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Rehabilitation and walking exoskeleton robot based on master-slave control

An exoskeleton robot and exoskeleton technology, applied in gymnastics equipment, passive exercise equipment, vehicle rescue, etc., to enhance the sense of participation, ensure safety, and achieve the effect of rehabilitation exercise

Active Publication Date: 2017-03-22
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Master-slave control can make the active and passive parts not directly mechanically connected in the rehabilitation system, which has a strong advantage in safety, but it is still rarely put into use

Method used

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  • Rehabilitation and walking exoskeleton robot based on master-slave control
  • Rehabilitation and walking exoskeleton robot based on master-slave control
  • Rehabilitation and walking exoskeleton robot based on master-slave control

Examples

Experimental program
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Embodiment Construction

[0048] figure 1 Shown is the rehabilitation and mobility exoskeleton robot based on the master-slave control of the present invention. The robot efficiently combines a wheelchair with a mobility function and a rehabilitation exoskeleton to realize the mobility function while effectively recovering the user's lower limbs. Training sports. The robot is composed of a wheelchair frame 8, an exoskeleton skeleton 9, a force sensor 2, and an operation panel 7. The power components in the wheelchair frame 8 are a wheelchair motor 5 and a wheelchair motor driver 1, and the power component in the exoskeleton is an exoskeleton Motor 3 and exoskeleton motor driver 4.

[0049] The wheelchair motor driver 1 is installed in the wheelchair frame 8 and is connected to the wheelchair motor 5 through wires, and is used to control the start, stop and operation of the wheelchair motor 5.

[0050] The force sensor 2 is installed on the foot pedal, and is connected to the STM32 main controller 6 install...

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Abstract

The invention discloses a rehabilitation and walking exoskeleton robot based on master-slave control. The rehabilitation and walking exoskeleton robot based on master-slave control comprises a wheelchair, an exoskeleton, a central controller and a battery pack, wherein the wheelchair comprises a wheelchair frame, an operation panel, a wheelchair motor driver and a wheelchair motor; the exoskeleton comprises an exoskeleton framework, an exoskeleton motor driver, an exoskeleton motor and a sensor system; and the central controller is capable of receiving a function control signal from the operation panel and a feedback signal from the sensor system, setting a movement working mode and a rehabilitation working mode of the robot, and outputting control signals to the wheelchair and the exoskeleton, thus the motion of the exoskeleton and the movement of the wheelchair can be cooperatively controlled. The rehabilitation and walking exoskeleton robot based on master-slave control, which is disclosed by the invention, adequately considers the subjective motion intention of a user, and is high in functionality, simple to control, safe and reliable, and remarkable in rehabilitation effect.

Description

Technical field [0001] The invention relates to a method for controlling a rehabilitation and walking exoskeleton robot, in particular to a method for controlling a rehabilitation and walking exoskeleton robot based on a master-slave control mode. Background technique [0002] In recent years, the number of patients with lower limb motor dysfunction caused by central nervous system diseases such as spinal injuries and strokes has been increasing rapidly, seriously endangering human health. With the development of society and the improvement of people's medical and living standards, the health of the disabled has attracted the attention of the whole society. Weight loss walking training is one of the important methods of walking rehabilitation for patients with this type of disease, and a large number of clinical studies have confirmed its effectiveness. The traditional rehabilitation treatment method is mainly by nurses assisting patients in rehabilitation training. The effect o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61G5/04A61G5/10A61H1/02A63B23/04
CPCA61G5/04A61G5/10A61H1/0237A61H2201/50A63B23/04
Inventor 黄高黄强张伟民余张国陈学超孟非刘华欣
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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