Lower-limb brain-like intelligent mechano-electronic exoskeleton and integrated control system thereof

Abstract

The invention relates to a lower-limb brain-like intelligent mechano-electronic exoskeleton and an integrated control system thereof. The lower-limb brain-like intelligent mechano-electronic exoskeleton is characterized by comprising a gravity center adjusting device, a plurality of mechano-electronic joints, a plurality of connecting rods, a plurality of exoskeleton bodies, foot fixing shoes and pelma sensors; the gravity center adjusting device is installed on the waist connecting rod, and the waist connecting rod, the hip mechano-electronic joint, the thigh exoskeleton bodies, the thigh connecting rods, the knee mechano-electronic joints, the shank exoskeleton bodies, the shank connecting rods and the ankle mechano-electronic joints are connected in sequence; the mechano-electronic joints are internally provided with joint angle and damping sensors respectively and driven by corresponding mechanical joint driving devices to generate actions. The lower-limb brain-like intelligent mechano-electronic exoskeleton is reasonable in design, various actions can be precisely sensed, and on this basis, the corresponding control functions are achieved. Meanwhile, the balance of the lower limbs is automatically adjusted through the gravity center adjusting device, the walking stability and reliability are ensured, and the problem that the rehabilitation effect of a patient who loses the lower limb functions is slow can be effectively solved.

Description

technical field [0001] The invention belongs to the technical field of neuroelectrophysiology, in particular to a lower limb brain-like intelligent mechanical and electronic exoskeleton and a comprehensive control system thereof. Background technique [0002] At present, many scientific research institutions and companies in the world are developing products such as mechanical exoskeletons and mechanical prosthetics. The mechanical part is driven in a modular way, which is only suitable for some people, such as people with missing limbs or damaged peripheral nerves, but not suitable for people with damaged central conduction pathways, such as hemiplegic patients caused by cerebrovascular disease, high-level Patients with paraplegia, motor neuron disease (gradual freezing) and other patients. Such products cannot establish a two-way neurofeedback pathway with the brain, and cannot realize the full bionic function of the brain. At present, there are also some patents or prod...

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Problems solved by technology

[0004] The purpose of the present invention is to make up for the deficiencies of the prior art, provide a lower limb brain-like intelligent mechanical and electronic exoskeleton and its comprehensive control system, and solve the problem of slow rehabilitation of patients with lower limb function loss

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