Gait training method and device for lower limb rehabilitation robot and lower limb rehabilitation robot

A rehabilitation robot and gait training technology, applied in the field of rehabilitation robots, can solve the problems of poor training effect of patients and achieve the effect of reducing movement restrictions and good training effect

Pending Publication Date: 2022-01-21
SHENZHEN WISEMEN MEDICAL TECH CO LTD
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  • Application Information

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Problems solved by technology

[0005] The present invention solves the problem that the existing lower limb rehabilitation robot adopts the position control method, and the training effect on the patients in the middle and late stages of rehabilitation is poor

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  • Gait training method and device for lower limb rehabilitation robot and lower limb rehabilitation robot
  • Gait training method and device for lower limb rehabilitation robot and lower limb rehabilitation robot
  • Gait training method and device for lower limb rehabilitation robot and lower limb rehabilitation robot

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Embodiment Construction

[0041] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0042] The design principle of the active training mode is "Assist as Needed" (AAN, Assist as Needed), that is, to provide only the necessary support to ensure safety without restricting the user's movement. In order to motivate the user to participate actively, In this mode, the robot will provide as little auxiliary force as possible, and the user needs to actively exert force to complete the rehabilitation action together. However, the existing gait training methods for lower limb rehabilitation robots do not meet this requirement.

[0043]There is a three-dimensional gait rehabilitati...

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Abstract

The invention provides a gait training method and device for a lower limb rehabilitation robot and the lower limb rehabilitation robot. The method comprises the steps that: obtaining virtual channel parameters and reference movement tracks corresponding to a user; determining a gait cycle reference value of the current moment according to the current moment and the gait cycle; constructing a virtual channel according to the gait cycle reference value at the current moment and the virtual channel parameters; calculating a force field acting force according to the position of the lower limb joint angle at the current moment relative to the virtual channel; controlling the lower limb rehabilitation robot to train according to the force field acting force. According to the invention, the virtual channel can be constructed in the lower limb joint space, force control is performed through the force field, the lower limb joints of the patient can freely move in the virtual channel, the movement limitation of the rehabilitation robot on the patient can be reduced, a certain free movement space is provided for the patient, the patient can be promoted to actively participate in rehabilitation training. The gait training method and device are suitable for rehabilitation of patients in middle and later periods with better training effect.

Description

technical field [0001] The invention relates to the technical field of rehabilitation robots, in particular to a gait training method and device for a lower limb rehabilitation robot and a lower limb rehabilitation robot. Background technique [0002] Rehabilitation robots, as a research hotspot in the field of neurological rehabilitation, can assist physicians in providing rehabilitation training and treatment for patients, and alleviate the shortage of rehabilitation medical human resources. [0003] Rehabilitation robot-assisted rehabilitation training can be divided into passive and active modes, which are mainly divided according to the patient's own motion state. Passive training is aimed at patients with weak motor ability due to serious illness in the early stage of rehabilitation. The robot completely drives the patient's limbs to move along the predetermined trajectory. At this time, the patient's movement is in a passive state; After partial recovery, the patient...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00A61B5/11
CPCA61B5/112A61B5/1122A61H3/00A61H2230/625A61H2201/1207A61H2201/5007A61H2201/5041A61H2201/1659
Inventor 不公告发明人
Owner SHENZHEN WISEMEN MEDICAL TECH CO LTD
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