Lower limb rehabilitation robot based mirror training method for lower limb rehabilitation

Abstract

The invention discloses a lower limb rehabilitation robot based mirror training method for lower limb rehabilitation. The method includes the following steps: 1, initializing each joint angle of a lower limb rehabilitation robot; 2, collecting an initial pose when a patient sits on the lower limb rehabilitation robot at an initial state; 3, controlling, by the lower limb rehabilitation robot, motors to rotate to the initial pose; 4, collecting real-time dynamic data during the rehabilitation training of the patient; 5, processing the real-time dynamic data through an industrial personal computer, and obtaining the actual moment required by the rotation of each joint; and 6, adjusting the rotating angles of the motor of each joint, detecting the positions of the motors in real time to obtain the current position information of each joint, and feeding the information back to the industrial personal computer to inspect until the mirror position on the healthy side of the patient is achieved. The method can control the lower limb rehabilitation robot to drive the affected side of the patient to complete mirror motion according to the motion track of the healthy side of the patient, sothat reliability can be provided for the lower limb rehabilitation training of the patient.

Description

technical field [0001] The invention relates to the field of medical rehabilitation, in particular to a mirror image training method for lower limb rehabilitation. Background technique [0002] Stroke has the characteristics of high morbidity, high mortality and high disability rate. For patients with physical disabilities caused by stroke, the quality of life depends largely on the recovery of limb motor function. Scientific and reasonable rehabilitation training is a very important and key medical method. In the traditional rehabilitation treatment, the patient's exercise training mainly relies on the manual assistance of the physical therapist, which has prominent problems such as low level of automation and poor efficiency. Rehabilitation robots have a remarkable effect in restoring the limb function of patients. The main function of the lower limb rehabilitation robot is to perform rehabilitation training on the patient's lower limbs by simulating the normal physiolog...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the shortcomings of the above-mentioned prior art, the present invention proposes a lower limb rehabilitation mirror image training method based on the lower limb rehabilitation robot, in order to be able to control the lower limb rehabilitation robot to drive the affected side of the patient to complete the mirror image according to the movement trajectory of the healthy side of the patient. Movement, which can improve the problem of inaccurate mirror position, and provide reliability for patients' lower limb rehabilitation training

Images