Lower limb rehabilitation exoskeleton system and walking control method thereof

Abstract

The invention relates to a lower limb rehabilitation exoskeleton system and a walking control method thereof, and belongs to the technical field of medical robots. The walking control method comprisesa real-time data acquisition step, a gait phase recognition step and an exoskeleton control step, wherein the exoskeleton control step comprises the following operations: controlling a main supporting leg of an exoskeleton to be kept in a nearly upright state in a swinging process that a swing leg of the exoskeleton is to leave away from the ground up until the swing leg is to touch the ground; and controlling the swing leg of the exoskeleton to conduct a swinging action in a mode of leaving away from the ground when the exoskeleton is kept in a gait phase that the swing leg is to leave awayfrom the ground and after a weight transfer criterion is satisfied, wherein the weight transfer criterion is that an inclination angle of the upper body of an exoskeleton wearer is located within a first preset interval and plantar pressure of the exoskeleton wearer is located within a second preset interval. On the basis of the walking control method, a lateral overturning moment can be effectively eliminated, so that stable walking of the exoskeleton wearer can be guaranteed; and the exoskeleton system can be widely applied to rehabilitation training of patients with lower limb weakness or hemiplegia.

Description

technical field [0001] The invention relates to a medical robot and a control method thereof, in particular to a lower limb rehabilitation exoskeleton system and a walking control method thereof. Background technique [0002] At present, my country has gradually entered into an aging society, and the number of elderly people is increasing day by day. The main disease faced by a considerable part of the elderly group is stroke. In addition, various accidents are also increasing, resulting in a large number of patients with limb dysfunction. According to incomplete statistics, the number of patients mentioned above has exceeded 8 million. In this huge patient group, a considerable part of patients can improve or restore their motor function through rehabilitation training. [0003] Commonly used rehabilitation training is mainly to complete rehabilitation training under the guidance of professional doctors and with the help of nurses or family members. This training method is ...

AI Technical Summary

Problems solved by technology

However, in order to maintain the balance effect of walking training, the suspension exoskeleton is usually used for in situ rehabilitation training, which is difficult to simulate the real scene, which is not conducive to stimulating the rehabilitation interest and enthusiasm of the rehabilitation patients, or the rehabilitation patients use crutches with both hands to maintain balance. It is suitable for patients with insufficient upper body arm strength or hemiplegia, so this control method needs to face a big problem in practical application, that is, the lower limb muscles of patients with hemiplegia and lower limb weakness are weak, and it is difficult to support the swing phase of normal people's gait. The lateral overturning moment that appears in the exoskeleton can easily lead to instability or even fall when the exoskeleton drives the patient to recover and walk.

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