Non-contact active and passive hybrid walking aid robot and control method

Abstract

The invention discloses a non-contact active and passive hybrid walking aid robot and a control method thereof. The non-contact active and passive hybrid walking aid robot comprises a pair of lateralnon-contact moving chassis, the lateral non-contact moving chassis are fixed through a connecting plate, and the left non-contact chassis and the connecting plate are provided with four eight-channelshort-distance sensors in total; each sensor is provided with eight supports, and each support is provided with a single-channel laser ranging PCB which is connected through electric signals. The walking speed intention of a user under a non-contact condition is recognized, and the walking speed recognition precision is improved while the recognition hysteresis quality is reduced. When the omni-directional moving chassis is applied to the walking rehabilitation training robot with the omni-directional moving chassis, the walking rehabilitation training robot can move and rotate in any direction without changing the posture of the robot, and the turning radius is not needed; and a solution is provided for non-contact active training and passive training fused omni-directional walking rehabilitation training in an indoor narrow space scene.

Description

technical field [0001] The invention relates to the technical field of limb rehabilitation, in particular to an apparatus and control method suitable for the elderly, disabled and other persons with reduced limb mobility to complete active-passive fusion walking rehabilitation training in a small indoor space. Background technique [0002] For people with loss of motor function, walking rehabilitation training helps patients to re-learn motor and reconstruct gait to improve walking ability or restore walking ability. At present, the main methods of walking rehabilitation training are: artificial rehabilitation training, weight-lifting rehabilitation training, and exoskeleton rehabilitation training. There are following deficiencies: [0003] Artificial rehabilitation training relies on medical trainers to carry out exercise recovery training for patients. This training method not only increases the workload of trainers, is inefficient, and is relatively simple, it cannot fu...

AI Technical Summary

Problems solved by technology

But its disadvantages lie in two points: patients need to have a certain walking ability, this training method is not suitable for users with weak walking ability; all the force of the exoskeleton is finally fed back to the waist, which is not suitable for users with waist problems

[0006] At present, there is a lack of non-contact active and passive hybrid control methods in China, and the functions of non-contact, application in small spaces, and various user groups have not yet been realized.

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