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Exoskeleton rehabilitation robot control system

A rehabilitation robot and control system technology, which is applied in the fields of helping people move around, medical science, diagnosis, etc. It can solve the problems of single driving motor movement, lag, patient gait prediction, etc., to broaden the scope of use, achieve consistent, The effect of reducing hysteresis

Pending Publication Date: 2019-10-01
GUANGXI UNIVERSITY OF TECHNOLOGY
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AI Technical Summary

Problems solved by technology

The patient will feel serious discomfort, but the simple movement of the bone machinery does not achieve a synchronization and coordination with the patient's walking, that is, the patient's gait is not predicted, and the patient's gait is adjusted in real time according to the specific situation of the patient. Controls the lower extremity exoskeleton, has a serious lag problem
On the other hand, there is only a single lower extremity exoskeleton, and the applicable range of patients is relatively narrow
In addition, there is no summary, feedback and record of the patient's rehabilitation effect, and it is impossible for the doctor to give certain suggestions when formulating the rehabilitation plan
In addition, the configured weight-reducing device has a single movement of the driving motor and does not operate according to the patient's rehabilitation status or fatigue level

Method used

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  • Exoskeleton rehabilitation robot control system
  • Exoskeleton rehabilitation robot control system
  • Exoskeleton rehabilitation robot control system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] An exoskeleton rehabilitation robot control system, such as figure 1 As shown, including mobile platform system, lower extremity exoskeleton system and data terminal, among them:

[0028] The mobile platform system includes a single chip microcomputer, a hub motor, and a weight reduction system. The hub motor is installed on the lower side of the mobile platform to drive the mobile platform to move. The weight reduction system includes a weight reduction motor and a tension sensor. The heavy motor is installed on the mobile platform to drive the weight reduction device to move up and down. The tension sensors are installed on both sides of the mobile platform; the single-chip microcomputer is installed on the mobile platform, and it is connected to the hub motor and the weight reduction motor. Specifically, the can interface of the single-chip microcomputer is electrically connected to the can interface of each motor driver, and each motor driver is connected to each motor ...

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Abstract

The invention discloses an exoskeleton rehabilitation robot control system. The control system includes a mobile platform system, a lower-limb exoskeleton system and a data terminal, wherein the mobile platform system includes a first single-chip microcomputer, a wheel hub motor and a weight reduction system; the lower-limb exoskeleton system includes a body driving system, a second single-chip microcomputer and a perception control system. By means of the control system, the problem of hysteresis of an exoskeleton is well solved, and the human-computer consistency is achieved; the applicationrange of the exoskeleton is enlarged; the problems of information exchange between patients and doctors and between patients and their families, and patients' training experience are solved.

Description

Technical field [0001] The invention relates to an exoskeleton rehabilitation robot control system. Background technique [0002] At present, most domestic lower extremity exoskeleton robot control systems passively drive patients to move in accordance with normal gait. The patient will have serious discomfort, but simply let the skeletal machinery move without achieving a synchronization and coordination with the patient’s walking, that is, the patient’s gait is not predicted, and the patient’s gait is not predicted in real time. Controlling the exoskeleton of the lower limbs has a serious lag problem. On the other hand, there is only a single lower extremity exoskeleton, and the range of applicable patients is relatively narrow. In addition, there is no summary, feedback, and record of the patient's rehabilitation effect, and no advice can be given when doctors make a rehabilitation plan. In addition, the weight reduction device is equipped with a single drive motor and does...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00
CPCA61H3/00A61H2230/085A61H2201/5069A61H2201/5071
Inventor 高学山吕佳乐李健石永杰张鹏飞罗定吉
Owner GUANGXI UNIVERSITY OF TECHNOLOGY
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