Lower-limb exoskeleton rehabilitation system based on coordination impedance control

Abstract

The invention provides a lower-limb exoskeleton rehabilitation system based on coordination impedance control. The system comprises a user-exoskeleton structure module, an electromyographic signal collection module, an electromyographic signal processing module, a track generation module, a position speed feedback module, an impedance control module and a position control module, wherein an input end of the electromyographic signal collection module is connected with the user-exoskeleton structure module, and an output end is connected with an input end of the electromyographic signal processing module; an input end of the impedance control module is connected with an output end of the electromyographic signal processing module, and an output end is connected with an input end of the track generation module; the position control module collects the output signals of the position speed feedback module and the track generation module; and an output end of the position control module is connected with the user-exoskeleton structure module. In the invention, the independent torque is estimated by use of the electrophysiological and electromyographic signals of a human body; and in comparison with the signals fed back by a mechanical torque sensor, the electromyographic signals have lower time delay and higher signal-to-noise ratio.

Description

technical field [0001] The invention relates to a lower limb rehabilitation exoskeleton rehabilitation system, in particular to a lower limb exoskeleton rehabilitation system based on coordinated impedance control. 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 control has also evolved from the traditional position controller to the more common impedance control at present. For the exoskeleton system with many degrees of freedom, the dimension of the traditional impedance controller is too high, the controller design is very complicated, which is not conducive to practical application; and it is easy to cause uncoordinated motion of each joint due to inappropriate parameter selection. thereby causing harm to users. Based on this, the present invention designs a lower limb exoskeleton rehabilitation system based on coordinated i...

AI Technical Summary

Problems solved by technology

This patent differs from the present invention in the following points: 1. The CPG model is not included, which makes the impedance controller more complicated for multi-degree-of-freedom systems; 2. It simply detects the electromyographic signal and does not estimate the joint torque; 3. , can not guarantee the coordination of joint movement

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