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A control method and exoskeleton technology, applied in medical science, physiotherapy, diagnosis, etc., can solve the problem that the exoskeleton can only walk passively with a constant gait, achieve good rehabilitation effect and safety, and eliminate potential safety hazards. Effect
Active Publication Date: 2022-01-04
SHENZHEN MILEBOT ROBOTICS CO LTD
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Problems solved by technology
A lot of research has been done in the field of rehabilitation training robots at home and abroad, and there are also some products that can be used for limb rehabilitation training. For example, Rewalk is an exoskeleton system designed and manufactured by the Israeli manufacturer ReWalk Machinery Company. Standing and walking again, but the exoskeleton can only walk passively with a constant gait. For example, the lower extremity exoskeleton rehabilitation robots "Aidong" and "Aikang" of China's Daai Robotics can perform lower limb rehabilitation training, but with Rewalk Similar to passive walking only with a constant gait
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Embodiment 1
[0049] Embodiment 1 of the present invention provides a lower limb exoskeleton control method, figure 1 The implementation flowchart of the lower limb exoskeleton control method provided by the embodiment of the present invention, such as figure 1 As shown, the method includes the following steps:
[0050] S1: Obtain user data collected by the plantar pressure sensor.
[0051] In this embodiment, the user data includes: the pressure value of the heel of the healthy foot, the pressure value of the heel of the affected foot, and the pressure value of the toe of the healthy foot. The walking speed can be adjusted independently by the motion state of the user's healthy side leg. At different walking speeds, the user data collected by the plantar pressure sensor is different. Further, the plantar pressure sensor can be installed on the sole of the exoskeleton.
[0052] S2: Determine the user's intention to obtain the user's exercise state according to the user data, and the user'...
Embodiment 2
[0086] Such as Image 6 As shown, it is a structural block diagram of a lower limb exoskeleton control device provided in this embodiment, which is used to implement a lower limb exoskeleton control method as described in Embodiment 1, including:
[0087] Obtaining user data module 10: used to obtain the user data collected by the plantar pressure sensor, the user data includes: the heel pressure value of the healthy side foot, the heel pressure value of the affected foot, and the toe pressure value of the healthy side foot;
[0088]Judging user intention module 20: for judging user intention according to user data to obtain user motion state, user motion state includes: first motion state, second motion state, third motion state and fourth motion state;
[0089] Select control mode module 30: used to select the corresponding control mode according to the motion state, the control mode includes: power assist mode and follow-up mode;
[0090] Exoskeleton control module 40: use...
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Abstract
The invention discloses a lower limb exoskeleton control method and device. It relates to the field of robot control, wherein, the method obtains user data collected by a plantar pressure sensor, and the user data includes: the heel pressure value of the healthy foot, the heel pressure value of the affected foot, and the toe pressure value of the healthy foot. According to the user data Judge the user's intention to get the user's motion state, then select the corresponding control mode according to the motion state, and finally send control signals to the driver to drive the motor for exoskeleton control according to different control modes. Through motion intention recognition, different control modes can be provided for different motion states, and different assist modes can be provided for the wearer according to different motion states, so that the healthy leg drives the affected leg according to the user's gait, and the walking speed can be controlled by the user. The self-adjustment of the side leg movement state can stimulate the user's training initiative and eliminate the safety hazard caused by the mismatch between man and machine, which has better rehabilitation effect and safety.
Description
technical field [0001] The invention relates to the field of robot control, in particular to a lower limb exoskeleton control method and device. Background technique [0002] As countries around the world enter aging countries one after another, there are more and more stroke users. Usually stroke users have various sequelae, including hemiplegia, speech impairment, mental disorder, facial paralysis, incontinence, etc. Among them, hemiplegia ranks first, and the stroke treatment cycle is long, which brings great harm to the user, family and society. Due to the huge economic burden and psychological pressure, the research and development of related rehabilitation treatment equipment has attracted much attention. A lot of research has been done in the field of rehabilitation training robots at home and abroad, and there are also some products that can be used for limb rehabilitation training. For example, Rewalk is an exoskeleton system designed and manufactured by the Israel...
Claims
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