Multi-modal sensing system for lower limb rehabilitation robot

Abstract

The invention provides a multi-mode sensing system for a lower limb rehabilitation robot. An angle encoder can obtain lower limb joint motion parameters; the torque sensor can measure the torque of the joint; the inertial sensor senses three-dimensional posture information of each body section of the human body and checks abnormal joint movement; the plantar pressure sensor can obtain walking pressure information; the visual sensor can sense a three-dimensional track of a human body in a field of view; the surface electromyogram signal sensor obtains the activation degree, fatigue time and trigger activation time information of muscles; the heart rate and blood oxygen sensor obtains the oxygen content and the heart rate rate change in the blood oxygen of the human body during training. And the electroencephalograph is responsible for exciting the corresponding cerebral cortex activated by movement, and monitoring the effectiveness of a training feedback neural circuit. Through various different types of sensors, the process and state quantity of a rehabilitation patient during rehabilitation training are systematically and comprehensively monitored and evaluated.

Description

technical field [0001] The invention belongs to the field of rehabilitation robots, in particular to a multi-modal perception system for lower limb rehabilitation robots. Background technique [0002] According to the statistics and predictions of the "China Stroke Prevention Project Work Report", by 2030 there will be as many as 31.77 million stroke patients in my country. Among the existing more than 13 million patients, stroke patients in the 40-65 age group account for as high as 50%. The proportion of people aged 40-65 among the high-risk groups of stroke is also higher than 60%. Stroke patients gradually show a high incidence rate and a younger trend. [0003] With the improvement of living standards, the rehabilitation needs of stroke patients are becoming increasingly urgent. More and more stroke patients are pinning their hopes on rehabilitation training to regain the ability to move or walk and improve their quality of life. Due to the huge population base in o...

AI Technical Summary

Problems solved by technology

However, this patent application does not consider other forms of motion information, such as joint angle information, torque information and surrounding interaction force information, changes in blood oxygen and heart rate. The method mentioned is mainly used for upper limb rehabilitation, but lower limb rehabilitation Very different from upper extremity rehabilitation

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