Magneto-rheological force feedback type active-passive lower limb rehabilitation training device and control method

Abstract

The invention discloses a magneto-rheological force feedback type active-passive lower limb rehabilitation training device and a control method. The magneto-rheological force feedback type active-passive lower limb rehabilitation training device comprises a left lower limb device and a right lower limb device, wherein the left lower limb device and the right lower limb device are of mirror symmetry structures, the left lower limb device comprises a thigh mechanism, a knee joint mechanism and a shank supporting mechanism, and the knee joint mechanism comprises a rotary magneto-rheological damper and a knee joint driving mechanism. When passive lower limb rehabilitation training is performed, a first spiral push rod device, the knee joint driving mechanism and a second spiral push rod deviceare switched on and respectively drive thigh hip joints, knee joints and ankle joints of the human body to perform passive movements. When active lower limb rehabilitation training is performed, a first linear magneto-rheological damper, a rotary magneto-rheological damper and a second linear magneto-rheological damper are switched on and drive thigh hip joints, knee joints and ankle joints of the human body to perform active movements to increase resistance. The magneto-rheological force feedback type active-passive lower limb rehabilitation training device meets the requirement that a rehabilitation trained person performs active-passive rehabilitation training of two legs simultaneously, and a rehabilitation period is shortened.

Description

technical field [0001] The invention relates to the field of rehabilitation training devices for human lower limbs, in particular to a magneto-rheological force feedback active and passive rehabilitation training device for lower limbs and a control method. Background technique [0002] With the aggravation of population aging in our country, the number of patients with limb motor dysfunction caused by vascular diseases or nervous system diseases, which leads to hemiplegia, is increasing; The number of people who cannot walk normally due to nerve injury or limb injury is also increasing; at the same time, with the increasing number of people exercising and fitness in our country, more and more people have lower limb injuries caused by exercise and fitness. In the process of rehabilitation treatment, improving patients' walking ability and self-care ability is an important direction of treatment research. Therefore, the rehabilitation research of lower limbs is particularly i...

AI Technical Summary

Problems solved by technology

Make a general survey of existing lower limb rehabilitation training devices and there are following defects and deficiencies mostly: (1) existing device is all to be only driven by motor or electricity, and stability and safety are relatively poor, once break down easily causes secondary damage to lower limbs (2) lack of feedback adjustment device, unable to carry out targeted treatment for patients with different recovery status; (3) most of the existing lower limb rehabilitation devices are single training methods, mostly single active or single passive, active / passive combined less

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