Flexible lower limb exoskeleton control method, exoskeleton control system and use method

Abstract

The invention discloses a flexible lower limb exoskeleton control method. The method comprises the steps of obtaining the pressure values monitored by a plurality of sensors and the position coordinates of the sensors; recognizing the gait through the pressure values monitored by the sensors and the position coordinates of the sensors, and outputting a corresponding motor signal; when the feet leave the ground, calculating the pressure center line parameters; and according to the pressure center line parameters, outputting the pressure center line compensation torque. The invention further discloses an exoskeleton control system based on the flexible lower limb exoskeleton control method and a using method of the exoskeleton control system. Through a plantar pressure sensor and an inertial sensor, a plantar pressure center line is calculated through the relative change, and the risk that pressure collection positions are inconsistent is avoided; other sensors are not needed for auxiliary measurement; wearing is easy and convenient, the structure is simple, and the rehabilitation of a patient suffering from foot sole myasthenia can be achieved; the closed-loop control can be achieved, the plantar pressure center line is output in real time, and the current rehabilitation condition of the patient is judged immediately and conveniently.

Description

technical field [0001] The invention belongs to the field of rehabilitation equipment, and in particular relates to a flexible lower limb exoskeleton control method, an exoskeleton control system and a use method. Background technique [0002] In today's medical environment, rehabilitation equipment has great significance for patients. Exoskeleton technology is often used when patients are unable to stabilize their posture due to illness. The walking gait is divided into dorsiflexion (toe lift) and plantar flexion (heel lift). The lower extremity exoskeleton is mainly used to correct patients with abnormal gait. Take plantar muscle weakness as an example. Insufficient muscle strength, the forefoot cannot be warped when walking, and it keeps drooping, which will lead to less abnormal and difficult walking. [0003] Nowadays, flexible lower extremity exoskeletons are usually used to solve the walking problem of patients. The existing flexible lower extremity exoskeleton use...

AI Technical Summary

Problems solved by technology

[0004] However, the existing flexible lower extremity exoskeleton has the following deficiencies: 1. There is a big problem in the input source of the existing flexible lower extremity exoskeleton: the plantar pressure monitoring system installs pressure sensors in the insole, and due to the contact between the sole of the foot and the human body when walking There is inevitable relative sliding between the insoles, so the monitored pressure points may not be accurate; 2. The existing flexible lower extremity exoskeleton is mainly aimed at improving gait symmetry, (due to product weight, space size, etc.) Lifting, failed to achieve the rehabilitation of patients with bipedal weakness; 3. The plantar pressure data of the existing flexible lower limb exoskeleton cannot be visualized and the rehabilitation status can be judged. It can only be judged by the motion capture system or doctor's experience whether the patient's gait has improved

Images