Upper limb rehabilitation exoskeleton control method based on lower limb gaits

Abstract

The invention provides an upper limb rehabilitation exoskeleton control method based on lower limb gaits. The method comprises following steps: 1), data collection: electromyographic sensors and motion sensors located on lower limbs as well as pressure sensors located on soles of feet collect electromyographic signals, joint angles and sole contact force of different gait categories when a subject walks normally; 2), data pre-processing: the collected electromyographic signals, joint angles and sole contact force are pre-processed; 3), gait recognition; 4), upper limb swinging position matching: corresponding upper limb swinging positions are matched according to the recognized gait categories; 5), exoskeleton control: corresponding control commands are sent to an upper limb rehabilitation exoskeleton driver according to the obtained upper limb swinging positions for performing upper limb rehabilitation exoskeleton control, and the upper limbs are driven to perform rehabilitation training. According to the method, coordination of the upper limbs and the lower limbs is taken into consideration, and the rehabilitation effect is better.

Description

technical field [0001] The invention relates to the technical field of rehabilitation exoskeleton control, in particular to a control method for upper limb rehabilitation exoskeleton based on lower limb gait. Background technique [0002] With the aging of society, the number of stroke hemiplegia caused by cardiovascular, cerebrovascular and nervous system diseases is increasing year by year, and the patients tend to be younger. Clinical studies have shown that 30%-60% of hemiplegic patients have not recovered their upper limb function six months after a stroke; only 5%-20% of patients have completed functional rehabilitation. There are many limitations in traditional manual and artificially assisted rehabilitation training. First, it starts under the guidance of professional doctors, and then the patient's healthy upper limbs or their family members and nurses manually pull the patient's affected limbs repeatedly. With the development of science and technology, medical rob...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the shortcomings of existing exoskeleton control methods for upper limb rehabilitation that do not consider the coordination of upper limbs and lower limbs and have poor rehabilitation effects, the present invention provides an upper limb rehabilitation based on lower limb gait that considers coordination of upper limbs and lower limbs and has better rehabilitation effects Exoskeleton control method

Images