Lower limb rehabilitation robot and motility control method thereof

Abstract

The invention relates to the technical field of motility control of rehabilitation robots, and discloses a motility control method of a lower limb rehabilitation robot. The method comprises the following steps: S1, judging whether the state of a current spinal cord injury patient is a preset early rehabilitation state or not; S2, if the current state of the patient with spinal cord injury is a preset early rehabilitation state, performing motion inverse solution on the lower limb rehabilitation robot according to a preset passive training scheme, and driving the lower limb rehabilitation robotto drive the patient with spinal cord injury to move according to a passive training process corresponding to the motion inverse solution; and S3, if the current state of the spinal cord injury patient is not the preset early rehabilitation state, performing motion positive solution on the lower limb rehabilitation robot according to a preset active training scheme, and driving the lower limb rehabilitation robot to drive the spinal cord injury patient to move according to a corresponding active training process after the motion positive solution. The method is of great significance to nerveaxon regeneration and remodeling of spinal cord injury patients.

Description

technical field [0001] The invention relates to the field of computer-aided rehabilitation medicine, in particular to a lower limb rehabilitation robot and a kinesthetic control method thereof. Background technique [0002] Studies have found that there are a large number of resting neural connections in the adult spinal cord, and activating these resting communication channels, or promoting the formation of new synaptic connections, can help improve the plasticity of the spinal cord in patients with spinal cord injuries. The importance of early intensive training for spinal cord injury patients during the bed rest period is that it can not only facilitate the functional reorganization of the central nervous system, but also reduce the negative impact of bed rest and / or muscle disuse on the plasticity of the nervous and muscular systems. [0003] At present, what patients with spinal cord injury can do during the bed rest period is only daily short-term (in minutes) rehabili...

AI Technical Summary

Problems solved by technology

[0003] At present, what patients with spinal cord injury can do during the bed rest period is only daily short-term (in minutes) rehabilitation treatment, and the training intensity is necessary to offset the negative effects of bed rest and / or muscle disuse on the plasticity of the nervous and muscular systems. sexual influence is not enough

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