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Rehabilitation robot sensing system and method

A rehabilitation robot and perception system technology, which is applied in the field of rehabilitation equipment, can solve the problems of high accuracy of motion intention perception, good environmental adaptability of rehabilitation robots, and inability to combine external environment perception with motion intention perception, so as to achieve the accuracy of motion intention perception High, good environmental adaptability

Active Publication Date: 2014-09-03
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

[0006] However, the rehabilitation robot perception system in the prior art cannot combine the perception of the external environment with the perception of motion intention, so that the patient's control and use of the rehabilitation robot cannot take into account good environmental adaptability and high accuracy of motion intention perception

Method used

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  • Rehabilitation robot sensing system and method
  • Rehabilitation robot sensing system and method
  • Rehabilitation robot sensing system and method

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Embodiment Construction

[0033] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. invention without any limitation.

[0034] Such as figure 1 As shown, the mechanical structure of the rehabilitation robot is mainly composed of the following components: back support part 1, back strap 2, synchronous gears 3 and 6, drive motor 4, thigh fixing part 5, calf fixing part 9, lower limb robot skeleton 7, motor code Device 8, pin 10.

[0035] Such as figure 2 As shown, the hardware system of the rehabilitation robot comprises an external environment sensor 11, a motion intention perception sensor 12, a main control system 13, a driver and a motor 14; The control system 13 is connected. The connection method can be connected through the CAN bus.

[0036] The external environment sensor 11 may include one or more of a...

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Abstract

The invention discloses a rehabilitation robot sensing system which comprises an initialization module, an environment sensing module, a motion intention sensing module and a motion execution module. The initialization module is used for initializing the rehabilitation robot sensing system and starting the rehabilitation training mode; the environment sensing module is used for conducting analytical judgment on the environment where a rehabilitation robot is located and selecting an appropriate walking mode; the motion intention sensing module is used for collecting sensing data through a sensor after the appropriate walking mode is determined and generating motion intention commands of a patient according to the sensing data; the motion execution module is used for controlling the rehabilitation robot to execute the rehabilitation training motion according to the motion intention commands. By means of a rehabilitation robot sensing method, the patient can control and use the rehabilitation robot with the good environmental suitability and the high motion intention sensing accuracy. The invention further discloses the rehabilitation robot sensing method.

Description

technical field [0001] The invention relates to the technical field of rehabilitation equipment, and more specifically, to a rehabilitation robot perception system and method thereof. Background technique [0002] For patients with diseases such as stroke and traumatic brain injury, their central nervous system is damaged, which leads to lower limb movement disorders, which brings serious inconvenience to their lives. If they cannot be treated effectively, they may never be able to stand and walk. The central nervous system has plasticity, and timely and scientific rehabilitation plays a very important role in the recovery and improvement of limb motor function. [0003] Rehabilitation robot is a new application of the combination of robot and rehabilitation medicine. It can provide scientifically rich training methods and training effect evaluation indicators for patients with paralysis. It has become a new breakthrough in the field of rehabilitation treatment in addition t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A61B5/0488A61B5/22A61B5/103
Inventor 葛树志贺威李敏麻天照
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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