Knee-joint exoskeleton system integrating functional electric stimulation

Abstract

The invention provides a knee-joint exoskeleton system integrating functional electric stimulation. A direct current servo motor driver is connected with a knee-joint exoskeleton. A controller and the direct current servo motor driver are connected with a multi-passage functional electric stimulator. The controller controls the knee-joint exoskeleton through the direct current servo motor driver and controls the multi-passage functional electric stimulator. The knee-joint exoskeleton and the multi-passage functional electric stimulator work in a coordination mode, and the synchronism of the knee-joint exoskeleton and the multi-passage functional electric stimulator is controlled by the controller. According to the knee-joint exoskeleton system, independent power of patient muscles are developed through the functional electric stimulation, a rehabilitation robot plays an auxiliary role, the independent power of the patient muscles and the rehabilitation robot work together, so that best knee-joint rehabilitation training is provided for paralytics. The synchronism of the knee-joint exoskeleton and the multi-passage functional electric stimulator is ensured by the controller. The knee-joint exoskeleton is drawn by a steel wire to drive a knee joint to move, and the steel wire is connected with a tension sensor, so that better force control is provided, and possibility for active rehabilitation motion control is offered.

Description

technical field [0001] The invention relates to a knee joint exoskeleton, in particular to a knee joint exoskeleton system integrated with functional electrical stimulation. Background technique [0002] Functional Electrical Stimulation (FES) uses artificial weak current pulse signals to stimulate the skeletal muscles of paralyzed patients, which is beneficial to the recovery of motor function. Functional electrical stimulation, which uses muscles as drivers to generate movement in paralyzed patients, can bring some physiological benefits to patients. For example, functional electrical stimulation can maintain muscle vitality and prevent muscle atrophy. An exoskeleton robot is a wearable robot that can be used for the rehabilitation of patients with movement disorders in the lower limbs. Exoskeleton systems in the field of rehabilitation medicine are not uncommon, such as the Locomat training system developed by Swiss HOCOMA company. Exoskeleton robots can provide large t...

AI Technical Summary

Problems solved by technology

This device has some disadvantages: 1. The lower limb rehabilitation robot uses a rigid drive, which can only achieve passive assistance; 2. The lower limb rehabilitation robot lacks a functional electrical stimulation module and cannot provide physiological assistance for patients.

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