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

A rehabilitation robot and gait planning technology, which is applied in the field of robotics and can solve problems such as the ineffectiveness of mathematical models, the fragmentation of biological properties, and the inability to reveal the laws of walking.

Active Publication Date: 2017-10-20
BEIHANG UNIV
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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 lowe

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

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Embodiment Construction

[0024] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0025] The invention provides a motion planning method for a lower limb rehabilitation robot based on the walking characteristics of the lower limbs. Through the parametric description of the movement of the lower limbs of the human body, a parameterized human lower limb movement model is established, and the generation of the lower limb movement trajectory is realized according to different structural parameters of the patient, including Parametric joint angle curve modeling based on the walking characteristics of the lower limbs, reverse solution of the parameters of the angle curve model, establishment of the mapping relationship between human body structure parameters and feature key points, and the generation of motion trajectories are four steps, specifically:

[0026] Step 1: Parametric modeling based on the walking characteristics of the lower ...

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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...

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Application Information

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IPC IPC(8): G06F17/50A61H3/00
CPCA61H3/00A61H2201/1659A61H2205/10G06F30/20
Inventor 张武翔何志敏石狄齐冲丁希仑
Owner BEIHANG UNIV
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