Foot drop rehabilitation exoskeleton robot and self-adaptive gait auxiliary control method

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a foot drop rehabilitation exoskeleton robot and a self-adaptive gait auxiliary control method. The foot drop rehabilitation exoskeleton robot and the self-adaptive gait auxiliary control method aim to solve the problem that in the prior art, effective rehabilitation training cannot be provided for a foot drop patient. According to the foot drop rehabilitation exoskeleton robot, kinematics and dynamics data of the patient are recorded through an induction module and a main control module, a traction driving device is controlled to rotate by recognizing the human body motion intention in real time so as to simulate the normal gait of a healthy person, and active rehabilitation training of the foot on the affected side is achieved. Compared with an electrical stimulation method, a motor is adopted for assisting the patient in moving so that the foot on the affected side can reach the finer angle position, and meanwhile the foot is safer. Meanwhile, the foot drop rehabilitation exoskeleton robot is simple in structure, low in weight, convenient to wear flexibly and capable of effectively providing walking assistance for the foot drop patient and assisting the foot drop patient in foot rehabilitation training.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and in particular relates to a foot drop rehabilitation exoskeleton robot and an adaptive gait auxiliary control method. Background technique [0002] In recent years, the incidence of stroke in my country has been increasing year by year, and it has become the disease with the highest fatality rate in China, accounting for 40% of stroke deaths worldwide. At the same time, the disability rate of stroke is as high as 70%, among which the severe disability exceeds 40%. Among them, foot drop is a typical sequelae. Foot drop refers to the phenomenon of incomplete or inability to lift the toes caused by diseases such as stroke, and abnormal walking gait due to difficulty in lifting the toes. Therefore, a kind of foot drop rehabilitation training equipment is needed to solve or at least alleviate the above-mentioned problems. Contents of the invention [0003] In order to solve the above-me...

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Problems solved by technology

[0003] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem in the prior art that effective rehabilitation training cannot be provided for patients with foot drop

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