A control method for the hydraulic system of a knee joint rehabilitation robot
A rehabilitation robot and hydraulic system technology, which is used in appliances to help people walk, medical science, physical therapy, etc., can solve problems such as driving structure working error, knee joint injury, hydraulic cylinder leakage, etc., to achieve accurate driving force and improve stability. Effects of Sex and Safety
Active Publication Date: 2020-07-21
SHENZHEN ROBO MEDICAL TECH CO LTD
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Problems solved by technology
In this method, three kinds of sensors are required for measurement, the control structure is complicated, and because the hydraulic cylinder occasionally leaks, the piston rod thrust sensor is used to detect the thrust of the piston rod at this time, which will make the collected data inaccurate, thus making the drive An error occurred while the structure was working, resulting in damage to the knee joint
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Embodiment Construction
[0016] Such as figure 1 As shown, a knee joint rehabilitation robot applying the control method of the present invention includes a thigh shell 1, a calf shell 2, a foot support 3, a hydraulic system, sensors and a controller 5; the hydraulic system includes a hydraulic cylinder 4, and a hydraulic pressure The oil supply pipeline connected to the cylinder 4, and the driving device for driving the flow of hydraulic oil; the sensor includes a setting angle sensor 7, a forefoot pressure sensor 8 and a heel pressure sensor 9; the thigh shell 1 is hinged with the calf shell 2, and the hydraulic cylinder 4 The two ends of the upper body are respectively hinged with the thigh housing 1 and the lower leg housing 2, and the angle sensor 7 is arranged at the hinge joint between the thigh housing 1 and the lower leg housing 2. More specifically, the angle sensor 7 is installed on the angle sensor 7 mounting plate, The angle sensor 7 mounting plate is fixed on the thigh shell 1, and the r...
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The invention discloses a control method for a hydraulic system of a knee-joint rehabilitation robot. The control method comprises the following steps that pressure applied to the heel and the front foot sole is detected, a controller receives a pressure signal and judges the current motion state of the knee-joint, during the support period, the knee-joint has the angle of Theta 2 when in the stretching state, during the swing period, the knee-joint has the minimal bending angle being Theta 1, the controller controls a drive device to work according to the pressure signal and an angle signal,and a position rod of a hydraulic cylinder is driven to draw back or stretch out. For the control method for the hydraulic system of the knee-joint rehabilitation robot provided by the invention, thecontrol is simple, the motion state of the knee-joint during the walking process of the human body can be accurately judged, thus adaptive driving force is provided, and therefore, the stability and safety during the walking process are guaranteed.
Description
technical field [0001] The invention relates to the field of rehabilitation medical equipment, in particular to a control method for a hydraulic system of a knee joint rehabilitation robot. Background technique [0002] Knee joint rehabilitation equipment is an emerging technology that has developed rapidly in recent years, and it is a new application of robotics in the medical field. The current knee joint rehabilitation equipment is usually driven by hydraulic pressure. The knee joint rehabilitation equipment can be fixed on the thigh and calf. The controller controls the driving device to drive the hydraulic rod of the hydraulic cylinder to achieve telescopic movement, thereby driving the knee joint to move, imitating normal people's steps. and then drive the patients to carry out walking training, so that the patients with movement disorders of the lower limbs can be rehabilitated. However, there are still many areas to be improved in the control method of the hydraulic...
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IPC IPC(8): A61H3/00
CPCA61H3/00A61H2003/005A61H2003/007A61H2201/0157A61H2201/0173A61H2201/1246A61H2205/102A61H2230/625
Inventor 张剑韬胡昆朱岩沈林鹏杨嘉林熊麟霏励建安
Owner SHENZHEN ROBO MEDICAL TECH CO LTD