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Lower limb rehabilitation training external skeleton system, walking control method and hip joint structure thereof

A technology for rehabilitation training and control methods, applied in physical therapy, appliances to help people walk, etc., can solve the problems that hemiplegic patients are not easy to achieve, and achieve the effect of simple and reliable overall structure and improved structure compactness

Active Publication Date: 2018-08-14
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

This is obviously not easy to achieve for hemiplegic patients after stroke, because hemiplegic patients also have paralysis on one side of their upper limbs

Method used

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  • Lower limb rehabilitation training external skeleton system, walking control method and hip joint structure thereof
  • Lower limb rehabilitation training external skeleton system, walking control method and hip joint structure thereof
  • Lower limb rehabilitation training external skeleton system, walking control method and hip joint structure thereof

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Experimental program
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Embodiment Construction

[0035] The present invention will be further described below in conjunction with embodiment and accompanying drawing.

[0036] Embodiment of exoskeleton system for lower limb rehabilitation training

[0037] see figure 1 , The lower limb rehabilitation exoskeleton system of the present invention includes a control unit, a detection unit and an exoskeleton 1 . The control unit includes a processor and a memory, the detection unit outputs detection signals to the control unit, and the control unit outputs control signals to the driving mechanisms of the exoskeleton to drive the exoskeleton to guide the rehabilitation trainer's lower limbs to walk along a predetermined trajectory.

[0038] see figure 1 and figure 2 , the exoskeleton 1 includes a waist wearing unit 11, a hip joint unit 12, a thigh rod 13, a thigh strap 14, a knee joint flexion and extension drive unit 15, a calf strap 16, a calf rod 17, an ankle elastic passive unit 18 and an exoskeleton foot Bottom unit 19. ...

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PUM

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Abstract

The invention relates to a lower limb rehabilitation training external skeleton system, a walking control method and a hip joint structure thereof and belongs to the technical field of medical robots.The hip joint structure comprises an abduction degree-of-freedom under-actuation mechanism which comprises a mounting seat, a left hip joint adduction driving arm, a right hip joint adduction drivingarm and a driver, the left hip joint adduction driving arm and the right hip joint adduction driving arm are mounted on the mounting seat in a manner of being capable of reciprocatingly swinging between an adduction single-leg supporting position and an under-abduction position, and the driver is used for driving swing side members in the hip joint adduction driving arms to be maintained at under-abduction positions and driving supporting side members to be in adduction action. On the basis of a hip joint of the structural arrangement, heeling in the process of rehabilitation training can beavoided, and the system can be widely applied in rehabilitation training of patients lower limb weakness or hemiparalysis.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to an exoskeleton system for rehabilitation training of lower limbs, a walking control method thereof and a hip joint structure. Background technique [0002] With the increase in the prevalence of stroke in my country, early rehabilitation training for stroke patients has received more and more attention. The mainstream is to use the plasticity of the central nervous system to make the affected side respond accordingly through exercise training, improve muscle tension, and establish New compositional relationships of the nervous system. However, relying on physical therapists to perform manual rehabilitation training for patients is not only inefficient, but also the effect of rehabilitation training mainly depends on the experience of physical therapists. [0003] With the continuous development and progress of robot technology, the use of exoskeleton robots to replace trad...

Claims

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Application Information

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IPC IPC(8): A61H3/00
Inventor 杨灿军杨巍徐铃辉王汉松魏谦笑马张翼
Owner ZHEJIANG UNIV
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