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Gait rehabilitation training robot and force feedback control method for robot

A technology of rehabilitation training and control method, applied in the field of medical devices, can solve the problem that a gait rehabilitation training robot cannot adjust its own motion, etc., and achieve the effects of good human-computer interaction, avoiding secondary injury and not being restricted by the venue.

Active Publication Date: 2017-06-20
浙江福祉科创有限公司
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the gait rehabilitation training robot in the prior art cannot adjust its own motion according to the actual movement of the user, and provide a new type of force feedback control method for the gait rehabilitation training robot

Method used

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  • Gait rehabilitation training robot and force feedback control method for robot
  • Gait rehabilitation training robot and force feedback control method for robot
  • Gait rehabilitation training robot and force feedback control method for robot

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with accompanying drawings, because it is convenient to understand better. The following embodiments of the present invention are only used to provide a preferred mode, but the technical features can be combined with each other on the premise of not conflicting with each other, which does not constitute a limit to the protection scope of the present invention.

[0042] The invention uses a wearable sensor to measure the user's real-time walking speed, and uses a three-dimensional force sensor placed on the robot to measure the force between the robot and the user; then the walking speed and force are fed back to the gait rehabilitation training robot; The rehabilitation training robot should adjust its running speed according to the user's walking speed and force, so that the robot can follow the user's walking speed and provide a certain amount of traction for the user.

[0043] Taking a certain user ...

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Abstract

The invention belongs to the field of medical apparatus and instruments, and particularly discloses a gait rehabilitation training robot and a force feedback control method for the robot. A three-dimensional force sensor is arranged on the gait rehabilitation training robot, can measure an acting force between a user and the gait rehabilitation training robot while the user walks in real time, and uses the acting force to perform feedback adjustment on motion of gait rehabilitation training robot. The force feedback control method is easy to use, is not limited by places, is low in cost, can allow the gait rehabilitation training robot to follow the walking speed of the user and output enough traction force so as to help the user walk, can avoid secondary damage to the user, is high in reliability, and has good promotion prospect.

Description

technical field [0001] The invention belongs to the field of medical equipment, and in particular relates to a gait rehabilitation training robot and a force feedback control method for the robot. Background technique [0002] Gait rehabilitation training robot is a kind of intelligent equipment that can automatically provide load relief and walking assistance. The traditional gait rehabilitation process requires the participation of a large number of rehabilitation experts, which greatly consumes manpower and national financial resources. Therefore, gait rehabilitation training robots have great research value. There are many researches on gait rehabilitation training robots at home and abroad, but the motion trajectories of most robots are pre-programmed, and they cannot actively recognize people's motion intentions and assist people's movements according to people's motion intentions. And these robots are likely to cause secondary injuries due to the mismatch between the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/04A61B5/11
CPCA61B5/1118A61B5/112A61B5/4836A61B5/6802A61B5/6828A61B2505/09A61H3/04A61H2201/1638A61H2201/5061A61H2205/06
Inventor 刘涛王磊陈众贤董天云韩梅梅
Owner 浙江福祉科创有限公司
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