Single-leg exoskeleton robot and control method thereof

Abstract

The embodiment of the invention provides a single-leg exoskeleton robot and a control method. The single-leg exoskeleton robot comprises a control assembly, an affected side leg exoskeleton and an uninjured side leg detection assembly. The control assembly is connected with the affected side leg exoskeleton and the uninjured side leg detection assembly. The affected side leg exoskeleton is electrically connected with the healthy side leg detection assembly; the healthy side leg detection assembly comprises a hip joint detection block, a knee joint detection block and an ankle joint detection block which can independently detect and correspond to lower limb joints of the patient. The rotation angle of the driver, the rotation speed of the driver, the gait track curve and the like are adjusted according to the motion intention of the healthy side legs of the patient, and therefore rehabilitation training is achieved. The robot adopts a lightweight design, so that the weight is lighter, and the output torque is larger. Rehabilitation training is conducted on the affected side in a targeted mode, the burden of the patient is relieved through the exoskeleton on the single side, and the patient can wear the exoskeleton more conveniently and comfortably.

Description

technical field

[0001] The invention relates to the technical field of medical devices, in particular to a single-leg exoskeleton robot and a control method thereof. Background technique

[0002] Injuries from stroke or accidents cause people to have limb dysfunction, that is, lower limb walking impairment caused by nerve damage and other diseases. Patients with unilateral leg limb dysfunction need regular rehabilitation training to maintain the basic functions of the limbs. Rehabilitation robots are widely used clinically for patients with lower limb walking impairment caused by nerve injury and other diseases, and can provide a safe and effective walking training platform for patients with walking dysfunction caused by nerve injury. As the product of the combination of intelligent robot technology and rehabilitation therapy theory, the lower limb rehabilitation robot has the therapeutic effect and user experience unmatched by traditional artificial assisted training method...

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