Parallel rehabilitation robot for lower limb training driven by redundant constraint flexible cable and control method of parallel rehabilitation robot

A rehabilitation robot and cable-driven technology, which is applied in the field of rehabilitation medical training equipment, can solve the problems of starting and stopping acceleration, large moment of inertia, complex design structure of exoskeleton robots, and secondary injuries of patients' lower limbs, so as to avoid secondary injuries. Less damage, less rotational inertia, and increased safety

Inactive Publication Date: 2020-07-17
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are still problems such as the following: First, the training methods are mostly passive training, which is suitable for early rehabilitation training, and it is difficult to adapt to mid-term and later rehabilitation training.
Second, the design structure of the exoskeleton robot is complex, and the maintenance of its own balance is still a research problem. It usually needs to be worn on...

Method used

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  • Parallel rehabilitation robot for lower limb training driven by redundant constraint flexible cable and control method of parallel rehabilitation robot
  • Parallel rehabilitation robot for lower limb training driven by redundant constraint flexible cable and control method of parallel rehabilitation robot
  • Parallel rehabilitation robot for lower limb training driven by redundant constraint flexible cable and control method of parallel rehabilitation robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0069] figure 1 and figure 2 The structural diagram of the parallel robot for lower limb training driven by flexible cables with redundant constraints, as shown in figure 1 As shown, the NAO humanoid robot 1 is located in the center of the outer frame, and the upper limb wearable adjustable fixing device 2 is connected to the top of the outer frame and the reel mechanism 519 on the top of the outer frame through the upper limb bearing cable 518, and is worn on the NAO humanoid robot. 1 above the waist. The leg current sensor 3 of the lower limb is worn on the leg of the NAO humanoid robot 1 . The foot fixing device 4 is worn on the feet of the NAO humanoid robot 1 and fixes the feet of the NAO humanoid robot 1 on the motion platform 506 . The ball screw pair 513 located outside the outer frame is connected to the upper end of the motion platform 506 through the upper drive cable 515 through the fixed pulley mechanism 509, and the ball screw pair 513 located inside the oute...

Embodiment 2

[0077] This example aims to realize the active sports training method, and the system structure is the same as that of Example 1

[0078] Refer to control flow Figure 15 , the control flow of this instance is as follows:

[0079] Steps 1 and 2 are the same as in the implementation example 1.

[0080] Step 3: Select the active exercise training method, the lower limb leg current sensor 3, the instep pressure sensor 403 and the sole pressure sensor 404, collect the movement direction trend of the human body, and send instructions from the host computer to drive the motor 501 to pull the flexible cable to drive the motion platform 506 Move according to the direction of human movement intention.

[0081] Steps 4 and 5 are the same as those in Example 1.

Embodiment 3

[0083] The goal of this example is to realize the combination of active exercise and passive exercise, and the system structure is the same as that of Example 1.

[0084] Refer to control flow Figure 15 , the control flow of this instance is as follows:

[0085] Steps 1 and 2 are the same as in Example 1.

[0086] Step 3: Choose a training method combining active exercise and passive exercise. The lower limb leg current sensor 3, the instep pressure sensor 403 and the sole pressure sensor 404 collect the movement direction trend of the human body, and the host computer issues instructions to drive the motor 1 501 to pull the flexible cable Drive the motion platform 506 to move according to the direction of the human body's movement intention, and at the same time, the host computer sends an instruction to drive the motor 1 501 to give an appropriate impedance.

[0087] Steps 4 and 5 are the same as those in Example 1.

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Abstract

The invention discloses a parallel rehabilitation robot for lower limb training driven by a redundant constraint flexible cable and a control method of the parallel rehabilitation robot. The parallelrehabilitation robot comprises an outer frame, a redundant flexible cable driving device, an upper limb wearing type adjustable fixing device, lower limb leg current type sensors and foot fixing devices, wherein the upper limb wearing type adjustable fixing device, the lower limb leg current type sensors and the foot fixing devices are positioned in the outer frame. The upper limb wearing type adjustable fixing device is worn on the part above the waist of the human body, the lower limb leg current type sensors are worn on legs of the human body, and the foot fixing devices are worn on feet ofthe human body and are fixed to a sports platform. The lower limb leg current type sensors and pressure sensors positioned on the foot fixing devices identify motion intention of the human body. Meanwhile, the balance of the body of the rehabilitation robot is increased by adopting redundant constraint, and a plurality of rehabilitation training strategies of passive training, active training andactive and passive training can also be combined, so that rehabilitation training of lower limbs of the human body is realized under driving of a redundant constraint flexible cable parallel mechanism.

Description

technical field [0001] The invention relates to the technical field of rehabilitation medical training equipment, in particular to a parallel rehabilitation robot driven by redundant restraint cables for training lower limbs and a control method thereof. Background technique [0002] my country has become one of the countries with the fastest aging population in the world. At the same time, the proportion of disabled people in my country is also among the highest in the world. The nursing and rehabilitation of the elderly and disabled has become an important social issue. Research on modern rehabilitation medicine shows that the nervous system has self-remodeling properties, and sports rehabilitation training can re-establish the connection between the limbs and the central nervous system of brain damage, gradually stimulate the recovery of the brain damage, and achieve effective control of limb behavior. However, at present, the total amount of rehabilitation medical resour...

Claims

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Application Information

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IPC IPC(8): A61H1/02A61B5/11A63B23/04
CPCA61H1/0237A61H1/0262A61B5/1116A63B23/04A61H2201/1207A61H2201/14
Inventor 訾斌杨正蒙李元孙智
Owner HEFEI UNIV OF TECH
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