Semi-direct-drive-driver-based lower limb rehabilitation robot and control method therefor

Abstract

The invention discloses a semi-direct-drive-driver-based lower limb rehabilitation robot and a control method therefor and relates to the technical field of rehabilitation robots. The robot comprisesa waist adjusting structure, two thigh adjusting structures, two shank adjusting structures and two foot bottom plates, wherein the two thigh adjusting structures, the two shank adjusting structures and the two foot bottom plates are rotatably connected to the two sides of the waist adjusting structure symmetrically and are rotatably connected sequentially from top to bottom; and a hip joint driving structure, knee joint driving structures and ankle joint driving structures are separately mounted on the waist adjusting structure, the thigh adjusting structures and the shank adjusting structures. According to the robot and the control method therefor, the robot can assist a sufferer to achieve bending and stretching of a hip joint, bending and stretching of a knee joint and plantar flexionand dorsal flexion of an ankle joint, is perfect in rehabilitation functions and can better meet rehabilitation training requirements of the sufferer on rehabilitation of a lower limb; and adaptability and independence of rehabilitation training height can be achieved by means of inputting stature information on the sufferer, selecting a mode of rehabilitation training and acquiring rehabilitationtraining parameters for the first time, so that needs of the sufferer on rehabilitation training are better adapted, and the effect of rehabilitation training is improved.

Description

technical field [0001] The invention relates to the technical field of rehabilitation robots, in particular to a rehabilitation robot for assisting rehabilitation of lower limbs and a control method thereof. Background technique [0002] Lower extremity motor dysfunction is a sequela that may be caused by a variety of diseases and traumas. This sequela has greatly affected the patient's personal life and brought a heavy burden to the patient's family. After active rehabilitation treatment for lower limb motor dysfunction, most of them can regain their ability to walk and take care of themselves, and some of them can engage in lighter work. Traditional rehabilitation procedures rely on the therapist's experience and hands-on skills, and may be difficult to meet rehabilitation needs; at the same time, with the sharp increase in the number of patients, medical resources are becoming more and more tense. [0003] With the development of science and technology and the improvemen...

AI Technical Summary

Problems solved by technology

[0014] The lower extremity exoskeleton rehabilitation robot of this invention uses a complex ball screw structure at the hip joint and knee joint to realize rehabilitation movement, which occupies a large volume and has no drive at the ankle joint, resulting in unsound rehabilitation of the patient's lower limbs and unsatisfactory rehabilitation effect , and cannot meet the needs of patients for specialized rehabilitation of the ankle joint

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