive rehabilitation mode, and the autonomy of the subjects is often suppressed in the rehabilitation training, and their enthusiasm for participation is inhibited.

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