Rehabilitation robot and control method thereof

Abstract

The invention discloses a rehabilitation robot. The rehabilitation robot comprises a lower limb robot and markers, wherein the markers are arranged at human lower limb hip joints; the lower limb robotcomprises a hip bone part, a pair of thigh bone parts, hip joint assemblies and cameras, the pair of thigh bone parts is positioned under the hip bone part, and each hip joint assembly is positionedbetween each thigh bone part and the hip bone part; each camera is arranged on each hip joint assembly, and is used for shooting the marker image of each marker; the position of each marker image is changed along with the movement of the human lower limb, and each camera is used for outputting a control signal according to the position change of the corresponding marker image; the control part isused for responding to the control signal from each camera in real time, so as to control the movement of each hip join assembly to the corresponding marker position. The rehabilitation robot has theadvantages that the problem of easiness in damage of the human lower limb bone due to delay of actions between the robot bone of the traditional robot and the human body is solved; the lower limb robot is synchronously moved along with the movement of the human lower limb.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a rehabilitation robot and a control method thereof. Background technique [0002] The hip joint on the human body is where the thighbone connects to the pelvis, and all thigh movements revolve around the hip joint. The movement of the exoskeleton lower limb rehabilitation robot used for rehabilitation nursing treatment also imitates the movement of human legs. A hip joint drives the motor to simulate the hip joint and drives the leg machinery to move around the motor shaft. However, the current exoskeleton lower limb rehabilitation robot There is no synchronous adjustment scheme for the motor axis and joint axis. Existing rehabilitation robots are usually adjusted manually and cannot be adjusted in real time during motion. Once the robot and the human lower extremity exoskeleton are misaligned, torque will be generated on the human skeleton, which is serious. lead to...

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a rehabilitation robot, which aims to solve the problem that the existing rehabilitation robot and the bones of the patient's lower limbs are delayed and easily damaged.

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