Gait self-adaptive control method and system for hemiplegic patient

Abstract

The invention discloses a gait self-adaptive control method and system for a hemiplegic patient, and the method comprises the steps: detecting an angle theta a of a normal leg side, and obtaining current stride information theta st and step speed information omega s; integrating the angles theta a in the continuous time into an action curve, and comparing the action curve with a predefined action curve to obtain a preset action of the next gait; obtaining an action curve of the next gait according to the preset action of the next gait, the current stride information theta st and the current step speed information omega s; and controlling the action of the affected leg side according to the action curve of the next gait. The method has the advantages of simple and reliable control, self-adaptive control, mirror image control and the like.

Description

technical field [0001] The invention mainly relates to the technical field of robotic exoskeletons, in particular to a gait adaptive control method and system for hemiplegic patients. Background technique [0002] The human lower limb exoskeleton system is similar to the traditional robot, it is a very complex nonlinear system with multiple inputs and multiple outputs, and its control is very complicated. The commonly used control strategies include robot position control, motion trajectory tracking control, sensitivity amplification control and other methods. The three methods are described below: 1. Robot position control method: This method has been widely used in medical exoskeletons and achieved great success, but it has the disadvantage that it is difficult to coordinate with the user's walking, and the control effect is relatively poor. . [0003] 2. Human body motion trajectory tracking control method: real-time detection and analysis of the motion trajectory of ...

AI Technical Summary

Problems solved by technology

1. Robot position control method: This method has been widely used in medical exoskeletons and has achieved great success, but it has the disadvantage of being difficult to coordinate and match with the user's walking, and the control effect is relatively not superior

[0003] 2. Human body motion trajectory tracking control method: through a certain method to detect and analyze the motion trajectory of human joints in real time, so as to control the joints of the exoskeleton in real time to achieve a movement consistent with the human body. This control method can well realize the movement of the exoskeleton and Coordination of human body movement, but this method often require

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