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Exoskeleton mechanical-leg rehabilitation system standing mode control method

A mode control, mechanical leg technology, applied in passive exercise equipment, medical science, diagnosis, etc., can solve problems such as unreliable additional torque, unable to fully reflect muscle state, etc., to achieve the effect of easy implementation and simple control method

Active Publication Date: 2017-05-31
NINGBO UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

The "Rehabilitation Robot System Using Myoelectric Signals to Provide Mechanical Assistance" published by the Chinese patent (application number 200610079973.4) uses the amplitude of the myoelectric signal to calculate the additional torque that needs to be provided by the rehabilitation robot. In the electromyographic feedback, only the electromyographic signal is used The magnitude of the muscle, and the magnitude does not fully reflect the muscle state, so the output of additional torque is not reliable

Method used

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  • Exoskeleton mechanical-leg rehabilitation system standing mode control method
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  • Exoskeleton mechanical-leg rehabilitation system standing mode control method

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[0022] The invention discloses a standing mode control method of an exoskeleton mechanical leg rehabilitation system. The exoskeleton mechanical leg rehabilitation system includes two mechanical legs, and each mechanical leg includes a hip joint motor and a knee joint motor, which can be assisted by the rotation of the motors. Hip and knee. The control principle of the two legs is the same, and the motor of each joint adjusts the output torque according to the state of the muscles. The specific implementation method comprises the following steps:

[0023] Step 1: Paste the arrayed surface electrodes on the muscles of the left and right legs, namely the quadriceps of the thigh and the gastrocnemius of the calf. Before pasting, clean the skin surface with medical sandpaper and alcohol, and place the electrodes on the muscle belly of the muscle , according to the patient's muscle size, the number of array electrodes can be appropriately increased, and the electrodes are distribu...

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Abstract

The invention provides an exoskeleton mechanical-leg rehabilitation system standing mode control method. After a standing mode is started, array-type electromyographic signals are firstly decomposed, then characteristic parameters (motion unit number, issuing frequency and issuing waveform energy) of muscular movement units are extracted and are quantified, and finally a staged driving joint motor outputs a torque according to the quantified characteristic parameters to assist a patient for leg muscle rehabilitation training. Due to the fact that the method is based on the characteristic parameters of the muscular movement units, a muscle state can be also reflected, and the method is very conductive to patient rehabilitation and has the advantage of being simple to achieve.

Description

technical field [0001] The invention relates to the field of auxiliary medical rehabilitation training equipment, and in particular designs a control method for the standing mode of a lower limb rehabilitation system using the feedback of the patient's electromyographic signal. Background technique [0002] At present, due to the increasing number of patients caused by muscle atrophy and other problems, they are not only inconvenient in movement, but also under great psychological pressure. It has become their urgent desire to improve their limb functions with the help of rehabilitation equipment. The exoskeleton mechanical leg is a mechanical device that is worn on the lower limbs and driven by motors at the joints to assist the movement of the lower limbs and achieve the function of rehabilitation training. In order to solve the physical problems of patients such as muscle atrophy, help them stand and walk again, and improve their quality of life, it is of great practical ...

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Application Information

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IPC IPC(8): A61H1/02A61H3/00
CPCA61H1/0237A61H1/024A61H1/0244A61H1/0262A61H3/00A61H2201/1659A61H2201/50A61H2205/10A61H2205/102A61H2230/085
Inventor 何金保骆再飞廖远江
Owner NINGBO UNIVERSITY OF TECHNOLOGY
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