Functional electrical stimulation and motor hybrid driven lower limb exoskeleton device and control method

Abstract

The invention discloses a functional electrical stimulation and motor hybrid driven lower limb exoskeleton device and a control method. A dynamic lower limb exoskeleton system is used for establishinginternal kinetic models of a hip joint motor controller and a knee joint motor controller according to real-time motor angles and current signals, and performing parameter identification on the kinetic models to obtain moments output by the hip joint motor controller and the knee joint motor controller; and a functional electrical stimulation system is used for receiving motor angle information and current signals fed back by the dynamic lower limb exoskeleton system, adjusting stimulation parameters to generate stimulation current to stimulate muscles, and outputting muscle moment caused byfunctional electrical stimulation, so that the lower limbs of the patient are jointly driven to move through the moment output by the hip joint motor controller and the knee joint motor controller andthe muscle moment caused by the functional electrical stimulation. The device can reduce the torque, the power and the energy consumption of the motor, and can perform rehabilitation training and treatment on lower limb muscles of a patient.

Description

technical field [0001] The invention relates to the technical field of rehabilitation equipment, in particular to a lower extremity exoskeleton device and a control device driven by functional electric stimulation and motor hybridization. Background technique [0002] Functional Electrical Stimulation (FES) belongs to the category of Neuromuscular Electrical Stimulation (NES), which uses a certain intensity of low-frequency pulse current to stimulate one or more groups of muscles through a preset program. Induce muscle movement or simulate normal voluntary movement to achieve the purpose of improving or restoring the function of the stimulated muscle or muscle group. The use of functional electrical stimulation can bring certain physiological benefits to patients, such as maintaining muscle vitality, preventing muscle atrophy, and gradually realizing the reconstruction of motor function. [0003] Exoskeleton rehabilitation robot technology involves the intersection and inte...

AI Technical Summary

Problems solved by technology

When functional electrical stimulation induces continuous muscle movement, the continuous stimulation will also lead to muscle fatigue, and excessive use will cause muscle damage; at the same time, for patients with long-term paralysis, the muscle contraction force generated by functional electrical stimulation is small, Unable to help patients move autonomously, and it is difficult to control

Most lower extremity exoskeleton robot systems use hydraulic, pneumatic, motor and other external force driving methods to move patients, which cannot conform to the human body's own musculoskeletal movement mode, and often cause further injuries such as muscle atrophy, joint wear, and even fractures.

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