Wearable lower limb rehabilitation exoskeleton control method

Abstract

The invention discloses a wearable lower limb rehabilitation exoskeleton control method which comprises a passive control mode and an active control mode, in the passive mode, gait data of left and right hip joint angles and left and right knee joint angles of corresponding heights are obtained and processed by a central processing unit, and signals are transmitted to a motor module; the lower limb rehabilitation exoskeleton is driven to complete passive movement of the patient according to the corresponding gait data; according to the active control mode, electromyographic signals of all actions of a patient need to be collected firstly, the signals are amplified and filtered, the electromyographic signals of all the actions are established to serve as a known action intention library of rehabilitation training, one-to-one mapping of the actions and the electromyographic signals is conducted on the filtered electromyographic signals, and gait data is obtained according to the height of the patient; the gait data of the knee joints and the hip joints are converted through the central processing unit. The wearable lower limb rehabilitation exoskeleton robot aims at solving the technical problems that an existing wearable lower limb rehabilitation exoskeleton robot is single in rehabilitation training mode and poor in patient initiative.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a control method for a wearable lower limb rehabilitation exoskeleton. Background technique [0002] At present, there are 128 million physically disabled or semi-disabled people worldwide due to bone and joint diseases, degenerative changes, cerebral palsy and other diseases or trauma, and the number is increasing by 4% every year. There are 25 million patients with limb disabilities in my country, of which about 15 million are patients with lower limb disabilities. With the rapid increase of the aging population and the high incidence of cerebrovascular diseases, the number of people with lower limb disabilities is rapidly expanding. [0003] Lower limb rehabilitation training is one of the important means of walking rehabilitation for patients with such diseases, and a large number of clinical studies have confirmed its effectiveness. The traditional manual lower limb rehabil...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a wearable lower limb rehabilitation exoskeleton control method to solve the technical problems of poor applicability, single rehabilitation training mode and poor patient participation initiative of the existing wearable lower limb rehabilitation exoskeleton robot