Variable-rigidity ankle rehabilitation orthosis and motion control method thereof

Abstract

The invention discloses a variable-rigidity ankle rehabilitation orthosis and a motion control method thereof. The variable-rigidity ankle rehabilitation orthosis comprises a puttee, a calf bracket, afoot plate, a variable rigidity magnetorheological elastic driver, a man-machine interaction system, sensors and a control system, wherein the variable rigidity magnetorheological elastic driver consists of a motor element, a magnetorheological brake and a rigidity regulatory mechanism, can regulate the rigidity of the system in a real-time manner, can buffer earth shock and can improve the system energy efficacy and safety; the man-machine interaction system is based on an intelligent terminal application program, is used for assisting in the orthosis, and is used for providing varied interactive functions of orthosis condition monitoring and operation, on-line voice feedback, motion performance summarization and the like. The control method is based on hemiplegic patient walking state analysis and requirements, and functions of driving through the variable rigidity magnetorheological elastic driver, braking, mixed braking, rigidity regulation and the like, and can output anticipantauxiliary moment and motion, so as to realize ankle rehabilitation training of patients.

Description

technical field [0001] The invention relates to the field of rehabilitation medical robots, in particular to a variable stiffness ankle-foot rehabilitation orthosis and a motion control method thereof. Background technique [0002] According to the report of the World Health Organization, there are about 15 million new stroke patients every year in the world, of which about 5 million people will die, and about 5 million people will suffer from permanent disabilities. In my country, more than 2.5 million stroke patients are newly added every year. Post-stroke hemiplegia patients are prone to foot drop, foot inversion and other movement disorders, which seriously affect the recovery of the patient's walking function. Medicine has confirmed that rehabilitation training is an effective way to reduce the disability rate caused by stroke. The traditional ankle-foot rehabilitation training method is that the physical therapist performs rehabilitation training on the patient's ank...

AI Technical Summary

Problems solved by technology

The traditional ankle-foot rehabilitation training method is that the physical therapist performs rehabilitation training on the patient's ankle joint "hand in hand". This rehabilitation training mode has many problems: it requires a large number of physical therapists to complete; it consumes a lot of time and physical strength of the physical therapists, so it cannot Ensuring sufficient training time and sufficient training intensity for patients; unable to provide real-time and intuitive feedback information to patients, the training process is unattractive, most patients receive treatment passively, and the initiative to participate in treatment is not enough, which increases the difficulty of training; Training cannot accurately control and record training parameters, making it difficult to obtain objective and quantitative rehabilitation evaluation indicators, which is not conducive to the determination and improvement of treatment plans

The ankle-foot rehabilitation orthotics in the existing research mainly use motors, elastic drivers, artificial pneumatic muscles and other drivers. The stiffness of the drivers is mostly fixed, or the system impedance is changed by the control algorithm. However, due to factors such as sensor response delay and inertia, this kind of There are certain potential safety hazards in the method; in addition, in the process of rehabilitation training for hemiplegic patients, the braking torque output by the existing ankle-foot rehabilitation orthosis is mainly generated by the motor, which consumes a lot of energy; in terms of human-computer interaction, the existing Ankle-foot rehabilitation orthotics mostly focus on the perception of the wearer's movement information, but lack information feedback to the wearer, and the design of the human-computer interaction system is not friendly enough

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