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
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[0022] The invention discloses a method for controlling the standing mode of an exoskeleton mechanical leg rehabilitation system. The exoskeleton mechanical leg rehabilitation system includes two mechanical legs. Each mechanical leg includes a hip joint motor and a knee joint motor. Hip and knee joints. The control principle of the two legs is the same. Each joint motor adjusts the output torque according to the muscle state. The specific implementation includes the following steps:
[0023] Step 1: Attach the array surface electrodes to the muscles of the left and right legs, namely the quadriceps femoris of the thigh and the gastrocnemius of the calf. Clean the surface of the skin with medical sandpaper and alcohol before sticking, and place the electrodes on the muscles of the muscles. According to the size of the patient’s muscles, the number of array electrodes can be appropriately increased, and the electrodes are distributed in a circle perpendicular to the leg. The dist...
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