Gait control method and control system of lower limb power-assisting exoskeleton robot

A gait control and gait technology, which is applied in the direction of devices, sensors, and medical sciences to help people walk, can solve the problems of tracking speed and accuracy decline, and achieve the effect of avoiding the decline of tracking speed and accuracy

Active Publication Date: 2019-01-11
SHANGHAI SIYI INTELLIGENT TECH CO
View PDF5 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a gait control method for a lower-limb assisted exoskeleton robot. It does not need to re-determine the gait cycle, but can send adjustment instruction

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Gait control method and control system of lower limb power-assisting exoskeleton robot
  • Gait control method and control system of lower limb power-assisting exoskeleton robot
  • Gait control method and control system of lower limb power-assisting exoskeleton robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0039] In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention. Unless otherwise defined, the technical terms or scientific terms used herein shall be the ordinary meanings understood by those with ordinary skills in the field to which the present invention belongs. As used herein, "comprising" and other similar words mean that the elements or objects appearing before the word cover the elements o...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a gait control method, comprising: providing gait model and reference information; collecting original gait information and judging gait type according to the gait model; collecting the state information of the booster module and converting the state information into the parameter information; invoking the reference information and the parameter information to compare according to the gait type; and sending an adjustment instruction to the booster module so that the parameter information conforms to the reference information. The gait model of the gait control method ofthe present invention includes a foot-flattening model, heel off-ground model and toe off-ground model, at the stage when the wearer needs power assistance or adjustment, the comparison basis is provided, and the reference information is combined to enable the gait control method to realize the control of the power assistance module without re-determining the gait period, thereby avoiding the problem of tracking speed and precision degradation caused by continuously re-determining the gait period. The invention also provides a gait control system for realizing the gait control method.

Description

Technical field [0001] The invention relates to the technical field of exoskeleton robots, in particular to a gait control method and a control system for a lower limb assisted exoskeleton robot. Background technique [0002] The lower limb assisted exoskeleton robot is a wearable assist device that can be organically integrated with the user to help people with motor dysfunction in their lower limbs recover their walking ability. The human-machine interface is a way to realize the communication between the human and the lower extremity assisted exoskeleton robot, and its function is to analyze and predict the gait data of the human body. Since gait is a continuous periodic movement, including many complex physiological information, gait analysis aims to detect and analyze the movement trajectory, contact force information, electromyographic signal and other physiological parameters in this process. The upper position of the exoskeleton The machine sends the control signals gene...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): A61H3/00A61B5/11
CPCA61B5/112A61H3/00
Inventor 尹刚刚张开颜肖彼得金爱萍孟桂林
Owner SHANGHAI SIYI INTELLIGENT TECH CO
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap