Lower limb rehabilitation robot gait planning method based on lower limb walking characteristics

Abstract

The invention provides a lower limb rehabilitation robot gait planning method based on lower limb walking characteristics. Firstly, parameterized modeling is performed based on the lower limb walking characteristics, wherein parameterized mathematic models of the lower limb hips, knees and ankle turn angles of the human body are established, and the forms of function curves of the models and required parameter number are determined; secondly, a mathematic inverse solution equation set of curve parameters is established; thirdly, the linear and nonlinear mapping relation of human body structure parameters and characteristic key point positions is found; finally, human body structure parameters are measured, the characteristic key points of a patient are found according to the mapping relation between the human body structure parameters and the characteristic key points, the curve parameters are inversely solved to obtain a specific curve expression, kinematic positions and corresponding lower angles of a robot are solved according to the specific structure and configuration of the lower limb rehabilitation robot to generate a joint movement instruction corresponding to the robot. The lower limb rehabilitation robot gait planning method conforms to a human body lower limb movement rule and can also reveal the mechanism of human body lower limb movements.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a gait planning method of a lower limb rehabilitation robot based on the characteristics of lower limb walking. Background technique [0002] Aging has gradually become a common trend in today's society. The physical functions of the elderly are gradually declining, and they are accompanied by stroke, hemiplegia and other diseases. In the later stage of treatment, it is necessary to plan scientific and effective rehabilitation training programs for patients with these diseases, which will help patients establish and restore limb motor function. The advantages of lower limb rehabilitation robots in saving social and medical resources are very prominent. [0003] The study of gait planning is not only of great significance for understanding the laws of human motion and discovering the coordination and cooperation between limbs, but also plays an important role in the fi...

AI Technical Summary

Problems solved by technology

[0005] Human lower limb movement is a complex and biological process. If gait planning is only regarded as a mathematical process without combining the characteristics of human lower limb walking, the biological nature of human walking will be separated, and the obtained The mathematical model has no practical significance, nor can it reveal the law of walking

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