Active stroke lower limb rehabilitation robot control method based on healthy side and affected side coupling

Abstract

The invention relates to an active stroke lower limb rehabilitation robot control method based on healthy side and affected side coupling. The method comprises the following steps that: a characteristic pathological gait correction strategy based on a characteristic pathological gait model is formulated; after the limbs of the patient begin to move, multi-sensor signals of the lower limbs of the healthy side of the patient are collected, and multi-sensor signal processing is conducted; constructing of a multi-sensor information fusion vector is carried out; the motion intention of the patientis acquired; the motion intention and the characteristic pathological gait correction strategy are coupled to obtain healthy side-affected side coupling information, and the healthy side-affected sidecoupling information is transmitted to a human body-rehabilitation robot closed-loop controller, so that the system function of the rehabilitation robot is controlled, and man-machine coordinated operation is guaranteed. According to the invention, feedback type motion replanning and control integration are carried out through accurate identification of the healthy side leg motion intention, coupling regulation and control of a man-machine system are achieved, and finally, the goal of healthy side and affected side coupling training is achieved.

Description

technical field [0001] The invention belongs to the technical field of rehabilitation robot control methods, in particular to an active stroke lower limb rehabilitation robot control method based on healthy and affected side coupling. Background technique [0002] "Stroke", also known as "stroke", is an acute cerebrovascular disease. Statistics from the World Health Organization show that the incidence of stroke in my country is the highest in the world. There are more than 7 million stroke patients and the disability rate is as high as 80%. This has a lot to do with the lack of effective early rehabilitation intervention. Early rehabilitation training has a good effect on the recovery of motor function and activities of daily living in stroke patients with hemiplegia. However, at present, the proportion of rehabilitation physicians in the basic population in my country is only 1.7 per 100,000 people, and there is a huge gap in rehabilitation professionals. Rehabilitation ...

AI Technical Summary

Problems solved by technology

Therefore, the design of lower limb rehabilitation robots is very difficult. Rehabilitation robots based on mind control seem to be a more ideal solution. However, in order for the robot to understand the unique activity patterns of individual brain waves, it is necessary to greatly improve the learning and computing capabilities of the machine. Although control can control the limbs to complete specific actions, longer and larger studies are needed to clarify whether rehabilitation training can be combined with the limb functions of stroke patients to restore the lost motor functions of patients

In addition, although there is no information to give the exact cost price, such equipment must be beyond the reach of ordinary people, so it is difficult to enter the consumer market

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