Direct-driven rehabilitation exoskeleton and training method

Abstract

The invention discloses a direct-driven rehabilitation exoskeleton. The direct-driven rehabilitation exoskeleton comprises a machine frame, hip joint torque motors, thigh exoskeleton bodies, knee joint torque motors and shank exoskeleton bodies. The invention further discloses a training method. The training method comprises the steps of obtaining the angles of hip joints / knee joints, setting a gait curve and exoskeleton output torque, obtaining the torque applied to the hip joints / knee joints, calculating the matching degree difference between the exoskeleton and a patient, setting the matching sensitivity, adjusting the assistance coefficients of the joints and performing rehabilitation training. The direct-driven rehabilitation exoskeleton adopts the torque motors to directly drive lower limb joints of the patient to move, no extra sensor is needed, the rehabilitation torque applied to each joint of the patient is accurately measured and monitored, the training method is designed according to the joint rehabilitation torque of the patient, so that the assistance magnitude of the rehabilitation exoskeleton can be matched with the rehabilitation requirement of the patient, the rehabilitation training effect of the exoskeleton can be improved, and meanwhile the rehabilitation effect evaluation can be made according to the rehabilitation torque.

Description

Technical field [0001] The invention relates to the field of rehabilitation, in particular to a direct-drive rehabilitation exoskeleton and a training method. Background technique [0002] According to statistics, there are tens of millions of walking dysfunctions in my country, such as paralysis and hemiplegia of lower limbs, caused by stroke, spinal cord injury and various accidents. These patients need rehabilitation training to improve the function of the affected limb and even gradually restore the ability to walk. [0003] In traditional rehabilitation training, doctors usually assist patients in standing and walking training manually. The work intensity is high, the training effect is low, and it is difficult to ensure the standard and consistency of rehabilitation training actions. [0004] The rehabilitation exoskeleton integrates artificial intelligence, ergonomics, electrical automation and bionic mechanical design to meet the training requirements of different patients a...

AI Technical Summary

Problems solved by technology

[0006] 1. Failure to measure joint torque accurately and in real time, unable to make timely judgments on sudden physiological states during treatment such as spasms and dislocations, easily causing secondary damage to the human body during rehabilitation treatment, and unable to treat patients Effective and accurate assessment of rehabilitation effects;

[0007] 2. The patient's joint torque feedback is not introduced into the control link, and the size of the rehabilitation exoskeleton's assistance cannot accurately match the rehabilitation needs of the human body, resulting in the inability to achieve the optimal effect of rehabilitation treatment

[0009] 1. When the traditional rehabilitation exoskeleton uses push rods and connecting rods to drive the exoskeleton movement, it is difficult to accurately measure and monitor the torque acting on the patient's joints. When the movement exceeds the patient's tolerance, it will cause strain to the patient;

[0010] 2. When the traditional rehabilitation exoskeleton uses a motor accelerator to drive the exoskeleton, due to the starting torque and clearance of the reducer, the reciprocating motion of the joint will cause a large error in the measured torque. If the torque sensor is used to measure the joint torque, It will increase the complexity of the exoskeleton structure;

[0011] 3. The assisting torque of the traditional rehabilitation exoskeleton can not be adjusted according to the needs of the patient. When the patient gradually recovers his sports ability, he still trains at a larger assisting level, which will cause the patient's inertia and is not conducive to the rehabilitation effect. promote

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