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A lower limb rehabilitation robot control system and control method

A rehabilitation robot and control system technology, applied in passive exercise equipment, physical therapy, etc., can solve problems such as high interactivity, increase patient training enthusiasm and training effect, general adaptive effect, etc., to improve rehabilitation training effect, training The effect is excellent and the effect of guaranteeing the training effect

Active Publication Date: 2021-08-27
ANHUI UNIVERSITY OF TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] For the use of the existing lower limb rehabilitation robot, it solves the problem that the real-time situation of the patient cannot be well monitored when the rehabilitation robot is used, which leads to the inconvenient control of the training mode and training level of the rehabilitation robot. It can accurately detect in real time The training and recovery of the patient's lower limbs, so as to adjust the training mode and training level according to the actual situation of the patient's lower limbs, and improve the rehabilitation training effect of the patient
[0007] The present invention also provides a control method for a lower limb rehabilitation robot, which uses the above-mentioned control system to control the lower limb rehabilitation robot, which solves the problem that the existing rehabilitation robot has poor compliance and impedance control, and the self-adaptive effect is general when switching training modes The problem is that the compliance and impedance control effect of the rehabilitation robot is good during training, and the adaptive effect is better when switching training modes. It can accurately identify the patient's active consciousness instructions, and has high interaction with the patient, effectively increasing the patient's training enthusiasm. and training effects

Method used

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  • A lower limb rehabilitation robot control system and control method
  • A lower limb rehabilitation robot control system and control method
  • A lower limb rehabilitation robot control system and control method

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Effect test

Embodiment 1

[0075] Such as Image 6 with Figure 7 As shown, a horizontal lower limb rehabilitation robot is mainly used for rehabilitation training of the lower limbs of patients with motor dysfunction in the lower limbs when they are in a lying position. The horizontal lower limb rehabilitation robot includes a base 1, a lifting mechanism 2, and a bed body 3 arranged sequentially from bottom to top, and a pair of thigh training mechanisms 4 are arranged symmetrically on both sides of the bed body 3. Among them, the base 1 is used as the installation body, the lifting mechanism 2 is used to lift the bed body 3, the bed body 3 is the position where the patient enters the rehabilitation robot, and the thigh training mechanism 4 is used to drive the patient's hip joint for rehabilitation training. The specific structure and working principle of the rehabilitation robot of this embodiment will be described in detail below.

[0076] Such as Figure 8 As shown, the base 1 is composed of a p...

Embodiment 2

[0084] Such as Figure 4 with Figure 5 As shown, a seated lower limb rehabilitation robot is mainly used for rehabilitation training of the patient's lower limb joints when the patient with motor dysfunction in the lower limb is in a sitting position. The seated lower limb rehabilitation robot includes a base 1, a lifting mechanism 2, and a bed body 3 arranged sequentially from bottom to top, and a pair of calf training mechanisms 5 are arranged symmetrically on both sides of one end of the bed body 3. Among them, the base 1 is used as the installation body, the lifting mechanism 2 is used to lift the bed body 3, the bed body 3 is the position where the patient enters the rehabilitation robot, and the calf training mechanism 5 is used to drive the ankle joint and knee joint of the patient's lower limbs for rehabilitation training. The specific structure and working principle of the rehabilitation robot of this embodiment will be described in detail below.

[0085] Such as ...

Embodiment 3

[0093] Such as Figure 1 to Figure 3As shown, a multi-position lower limb rehabilitation robot is used for lower limb rehabilitation training for patients with lower limb motor dysfunction. The rehabilitation robot includes a base 1, a lifting mechanism 2, and a bed body 3 arranged sequentially from bottom to top, and a pair of thigh training mechanisms 4 and a pair of calf training mechanisms 5 are respectively symmetrically arranged on both sides. Among them, the base 1 is used as the installation body, the lifting mechanism 2 is used to lift the bed body 3, the bed body 3 is the position where the patient enters the rehabilitation robot, the thigh training mechanism 4 is used to drive the patient's hip joint for rehabilitation training, and the calf training mechanism 5 is used to Drive the ankle joint and knee joint of the patient's lower limbs for rehabilitation training. The specific structure and working principle of the rehabilitation robot of this embodiment will be ...

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Abstract

The invention discloses a lower limb rehabilitation robot control system and a control method, belonging to the field of medical equipment. The control system includes a power module, a development board, a drive module, a robot body, a data acquisition module and an industrial computer. The power module is connected to the development board, the development board is connected to the driving module, and the data acquisition module is connected to the industrial computer, which includes a sEMG acquisition instrument, a sensor and a photoelectric encoder. The system can accurately detect the training and recovery of the patient's lower limbs in real time, thereby adjusting the training mode and training level according to the actual situation of the patient's lower limbs, and improving the rehabilitation training effect of the patient. The method adopts the above-mentioned control system to control the lower limb rehabilitation robot, so that the compliance and impedance control effect of the rehabilitation robot is good during training, and the self-adaptive effect is better when switching training modes, and it can accurately identify the patient's active consciousness command and interact with the patient. High performance, effectively increasing the patient's training enthusiasm and training effect.

Description

technical field [0001] The invention belongs to the field of medical equipment, and more specifically relates to a control system and a control method for a lower limb rehabilitation robot. Background technique [0002] With the development of science, rehabilitation robot technology, as a kind of robot technology, has been developed rapidly. It is a combination of industrial robots and medical robots. Its research runs through many fields such as rehabilitation medicine, biomechanics, mechanics, mechanics, electronics, materials science, computer science, and robotics. It has become a research field in the field of international robotics. hotspot. At present, rehabilitation robots have been widely used in rehabilitation nursing, artificial limbs and rehabilitation treatment, which not only promotes the development of rehabilitation medicine, but also drives the development of new technologies and new theories in related fields. [0003] The lower limb rehabilitation robot...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02
CPCA61H1/0237A61H1/0262A61H2201/0142A61H2201/0196A61H2201/1207A61H2201/1642A61H2201/1673A61H2201/5007A61H2203/0462A61H2205/10
Inventor 王璐谢能刚王丙柱舒军勇
Owner ANHUI UNIVERSITY OF TECHNOLOGY
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