Active training control method and device for lower limb walking trainer

A technology of active training and walking training, applied in the direction of muscle training equipment, sensors, gymnastic equipment, etc., can solve the problems of lack of active training algorithms, evaluation of patients' rehabilitation degree, etc.

Active Publication Date: 2020-06-09
HRG INT INST FOR RES & INNOVATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is how to provide an active training control method and device for a lower limb walking trainer to solve the problems that the prior art lacks active training algorithms and cannot evaluate the degree of rehabilitation of patients

Method used

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  • Active training control method and device for lower limb walking trainer
  • Active training control method and device for lower limb walking trainer
  • Active training control method and device for lower limb walking trainer

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Embodiment 1

[0044] Such as figure 1 Shown, a kind of lower limbs walking trainer active training control method, described method comprises:

[0045] Step S1: According to the movement direction of the joint, a resistance compensation torque is given to compensate the friction force generated by the machine itself; during the movement of the joint, due to mechanical friction and other factors, resistance to the movement will be generated, and the magnitude of this resistance is usually constant , the direction is opposite to the direction of joint motion. Therefore, as long as the movement direction of the joint is monitored and a torque in the same direction as the joint movement is given in real time, the resistance during the movement can be offset and the friction force generated by the machine's own movement can be compensated. The compensation torque is related to the characteristics of the machine. Through Test and experimentation can be used to obtain a suitable compensating torq...

Embodiment 2

[0057] Corresponding to Embodiment 1 of the present invention, Embodiment 2 of the present invention also provides an active training control device for a lower limb walking trainer, the device comprising:

[0058] The resistance compensation module is used to provide a resistance compensation torque according to the direction of joint movement to compensate the friction force generated by the movement of the machine itself;

[0059] The joint torque acquisition module is used to acquire the knee joint torque and the hip joint torque;

[0060] The gravity compensation coefficient setting module is used for the trainer to adjust the compensation degree of the knee joint torque and the hip joint torque setting gravity compensation coefficient through the first external interface, and set different gravity compensation coefficients for different patients;

[0061] The motor output torque acquisition module is used to convert the knee joint torque and the hip joint torque with the...

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Abstract

The invention discloses an active training control method and device for a lower limb walking trainer. The method comprises the steps of: giving a resistance compensation moment according to the movement direction of a joint; acquiring a knee joint moment and a hip joint moment; allowing a trainer to set gravity compensation coefficients for the knee joint moment and the hip joint moment through afirst external interface to adjust the compensation degree, and setting different gravity compensation coefficients for different patients; respectively converting the knee joint moment and the hip joint moment which are set with the gravity compensation coefficients into motor output moments; allowing the trainer to multiply the output torque of a motor by an overall compensation coefficient through a second external interface, and setting different overall compensation coefficients for different patients; and outputting an active training motion curve of a patient, and evaluating the rehabilitation degree of the patient according to the motion curve. The active training control method and device have the following advantage: the problems of lack of an active training algorithm and incapability of evaluating the rehabilitation degree of the patient in the prior art are solved.

Description

technical field [0001] The invention relates to the technical field of robot algorithm control, and more particularly relates to an active training control method and device for a lower limb walking trainer. Background technique [0002] With the development of mechanical and electronic technology, robots play an increasingly important role in the medical field. In the field of lower limb rehabilitation, the use of exoskeleton to drive the human body to walk is a common rehabilitation treatment method, which can help patients restore nerve and muscle functions. [0003] At present, the lower extremity exoskeleton robots are basically based on the "passive training" method in which the exoskeleton drives the human body to walk. For patients with certain mobility, the passive training method cannot mobilize the patient's muscles well, and at the same time cannot evaluate the patient's recovery. degree. The "active training" method that allows patients to exercise with an exo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B5/11A61B5/00A63B21/00
CPCA61B5/4836A61B5/4848A61B5/1118A63B21/00181
Inventor 张岩岭倪世佳邵东升戴维程干于振中李文兴
Owner HRG INT INST FOR RES & INNOVATION
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