Control method of rehabilitation-treatment intelligent exoskeleton robot for lower limb

An exoskeleton robot and rehabilitation treatment technology, which is applied in the control field of rehabilitation medical robots, can solve the problems of not using servo control, failing to meet the needs of patients' rehabilitation, single rehabilitation training mode, etc., and achieve the effect of good dynamic characteristics

Active Publication Date: 2018-03-06
中航创世机器人(西安)有限公司
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In summary, the existing control systems of exoskeleton devices generally have the following problems: 1) The rehabilitation training mode is single, and the existing exoskeleton rehabilitation robots cannot meet the rehabilitation needs of patients at various rehabilitation stages; 2) Adaptive servo control is not used

Method used

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  • Control method of rehabilitation-treatment intelligent exoskeleton robot for lower limb
  • Control method of rehabilitation-treatment intelligent exoskeleton robot for lower limb
  • Control method of rehabilitation-treatment intelligent exoskeleton robot for lower limb

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Embodiment Construction

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.

[0022] Embodiments of the present invention propose a control method for an intelligent exoskeleton medical robot for rehabilitation of lower limbs, the steps are as follows:

[0023] (1) The rehabilitation doctor inputs the personal information of the user (patient) into the PC host computer.

[0024] (2) Retrieve the patient rehabilitation database, and select a training mode suitable for the patient according to the patient's rehabilitation stage stored in the system. Specifically: during the exercise process, the patient’s physical sign information is collected, including the maximum torque, range of motion of the joint and the maximum support force of the lower limbs driven by the four muscles of the bilateral hip joint and knee joint of the lower limbs. Among them, t...

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Abstract

The invention provides a control method of a rehabilitation-treatment intelligent exoskeleton robot for a lower limb. The control method comprises the following steps of collecting the physical sign information, which includes the movement maximum torque of total four muscle driving joints of hip joints and knee joints on two sides of the lower limb, a joint motion range and a lower limb maximum supporting force, of a patient in the movement process of the patient; calculating evaluation result variables, and adopting a passive training mode, an auxiliary-force training mode or a following training mode for the patient according to different evaluation result variables. The control method can be used for intelligently selecting a treatment method adopted by the patient according to a rehabilitation treatment stage at which the patient is, so as to adapt to the rehabilitation movement demand of different rehabilitation stages of the patient and a bottom-layer movement servo mechanism isenabled to be capable of having quite good dynamic characteristic along with both a load change and a speed change.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medical robots, in particular to a control method for rehabilitation medical robots. Background technique [0002] With the development and progress of society and the improvement of living standards, our country is entering the stage of aging. In recent years, there have been more and more patients with human motor dysfunction. Science has shown that correct and scientific rehabilitation training plays a very important role in the recovery and improvement of limb motor function. Rehabilitation training can not only maintain the range of motion of the joints and prevent joint spasms, but also significantly improve the motor function of the patient, so as to finally achieve the purpose of recovery. [0003] There are some problems in the traditional rehabilitation medical method. First, a physical therapist can only perform rehabilitation training for one patient in most cases, which is rel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A63B23/04A63B21/00A63B24/00B25J9/16
CPCA63B21/00181A63B23/0464A63B24/0087A61H1/0262B25J9/163B25J9/1669A61H2201/5071A61H2201/5058A61H2201/165A61H2201/1642A61H2205/10A63B2220/54A63B2220/56
Inventor 张瀚桥贺琛马瑞单丁杨晔王增武
Owner 中航创世机器人(西安)有限公司
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