Wheelchair and walking-aid exoskeleton integrated structure and control method thereof

Abstract

The invention discloses a wheelchair and walking-aiding exoskeleton integrated structure and a control method thereof. The structure comprises a wheelchair and a walking-aiding exoskeleton, wherein the wheelchair comprises a wheelchair frame body, a seat plate and a walking mechanism, the walking-aiding exoskeleton comprises a hip joint assembly, knee joint assemblies and ankle joint assemblies, a controller, an auxiliary standing mechanism and an auxiliary walking mechanism are arranged on the wheelchair frame body, the auxiliary standing mechanism is connected with the seat plate, the auxiliary walking mechanism comprises a left auxiliary walking assembly and a right auxiliary walking assembly, the left auxiliary walking assembly is simultaneously connected to positions, corresponding to the left shank and the left thigh of a human body, of the knee joint assembly at the corresponding side, and the right auxiliary walking assembly is simultaneously connected to positions, corresponding to the right shank and the right thigh of the human body, of the knee joint assembly at the corresponding side. The wheelchair and walking-aiding exoskeleton integrated structure can be used for assisting a patient in autonomously carrying out leg rehabilitation training, so that the patient can carry out rehabilitation training anytime and anywhere as required, and the rehabilitation cost can be greatly reduced.

Description

technical field [0001] The invention relates to the technical field of rehabilitation equipment, in particular to an integrated structure of a wheelchair and a walking aid exoskeleton and a control method thereof. Background technique [0002] In recent years, the world's aging population has grown at a rate of 2.5% per year, of which the growth rate of China's aging population has reached 3.3%. The aging of the population is also accompanied by the decline of human physiological functions, including the decline of human mobility and flexibility, the loss of walking ability, etc. In addition, more and more hemiplegic or paraplegic patients suffer from stroke, spinal cord injury, brain injury , Brain tumors and other diseases or accidents, motor ability is impaired, and its postoperative rehabilitation has also become a major problem. Due to the plasticity of the human brain, accurate and timely rehabilitation training can help patients with brain injury undergo neural reorg...

AI Technical Summary

Problems solved by technology

[0003] At present, wheelchairs are generally used to assist patients with motor impairments in their daily movements. However, when patients need to perform walking rehabilitation training, the nursing staff needs to assist the patient to stand up from the wheelchair first, and then the patient is supported by the nursing staff. Move to carry out the rehabilitation training of legs, so that the patient cannot complete the rehabilitation training on his own, and the rehabilitation training must be carried out with the assistance of the nursing staff, so that on the one hand, the patient cannot perform rehabilitation training anytime and anywhere, and on the other hand Increased cost of patient rehabilitation training

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