The invention discloses a cerebral apoplexy
lower limb intelligent
rehabilitation training
system, which relates to the technical field of
rehabilitation instruments and comprises a walking module, a body fixing bracket, a foot fixer, a leg adjusting module, a
waist and shoulder auxiliary fixing module and a training
posture recognition and correction module. According to the training
posture recognition and correction module, a binocular 3D camera is innovatively adopted to collect data, a
Voxel CNN network and multi-constraint energy
function optimization are combined, high-precision joint coordinate recognition,
joint angle calculation and motion trajectory similarity evaluation are achieved, and a self-adaptive
admittance control algorithm based on performance is matched, so that the precision of the
robot is improved. The
training load and the auxiliary force can be dynamically adjusted in real time according to the
rehabilitation ability of a patient, customized
rehabilitation training of one person and one strategy is achieved, the one-step training mode of a traditional instrument is thoroughly changed,
rehabilitation training better meets the individual requirements of the patient, and the rehabilitation effect and the training efficiency are remarkably improved.