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Foot drop rehabilitation exoskeleton robot and adaptive gait auxiliary control method

An exoskeleton robot and foot drop technology, applied in the field of medical equipment, can solve the problems of rehabilitation training and unable to provide for patients with foot drop, and achieve the effect of flexible wear, simple structure, and guaranteed effect

Active Publication Date: 2021-12-24
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Description
  • Claims
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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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  • Foot drop rehabilitation exoskeleton robot and adaptive gait auxiliary control method
  • Foot drop rehabilitation exoskeleton robot and adaptive gait auxiliary control method
  • Foot drop rehabilitation exoskeleton robot and adaptive gait auxiliary control method

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Embodiment Construction

[0047] In order to make the embodiments, technical solutions and advantages of the present invention more obvious, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Example. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

[0048] In order to enable stroke patients to walk normally, this patent designs a portable exoskeleton rehabilitation robot for foot drop rehabilitation, which uses sensors to record patient kinematics and dynamics data, and recognizes human motion intentions in real time in the main control module , under the drive of the motor, it imitates the normal gait of healthy people, and realizes the...

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Abstract

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, aiming to solve the problem that effective rehabilitation training cannot be provided for foot drop patients in the prior art. The foot drop rehabilitation exoskeleton robot provided by the present invention uses the sensing module and the main control module to record the patient’s kinematics and dynamics data, and controls the rotation of the traction drive device to imitate the normal gait of a healthy person by recognizing the human body’s motion intention in real time, so as to realize the effect on the affected side Active foot rehabilitation training. Compared with electrical stimulation methods, the use of motor-assisted patient movement can achieve a more precise angular position of the affected foot, and it is also safer. Simultaneously, the present invention is simple in structure, light in weight, easy to wear flexibly, can effectively provide walking assistance for patients with foot drop, and assist them 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00A61H1/02
CPCA61H1/0262A61H2201/1207A61H2201/1642A61H2201/165A61H2201/5058A61H2201/5071A61H2201/5079A61H2201/5084A61H2205/10A61H2230/065A61H2230/625A61H2230/825
Inventor 王卫群侯增广胡旭超石伟国焦雨泽方志杰
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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