Gait balance training system based on six-degree-of-freedom platform

Abstract

The invention discloses a gait balance training system based on a six-degree-of-freedom parallel platform. The system comprises six-degree-of-freedom platform mechanical hardware, inertial sensing acquisition nodes, an IMU sensor attitude acquisition system, a robot motion control system and a balance training system. The six-degree-of-freedom platform can provide various angle and displacement changes, apply external stimulation, provide acceleration, speed and angular speed stimulation in combination with related algorithms such as trajectory planning and somatosensory simulation of a robotmotion control system, and train the human body balance perception ability from sensory input. The inertia sensing acquisition nodes are combined with an IMU sensor attitude acquisition system to divide human body gait phases and extract human body key gait data such as stride frequency, stride speed and step length. The extracted human gait data can be used for balance ability evaluation and judgment before training and can also be used for guiding the motion form of the robot in the training process. Two training modes of a balance training system are combined, and active training and passive training of the human body are achieved. According to the invention, a multi-degree-of-freedom platform, motion data acquisition and analysis and related algorithms are introduced to realize a complete gait balance training robot, and the human body balance ability and gait characteristics can be evaluated and judged from feeling input. The blank of domestic related research is filled up, and anew gait balance training mode is added.

Description

technical field [0001] The invention aims at the field of medical rehabilitation, and aims at a gait balance training system based on a 6-degree-of-freedom motion platform for patients with balance disorders who have exercise ability. Background technique [0002] With the increase of age and the occurrence of common geriatric diseases, the balance ability of elderly patients declines rapidly, and gait abnormalities occur frequently. The balance rehabilitation and gait abnormal diagnosis at the present stage are more based on the guidance of physicians' experience, using the training movements customized by physicians, and evaluating the training effect based on subjective judgment. The balance training process is randomized, the gait evaluation standard is not unique, and a large number of experienced rehabilitation physicians are required. [0003] At present, most of the mainstream gait rehabilitation training robots in the market are exoskeleton structures, which focus ...

AI Technical Summary

Problems solved by technology

The balance training process is randomized, the gait evaluation standard is not

Images