Leg device with interaction force parameter measurement for lower limb rehabilitation exoskeleton robot

An exoskeleton robot and parameter measurement technology, which is applied in the direction of equipment to help people walk, physical therapy, etc., can solve the problems of unfavorable assisted walking, redundant degrees of freedom, and low wearing comfort, so as to facilitate gait planning and improve comfort The effect of large speed and driving force

Pending Publication Date: 2017-09-01
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] For patients, the device has some redundant degrees of freedom, which is not conducive to assisting walking, the design of the fixing device is not reasonable enough, and the wearing comfort is low

Method used

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  • Leg device with interaction force parameter measurement for lower limb rehabilitation exoskeleton robot
  • Leg device with interaction force parameter measurement for lower limb rehabilitation exoskeleton robot
  • Leg device with interaction force parameter measurement for lower limb rehabilitation exoskeleton robot

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Embodiment Construction

[0030] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0031] see figure 1 and figure 2 , a wearable lower limb rehabilitation exoskeleton robot for assisting walking, mainly includes back, waist, hip joints, thighs, knee joints, calves, ankle joints and feet, considering the extreme conditions of lower limb injuries, the hip Both the joint and the knee joint are equipped with actuator hydraulic cylinders, thus forming a complete lower limb rehabilitation exoskeleton robot.

[0032] refer to figure 1 and figure 2 , a complete back structure diagram is given. The control cabinet 15 is the control center and power supply of the entire exoskeleton robot, which is fixed on the back of the exoskeleton; the shoulder strap fixing hole 1 leads to the strap, which is fixed on the waist strap around the shoulder Hole 4; there are two chest strap fixing ...

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Abstract

The invention discloses a leg device with interaction force parameter measurement for a lower limb rehabilitation exoskeleton robot, and particularly relates to a lower limb exoskeleton robot for dependent ambulation. The interaction force parameter measurement is completed by means of an interaction force sensors, including a thigh interaction force sensor and a shank interaction force sensor. By taking thigh for instance, one side of the sensor is fixed on the inner side of the thigh, and a flexible bandage is fixed on the measurement region of the other side of the sensor and is used for fixing the thigh of a patient with lower limb injury, and the interaction force between a human body and exoskeleton can be measured when the exoskeleton drives the patient to move. Interaction force information, joint angle information and sole pressure information are intensively processed as exoskeleton control data, the exoskeleton is adjusted for different patients and different conditions, the patient feels comfortable when wearing the dependent ambulation exoskeleton, the body situation of the patient can be understood conveniently, and convenience is provided to rehabilitation training.

Description

[0001] 1. Technical field [0002] The invention relates to an exoskeleton robot, in particular to a wearable lower limb rehabilitation exoskeleton robot. [0003] 2. Background technology [0004] China is a country with a large population. The number of lower limb injuries caused by traffic accidents, aging, cardiovascular and cerebrovascular diseases, etc. is increasing year by year. Medical theory shows that the earlier some patients undergo rehabilitation training, the greater the possibility of recovery. [0005] Present rehabilitation training is mainly completed under the assistance of professional nurses, but such professional nurses are very scarce, so patients have to train themselves, but the effect is not good, and the best period of treatment is missed. [0006] Human-machine integration equipment is developing rapidly, and the lower extremity exoskeleton robot is a wearable human-machine integration equipment. [0007] In the field of exoskeletons, the structure...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2003/007
Inventor 裴忠才张滨唐志勇孙培华
Owner BEIHANG UNIV
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