Robot for assisting foot drop patient in rehabilitation training based on electromyographic signals

Abstract

The invention provides a robot for assisting a foot drop patient in rehabilitation training based on electromyographic signals. The robot comprises a walking aid mechanism, a sensing module and boots. The walking assisting mechanism mainly comprises an actuator main body plate, a foot connecting piece and a driving device, and the actuator main body plate is connected with the rear end of the foot connecting piece through a first connecting shaft. The sensing module comprises a myoelectricity sensor and a mounting bottom plate thereof. The boots are used for supporting and decorating the walking aid mechanism, and the beautifying effect is achieved. In the aspect of control, the motion intention of a patient is predicted based on the law of electromyographic signals between thighs and shanks of the human body, the posture needed by dorsal flexion or plantar flexion motion of the human body is recognized through the value of the electromyographic signals on the front sides of the thighs of the patient, the robot is controlled to assist the patient in completing training of preset actions, and foot drop rehabilitation training is achieved. The rehabilitation robot is simple in structure, the sensing system can obtain the walking intention of the patient, and the rehabilitation robot assists the foot drop patient in rehabilitation training and normal walking.

Description

technical field [0001] The invention relates to the field of robots, in particular to a wearable exoskeleton rehabilitation robot for assisting foot drop patients in rehabilitation and realizing normal walking based on the law of myoelectric signals. Background technique [0002] The exoskeleton rehabilitation robot can assist patients with foot drop to perform a series of rehabilitation exercises, and the patients can cooperate with it. Driven by the rehabilitation robot, it assists the patient to complete the required movement, so as to realize the purpose of the exoskeleton rehabilitation robot assisting the foot drop patient to perform rehabilitation training and realize normal walking. [0003] Foot drop is one of the common disease types in modern society. According to its pathological types, it can be divided into congenital foot drop, traumatic foot drop and neurogenic foot drop. Among them, congenital foot drop can be corrected by massage in the early stage, and th...

AI Technical Summary

Problems solved by technology

[0005] Rehabilitation treatment of foot drop has become one of the focuses in the field of rehabilitation medicine. Combining the above content, in order to better perform rehabilitation training for patients with foot drop, the exoskeleton rehabilitation robot rehabilitation training method is preferred. The related literature is " Wearable 3-DOF Ankle-Foot Sports Rehabilitation Exoskeleton System Research and Development", the exoskeleton movement in this document relies on the plantar force sensor to detect the patient's gait, and uses the control system to realize the regulation of the exoskeleton position, but such navigation signals are not The information can be fed back to the control system in a timely manner, and the patient's movement intention cannot be predicted

The document "Effect of exoskeleton rehabilitation robot combined with Lokomat lower limb rehabilitation robot on walking function of stroke patients" uses the inclination angle of the calf or the change of plantar pressure to activate the device when the patient walks, and then controls the transmission of electrical pulses to the common peroneal nerve. Electrical stimulation, which tends to fatigue the patient's muscles

Images