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Lower limb exoskeleton robot gait stabilization algorithm for medical rehabilitation and assisted walking

An exoskeleton robot, robot technology, applied in the direction of tools, instruments, computing, etc. to help people walk, can solve problems such as single gait

Pending Publication Date: 2021-03-12
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to overcome the problem in the prior art that for patients with lower limb paraplegia, the lower limb exoskeleton robot training gait used for rehabilitation training is single, and all rely entirely on crutches to provide greater support to assist walking defect

Method used

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  • Lower limb exoskeleton robot gait stabilization algorithm for medical rehabilitation and assisted walking
  • Lower limb exoskeleton robot gait stabilization algorithm for medical rehabilitation and assisted walking
  • Lower limb exoskeleton robot gait stabilization algorithm for medical rehabilitation and assisted walking

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Embodiment Construction

[0025] The concrete implementation of algorithm of the present invention is described in further detail below in conjunction with accompanying drawing:

[0026] figure 1 In order to realize the block diagram of the gait stability algorithm of the lower extremity exoskeleton robot for medical rehabilitation and assisted walking, firstly, a human gait acquisition device is established to collect the gait of normal people, and the obtained data set is processed and classified, and then through the polynomial The primary gait model is obtained by curve fitting, and the final standard gait model of each classification is obtained by continuously adjusting the model after repeated virtual and reality tests. The implementation steps are as follows:

[0027] 1. According to figure 2 , and the following steps complete the data acquisition and processing work:

[0028] This program uses two methods to collect data at the same time:

[0029] Method 1: Fix four PMU6050 acceleration s...

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Abstract

The invention provides a lower limb exoskeleton robot gait stabilization algorithm oriented to medical rehabilitation and assisted walking. A human body gait acquisition device is established by usingan acceleration sensor and an image processing mode to acquire walking gaits of various people so as to establish a primary gait database; the primary gaits are classified according to ages and genders according to a dynamic time warping algorithm, and polynomial curve fitting of data is performed in respective categories to obtain a primary gait model; a virtual robot in the same proportion is constructed to carry out repeated simulation tests, actual tests are performed according to a robot kinetic model, and gait model defects are adjusted according to feedback information such as moment in the test process. The input gait model can meet the hardware condition of the lower limb exoskeleton robot and meet the lower limb rehabilitation requirement of a patient at the same time, and finally the standard gait model meeting the requirements of all ages and genders is obtained.

Description

technical field [0001] The technical field of the present invention is the lower extremity exoskeleton robot used for medical rehabilitation, more specifically, it relates to the algorithm design of a standard gait model, which can be used to help patients get rid of auxiliary power when using the exoskeleton robot for rehabilitation training Tool for smooth walking. Background technique [0002] At present, exoskeleton robots have good development prospects in many application fields. For rehabilitation training exoskeleton robots used in the medical field, domestic research on related aspects started relatively late, and the most advanced foreign countries at this stage are the LOKOMAT exoskeleton robot developed in Switzerland and the ReWalk lower limb exoskeleton robot developed in Israel. The LOKOMAT robot is driven by a DC motor servo. There are 4 degrees of freedom to complete the internal rotation, external rotation and flexion and extension of the hip and knee join...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00G06F30/20G06K9/00G06K9/62
CPCA61H3/00G06F30/20A61H2201/1659A61H2201/5069A61H2201/5084G06V40/25G06F18/24
Inventor 刘倩林浩泽谭国真
Owner DALIAN UNIV OF TECH
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