Online gait generation control system for exoskeleton robot opposite side training

Abstract

The invention discloses an online gait generation control system for exoskeleton robot opposite side training. The online gait generation control system comprises a healthy side pre-motion data acquisition module, a sensor signal acquisition and processing module, a healthy side and affected side data conversion module and an affected side gait correction module. A gait phase specimen set is established through data acquired by the healthy side pre-motion data acquisition module, healthy side motion data is acquired through the sensor signal acquisition and processing module, and the healthy side and affected side data conversion module predicts affected side motion data by combining the healthy side motion data and the gait phase specimen set. The prediction result is corrected through the affected side gait correction module, and finally, the output positions and interpolation time of an affected side hip joint direct-current servo motor and an affected side knee joint direct-currentservo motor are obtained. According to the invention, an affected side exoskeleton system carries out pre-generation processing on affected side bionic healthy side walking data, and carries out online correction according to gravity center change, so that the naturalness and balance requirements of lower limb rehabilitation training movement of a stroke patient can be met, and a human body is more stable and comfortable to walk.

Description

technical field [0001] The invention relates to an online gait generation control system for contralateral training of an exoskeleton robot, which belongs to the robot technology. Background technique [0002] The power-assisted exoskeleton robot is a wearable lower limb bionic mechanical leg for walking. It is human-centered, collects the trend of human body movement through sensors, and assists the joints in the same gait direction as the human in terms of assistance. Corresponding movements to stimulate the corresponding skeletal muscle groups; traditional exoskeleton robots have defects in satisfying the rehabilitation physiotherapy of stroke patients and in coordinating human movement actions. Chinese patent application CN201310688125.3 provides an anthropomorphic lower limb assisted exoskeleton robot, which can be used for lower limb assisted walking, which improves the traditional exoskeleton robot to some extent, but this solution does not have any effect on contrala...

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Problems solved by technology

[0003] Purpose of the invention: In view of the fact that the existing exoskeleton robot cannot effectively exert the subjective action force of the healthy side in the rehabilitation training of stroke patients, and cannot coordinate the gait movements of the healthy side and the affected side, the present invention provides an exoskeleton robot contralateral training Using the online gait generation control system, it can map the gait physiological characteristics of the healthy side to the affected leg under the condition that the exoskeleton robot drives the patient's affected leg, and perform online gait control on the execution trajectory according to the change of the center of gravity during walking. State correction, to achieve the coordination and flexibility of the contralateral control function of the healthy side driving the synchronous movement of the affected side

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