Auxiliary motion system and lower limb exoskeleton control method

A motion system and exoskeleton technology, which is applied in the fields of equipment to help people walk, medical science, sensors, etc., can solve the problems of erroneously analyzing the real-time physical state of patients, unable to determine the type of gait, and unable to perceive changes in the patient's gait.

Active Publication Date: 2019-10-01
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology

However, the wearable products on the market cannot perceive the patient's gait changes, so they cannot determine the gait type and the walking d

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  • Auxiliary motion system and lower limb exoskeleton control method
  • Auxiliary motion system and lower limb exoskeleton control method
  • Auxiliary motion system and lower limb exoskeleton control method

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Embodiment Construction

[0038] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0039] Such as figure 1 As shown, the present invention provides an assisted locomotion system.

[0040] In this embodiment, the auxiliary movement system includes a lower limb exoskeleton support device 1 , and a data acquisition device and a control device 2 arranged on the lower limb exoskeleton support device 1 . The lower limb exoskeleton supporting device 1 is worn on the patient's lower limb, and is used to provide support for the patient's upper body. In this way, when the patient is standing, the patient's upper body does not impose a burden on the knees, and th...

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Abstract

The invention relates to an auxiliary motion system and a lower limb exoskeleton control method. The auxiliary motion system comprises a lower limb exoskeleton supporting device and a data acquisitiondevice and a control device which are arranged on the lower limb exoskeleton supporting device, wherein the lower limb exoskeleton supporting device comprises a shank supporting part, a thigh supporting part and a hip supporting part; the data acquisition device comprises a first sensor arranged at the junction of the hip supporting part and the thigh supporting part and a second sensor arrangedat the shank supporting part, and the first sensor and the second sensor are used for collecting gait data and walking data which are related to human motion; the control device is arranged on the hipsupporting part, and is used for acquiring the gait data and walking data which are collected by the data acquisition device and determining a current gait type according to the gait data and a gaitclassification rule so that the real-time physical state of the patient can be analyzed according to the gait type and the walking data under the corresponding gait type.

Description

technical field [0001] The present application relates to the technical field of medical rehabilitation equipment, in particular to an auxiliary motion system and a lower limb exoskeleton control method. Background technique [0002] Today's knee rehabilitation devices are divided into wearable and non-wearable. [0003] Among them, the non-wearable type has powerful functions and can perform rehabilitation treatment for different parts of patients in different situations. However, due to its large size and high cost, it is often cited by major rehabilitation institutions and is not suitable for daily rehabilitation. [0004] The wearable device is small in size, relatively simple in operation, relatively low in price, and convenient for daily use by patients. However, the wearable products on the market cannot perceive the patient's gait changes, so they cannot determine the gait type and the walking data under the corresponding gait type according to the received gait dat...

Claims

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Application Information

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IPC IPC(8): A61H3/00A61B5/11
CPCA61B5/112A61B5/1123A61H3/00A61H2003/005A61H2201/1642A61H2201/5007A61H2205/10
Inventor 李敏王熙茹任冠州王铎颖孙陈哲余康凡何劲峰
Owner SOUTHWEST JIAOTONG UNIV
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