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A control method for an intelligent exoskeleton robot for lower limb rehabilitation therapy

An exoskeleton robot and control method technology, 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: 2022-06-03
中航创世机器人(西安)有限公司
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  • Abstract
  • Description
  • 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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  • A control method for an intelligent exoskeleton robot for lower limb rehabilitation therapy
  • A control method for an intelligent exoskeleton robot for lower limb rehabilitation therapy
  • A control method for an intelligent exoskeleton robot for lower limb rehabilitation therapy

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Experimental program
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Embodiment Construction

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

[0029] The upper computer sends the training instruction to the lower computer controller according to the selected rehabilitation training mode. This requires

[0032]

[0033] Among them, i=1, 2, 3, 4, when i=1 is the left hip, i=2 is the left knee, i=3 is the right hip, and i=4 is the right knee.

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Abstract

The present invention provides a control method for an intelligent exoskeleton robot for lower limb rehabilitation therapy, which collects the patient's sign information during the patient's movement, including the maximum torque and joint motion of four muscles driving the joint movement of the hip joint and knee joint on both sides of the lower limb. The range of activities and the maximum support force of the lower limbs; the evaluation result variables are calculated, and the patients are treated with passive training mode, power-assisted training mode or follow-up training mode according to different evaluation result variables. The present invention can intelligently select the treatment method adopted by the patient according to the rehabilitation training stage of the patient, so as to adapt to the rehabilitation movement needs of the patient in different rehabilitation stages, so that the underlying motion servo mechanism can have a good performance as the load changes and the speed changes. dynamic characteristics.

Description

A control method of an intelligent exoskeleton robot for lower limb rehabilitation therapy technical field [0001] The present invention relates to the technical field of rehabilitation medical robots, particularly a control method of a rehabilitation medical robot. Background technique [0002] With the development and progress of society and the increasing improvement of living standards, my country is entering an aging stage. In recent years, people There are more and more patients with physical motor dysfunction. Science shows that correct scientific rehabilitation training is important for the recovery of limb motor function. and improvement are very important. Rehabilitation training can not only maintain joint range of motion and prevent joint spasm, but also It can significantly improve the patient's motor function, so as to finally achieve the purpose of recovery. [0003] There are some problems with traditional rehabilitation medical methods. First, a physica...

Claims

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Application Information

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Patent Type & Authority Patents(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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