一种六自由度下肢康复机器人及控制方法
The lower limb rehabilitation robot, which combines a six-degree-of-freedom robotic arm with a multimodal perception system, adopts an adaptive control strategy to solve the problem of insufficient human-computer interaction in existing technologies, and realizes efficient, safe and compliant rehabilitation training in a multi-stage training mode.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANDONG AGRI & ENG UNIV
- Filing Date
- 2026-04-24
- Publication Date
- 2026-07-17
AI Technical Summary
Existing lower limb rehabilitation robots lack comprehensive perception of the user's physiological signals and movement intentions at the control level, resulting in insufficient naturalness and safety in human-computer interaction, and difficulty in adapting to the training needs of different rehabilitation stages.
The system employs a structure combining a six-degree-of-freedom robotic arm with a multimodal sensing system. Through adaptive stiffness admittance control and adaptive damping admittance control, it achieves passive, active-passive, and active training modes. It integrates electromyography signals, inertial measurement, and force sensor perception to dynamically adjust the degree of robot assistance.
It improves the safety, adaptability, and human-machine compatibility of lower limb rehabilitation training, simplifies the wearing process, adapts to different limb sizes, and achieves efficient tracking and flexibility in multi-stage training modes.
Smart Images
Figure CN122398583A_ABST