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

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...

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 the patient. Through the patient's force balance, the patient bears an additional weight burden

The third is that the exoskeleton rehabilitation training robot is in direct contact with the human body, and it adopts the direct drive mode of the motor. The acceleration and moment of inertia of its start and stop are relatively large, and it is easy to cause secondary damage to the lower limbs of the patient.

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