Single lower limb rehabilitation exoskeleton device and control method thereof

Abstract

The invention provides a single lower limb rehabilitation exoskeleton device and a control method thereof. The device comprises a controller, and a healthy side lower limb assembly and an injured sidelower limb assembly in communication connection with the controller; the controller is used for determining the current state of an uninjured side lower limb through the healthy side lower limb assembly and determining the current state of an injured side lower limb through the injured side lower limb assembly; the uninjured side lower limb assembly is used for collecting motion data of the healthy side lower limb when the healthy side lower limb is in a lifting state and sending the motion data to the controller; the controller is used for determining gait data corresponding to the injured side lower limb assembly according to the motion data of the healthy side lower limb and sending the gait data to the injured side lower limb assembly; and the injured side lower limb assembly is usedfor driving the injured side lower limb to move according to the gait data when the healthy side lower limb is in the supporting state. According to the single lower limb rehabilitation exoskeleton device and the control method thereof, autonomous gait control of a patient can be well realized, and information interaction between the patient and the single lower limb rehabilitation exoskeleton device can also be realized, so that personalized physical rehabilitation training is realized.

Description

technical field [0001] The invention relates to the technical field of rehabilitation robots, in particular to a single lower limb rehabilitation exoskeleton device and a control method thereof. Background technique [0002] The rehabilitation exoskeleton robot is a wearable rehabilitation device. At present, the rehabilitation exoskeleton robot usually performs physical rehabilitation training for the patient by controlling the movement of the patient's lower limbs. For example, the patient controls the lower limbs through the upper limb control robot controller. Walking, or control the lower limbs by selecting a preset program in the early stage, so as to realize the patient's rehabilitation walking practice, but the existing rehabilitation exoskeleton robot cannot learn the patient's gait and autonomously control the patient's gait, lacking the ability of patients The information interaction with the rehabilitation exoskeleton robot cannot realize personalized physical re...

AI Technical Summary

Problems solved by technology

[0002]The rehabilitation exoskeleton robot is a wearable rehabilitation device. At present, the rehabilitation exoskeleton robot usually performs physical rehabilitation training for the patient by controlling the movement of the patient's lower limbs For example, the patient controls the walking of the lower limbs through the upper limb control robot controller, or controls the lower limbs by selecting a pre-set program, so as to realize the patient's rehabilitation walking practice, but the existing rehabilitation exoskeleton robot cannot learn The patient's gait and autonomous control of the patient's gait, lack of information interaction between the patient and the rehabilitation exoskeleton robot, can not achieve personalized physical rehabilitation training

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