Control method and device for upper and lower limb coordinated active rehabilitation robot

Abstract

The invention belongs to the technical field of rehabilitation robot motion control, and particularly relates to a control method and device for an upper and lower limb coordinated active rehabilitation robot. The method comprises the steps of obtaining the human body motion gait data information; according to the gait data information and the angle information of an upper limb shoulder joint in one gait cycle, calculating an upper and lower limb coordinated motion track; planning a motion rehabilitation track according to the upper and lower limb coordinated motion track; and planning a rehabilitation motion track of the rehabilitation robot according to the motion rehabilitation track. The robot serves as a medium, the purpose of helping a patient to simulate the human body normal walking is achieved, and therefore the rehabilitation process is promoted by combining the upper limb rehabilitation motion and the lower limb rehabilitation motion. Through the active rehabilitation training of the patient, a neural circuit of the patient can be stimulated, and an ideal rehabilitation effect is achieved. The rehabilitation process does not need the assistance of rehabilitation doctors, the full-automatic rehabilitation is achieved, and the working intensity of the rehabilitation doctors is greatly relieved.

Description

technical field [0001] The invention belongs to the technical field of motion control of a rehabilitation robot, and in particular relates to a control method and device for an active rehabilitation robot coordinated with upper and lower limbs. Background technique [0002] Many of the current rehabilitation robots are single-degree-of-freedom, with a single movement trajectory and training mode, and rehabilitation patients cannot achieve good rehabilitation effects. Some multi-degree-of-freedom rehabilitation equipment is cumbersome to operate, and sometimes requires the participation of multiple professional nurses to complete rehabilitation training, requiring a lot of manpower. Rehabilitation equipment on the market mainly performs independent rehabilitation training for the patient's upper limbs, lower limbs or a certain joint, but the patient needs to walk in the later stage of rehabilitation, which requires a relatively large balance and coordination ability. Balance...

AI Technical Summary

Problems solved by technology

[0003] However, there are currently few researches on rehabilitation robots for body coordination and movement training, and even less research and development of active rehabilitation robots for upper and lower limb coordination. The purpose of active movement training is to regain the brain's ability to coordinate and control muscles

[0004] At present, most of the coordinated motion rehabilitation robots only focus on upper limb coordination, lower limb coordination and passive motor rehabilitation, lack of active participation of patients, and have complex structures, difficult control, low tracking accuracy, and poor flexibility

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