Progressive rehabilitation training method based on exoskeleton robot

Abstract

The invention provides a progressive rehabilitation training method based on an exoskeleton robot, and relates to a rehabilitation training method. In order to solve the problem that an existing training method cannot meet the different rehabilitation needs of patients with limb dysfunction in different periods, rehabilitation initial stage position control mode training and rehabilitation middle-late stage torque control mode training are divided according to different rehabilitation periods; the rehabilitation initial stage position control mode training is passive training based on trajectory traction, unilateral or bilateral limbs of a patient are tied to the exoskeleton robot, and the passive rehabilitation initial stage training is completely conducted under the traction of the exoskeleton robot; the rehabilitation middle-late stage torque control mode training utilizes a dynamic model for adjusting torque coefficients to obtain a torque value of a certain torque coefficient, andthe torque control mode training is gradually changed from full torque to half torque during the rehabilitation training period to further change into zero torque for assisted training of the patient; finally the resistance torque is obtained for active training of the patient. The method is used for patient rehabilitation training.

Description

technical field [0001] The invention relates to a rehabilitation training method, in particular to a progressive rehabilitation training method based on an exoskeleton robot. It belongs to the technical field of rehabilitation medical equipment. Background technique [0002] Spinal cord injury and stroke can lead to damage to the nervous system, resulting in varying degrees of movement disorders in the limbs of patients, and in severe cases can lead to general paralysis. According to the principle of neuroplasticity, after nerve injury, proper rehabilitation training for specific functions of the limbs can be achieved. The nerve tissue can be restored to varying degrees, thereby reducing or avoiding disability. Long-term bedridden patients such as trauma surgery or orthopedic surgery are also accompanied by physical impairments, and physical rehabilitation training is an important rehabilitation method for physical impairments. For these patients, the earlier rehabilitatio...

AI Technical Summary

Problems solved by technology

[0003] The present invention proposes a progressive rehabilitation training method based on exoskeleton robots to solve the problem that the existing training methods cannot meet the different rehabilitation needs of patients with limb dysfunction in different periods

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