Wearable lower limb rehabilitation exoskeleton control method

A control method and exoskeleton technology, applied in the field of robotics, can solve the problems of single rehabilitation training mode, poor patient participation initiative, and poor applicability, and achieve the effects of enhancing confidence, easy online adjustment, and improving initiative

Pending Publication Date: 2021-08-06
深圳沃立康生物医疗有限公司
View PDF0 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a wearable lower limb rehabilitation exoskeleton control method to solve the technical problems of poor applicability, single rehabilitation training mode and poor patient participation initiative of the existing wearable lower limb rehabilitation exoskeleton robot

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] Embodiment 1: A wearable lower limb rehabilitation exoskeleton control method, including passive control mode and active control mode; active and passive are respectively used for patients with different levels of lower limb disability, when the patient's lower limbs are completely disabled and no EMG signal can be collected A passive control mode is adopted, wherein the passive control mode includes the following steps:

[0027] Among them, the passive control mode includes the following steps:

[0028] B1: Obtain the gait data of the corresponding left and right hip joint angles and left and right knee joint angles according to the height of the patient. For example, extract the gait data of a height of 185cm as the standard gait data, and the gait data of different heights are based on the gait data of a height of 185cm Make adjustments as a basis, such as adjusting the maximum angle of the hip joint and knee joint, multiplying the gait data coefficient to increase a...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a wearable lower limb rehabilitation exoskeleton control method which comprises a passive control mode and an active control mode, in the passive mode, gait data of left and right hip joint angles and left and right knee joint angles of corresponding heights are obtained and processed by a central processing unit, and signals are transmitted to a motor module; the lower limb rehabilitation exoskeleton is driven to complete passive movement of the patient according to the corresponding gait data; according to the active control mode, electromyographic signals of all actions of a patient need to be collected firstly, the signals are amplified and filtered, the electromyographic signals of all the actions are established to serve as a known action intention library of rehabilitation training, one-to-one mapping of the actions and the electromyographic signals is conducted on the filtered electromyographic signals, and gait data is obtained according to the height of the patient; the gait data of the knee joints and the hip joints are converted through the central processing unit. The wearable lower limb rehabilitation exoskeleton robot aims at solving the technical problems that an existing wearable lower limb rehabilitation exoskeleton robot is single in rehabilitation training mode and poor in patient initiative.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a control method for a wearable lower limb rehabilitation exoskeleton. Background technique [0002] At present, there are 128 million physically disabled or semi-disabled people worldwide due to bone and joint diseases, degenerative changes, cerebral palsy and other diseases or trauma, and the number is increasing by 4% every year. There are 25 million patients with limb disabilities in my country, of which about 15 million are patients with lower limb disabilities. With the rapid increase of the aging population and the high incidence of cerebrovascular diseases, the number of people with lower limb disabilities is rapidly expanding. [0003] Lower limb rehabilitation training is one of the important means of walking rehabilitation for patients with such diseases, and a large number of clinical studies have confirmed its effectiveness. The traditional manual lower limb rehabil...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A63B23/04A61B5/389
CPCA61H1/0255A61H1/0262A63B23/0482A63B23/0494
Inventor 杨建伟李正茂柴亚珂
Owner 深圳沃立康生物医疗有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap