Rehabilitation exoskeleton robot and gait planning method thereof

Abstract

The invention discloses a rehabilitation exoskeleton robot and a gait planning method thereof, and the rehabilitation exoskeleton robot, a walking stick, and a sensor control system, and the gait planning method are included. The rehabilitation exoskeleton robot comprises a main machine box, a connecting frame, a first walking executing mechanism and a second walking executing mechanism, the first walking executing mechanism and the second walking executing mechanism are arranged on the two sides of the connecting frame and are of the same structure, and a controller, a gyroscope and a power supply module are arranged in the main machine box; one end of the connecting frame is detachably connected with the first walking executing mechanism, the other end of the first walking executing mechanism is detachably connected with the second walking executing mechanism, the first walking executing mechanism comprises a hip joint executing mechanism, a thigh connecting rod, a knee joint executing mechanism, a shank connecting rod and a sole pressure shoe, and servo motors are arranged on the hip joint executing mechanism and the knee joint executing mechanism; the stability of the rehabilitation exoskeleton robot is greatly improved; AND the sensor control system is a part independent of the controller and completes monitoring of the motion state of the exoskeleton system.

Description

technical field [0001] The invention relates to the technical field of rehabilitation exoskeleton robots, in particular to a rehabilitation exoskeleton robot and a gait planning method thereof. Background technique [0002] As we all know, the proportion of the aging population has increased significantly. Among them, the number of elderly people with lower limb inconvenience due to hemiplegia and stroke is increasing, and the number of people with lower limb weakness, hemiplegia, and paralysis due to spinal nerve damage is also increasing. Since the 20th century, countries led by the United States have continued to conduct research on power-assisted exoskeleton and rehabilitation exoskeleton robots. With the continuous advancement of robot technology, various countries have made continuous breakthroughs in the research of lower limb rehabilitation exoskeletons. Our country has also gradually realized the importance of robots to the improvement of scientific and technologica...

AI Technical Summary

Problems solved by technology

However, the existing rehabilitation exoskeleton robot lacks a driving structure. The patient moves the center of gravity forward through the twisting of the pelvis, which cannot provide stable support for the body.

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