An online gait generation control system for exoskeleton robot contralateral training

An exoskeleton robot and contralateral training technology, applied in applications, sensors, and appliances to help people walk, can solve problems such as inability to effectively exert subjective mobility, and inability to coordinate the gait movements of the healthy side and the affected side

Active Publication Date: 2021-04-16
NANJING VISHEE MEDICAL TECH
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  • Abstract
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  • Claims
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AI Technical Summary

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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  • An online gait generation control system for exoskeleton robot contralateral training
  • An online gait generation control system for exoskeleton robot contralateral training
  • An online gait generation control system for exoskeleton robot contralateral training

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Embodiment Construction

[0049] The present invention will be specifically introduced below in conjunction with the accompanying drawings and specific embodiments.

[0050] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and should not be understood as indicating or implying relative...

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Abstract

The invention discloses an online gait generation control system for contralateral training of an exoskeleton robot, comprising a healthy side pre-motion data acquisition module, a sensor signal acquisition and processing module, a healthy side affected side data conversion module and an affected side gait correction module The gait phase sample set is established through the data collected by the pre-motion data acquisition module of the healthy side, the motion data of the healthy side is collected through the sensor signal acquisition and processing module, and the data conversion module of the affected side of the healthy side combines the motion data of the healthy side with the gait phase sample set The motion data of the affected side is predicted, and the prediction result is corrected by the affected side gait correction module, and finally the output position and interpolation time of the hip joint DC servo motor and the affected knee DC servo motor of the affected side are obtained. The invention pre-generates the walking data of the affected side imitating the healthy side in the exoskeleton system on the affected side, and corrects it online according to the change of the center of gravity, which can meet the naturalness and balance requirements of the lower limb rehabilitation training exercise of stroke patients, and make the human body walk more smoothly. Stable and comfortable.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H3/00A61B5/103A61B5/107
CPCA61B5/1038A61B5/1071A61H3/00A61H2205/10
Inventor 何锋黄河刘园虎周晓锦刘雷礼王君
Owner NANJING VISHEE MEDICAL TECH
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