Flexible lower limb exoskeleton and walking aid co-fusion rehabilitation assisting method and device

Abstract

The invention provides a flexible lower limb exoskeleton and walking aid co-fusion rehabilitation assistance method and device. The method comprises the following steps: sensing movement information of a user through sensors disposed on an exoskeleton suit and a walking aid, achieving coordination and co-fusion rehabilitation assistance of the exoskeleton suit and the walking aid through information fusion processing and prediction, and stimulating the training enthusiasm of the user. The exoskeleton suit and the walking aid are fused for rehabilitation assistance, so that limb fatigue of theuser is relieved while the user is assisted in stable walking training. Anti-falling feedback control of motion information of the exoskeleton suit and the walking aid is integrated, and the safety inthe using process is guaranteed from the two aspects of the exoskeleton suit and the walking aid.

Description

technical field [0001] The invention relates to the field of supporting equipment for rehabilitation training for patients with mobility impairments, and in particular relates to a rehabilitation assisting method and device for the integration of a flexible lower limb exoskeleton and a walker. Background technique [0002] Walking aids can provide walking support for people with walking disabilities and assist in walking training. At present, most walkers still use a purely mechanical structure with simple functions, which are limited to the walker body and rely on the user's own body movements for walking training, which is prone to limb fatigue, boredom, and lack of enthusiasm for training. Fall prediction cannot be performed, and there are problems such as poor safety. [0003] Rehabilitation exoskeleton technology has developed rapidly in recent years. It can provide effective rehabilitation training for patients with lower limb paralysis, spinal cord injury and stroke,...

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