Lower limb rehabilitation walking-aid robot capable of supporting omnidirectional movements and control method thereof

Abstract

The invention relates to a lower limb rehabilitation walking-aid robot capable of supporting omnidirectional movements. The walking-aid robot comprises a vehicle body module used for conducting the omnidirectional movements of the robot to achieve coordinated movements with a user; a lifting module is connected to the vehicle body module and used for supporting and reducing a load of the user; a supporting module is connected to the lifting module, has three passive freedom degrees, and is used for giving the user a certain free movement space to realize flexible connection between the user and the robot and detect displacement information of the user; a tension module is connected to the supporting module, and used for detecting an interaction force between the user and the robot and providing feedback information for controlling of the vehicle body module and the lifting module of the robot; a quick connection module is connected with the tension module, and used for quick connection and separation between the user and the robot. The invention also relates to a control method of the lower limb rehabilitation walking-aid robot. The lower limb rehabilitation walking-aid robot can carry out the omnidirectional movements following a patient so that the patient can perform rehabilitation movements under a real walking condition.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medical equipment, in particular to a lower limb rehabilitation walker robot supporting omnidirectional movement. Background technique [0002] According to statistics, there are more than 10 million stroke patients in my country, and more than 2.5 million new patients are newly diagnosed every year. With the aging population, the number of patients will continue to increase. Among these patients, 70% to 80% of patients will have different degrees of lower limb movement disorders. However, medical research has shown that the motor dysfunction caused by this kind of nerve damage can be treated by active or passive repetitive training for specific functions of the limbs. [0003] In the process of traditional rehabilitation exercise training, patients usually need to be assisted by doctors to perform individual or comprehensive exercise training, but this has certain limitations: 1. Compared...

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Problems solved by technology

[0003] In the process of traditional rehabilitation exercise training, patients usually need to be assisted by doctors to perform individual or comprehensive exercise training, but this has certain limitations: 1. Compared with the huge patient group, the number of doctors is extremely insufficient; 2. 1. The labor intensity of doctors is high, it is difficult to help patients to carry out rehabilitation training for a long time, and it is easy to cause the training time to be less than the time necessary to obtain the best therapeutic effect; 3. Doctors often need to take unreasonable standing and sitting postures during training, which will affect the doctor 4. Real-time monitoring of repeated training and treatment effect cannot be carried out, and there is no direct feedback to patients, which is not conducive to adjusting the training plan according to the recovery effect

Patent CN 101803988, using a ranging sensor to monitor the patient's gait, cannot detect the patient's lateral movement, oblique movement or rotation, etc., and cannot make the robot do corresponding movements, so as to cooperate with the patient for rehabilitation treatment

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