Gait self-adaptive control method and system for hemiplegic patient

A self-adaptive control and gait technology, applied in applications, appliances that help people move, medical science, etc., can solve the problems of inconvenient wearing, difficult to be accurate, affecting the comfort of the power-assisted exoskeleton human body, etc., to solve the problem of gait. Inconsistent, easy-to-control and stable effects

Pending Publication Date: 2022-06-03
长沙优龙机器人有限公司
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  • Claims
  • Application Information

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Problems solved by technology

1. Robot position control method: This method has been widely used in medical exoskeletons and has achieved great success, but it has the disadvantage of being difficult to coordinate and match with the user's walking, and the control effect is relatively not superior
[0003] 2. Human body motion trajectory tracking control method: through a certain method to detect and analyze the motion trajectory of human joints in real time, so as to control the joints of the exoskeleton in real time to achieve a movement consistent with the human body. This control method can well realize the movement of the exoskeleton and Coordination of human body movement, but this method often require

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  • Gait self-adaptive control method and system for hemiplegic patient
  • Gait self-adaptive control method and system for hemiplegic patient

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Embodiment Construction

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0019] like figure 1 As shown, the gait adaptive control method for hemiplegic patients according to the embodiment of the present invention includes the steps:

Detect the angle θ of the normal leg side a , get the current stride information θ st and pace information ω s ;

Convert the angle θ in continuous time a Integrate into a motion curve, and compare the motion curve with the predefined motion curve to obtain the next gait preset motion;

Preset action based on next gait and current stride information θ st and pace information ω s , get the action curve of the next gait;

Control the movement of the affected leg according to the movement curve of the next gait.

[0020] Compared with several existing control strategies (robot position control, motion track tracking control, sensitivity amplification control), the present invention...

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Abstract

The invention discloses a gait self-adaptive control method and system for a hemiplegic patient, and the method comprises the steps: detecting an angle theta a of a normal leg side, and obtaining current stride information theta st and step speed information omega s; integrating the angles theta a in the continuous time into an action curve, and comparing the action curve with a predefined action curve to obtain a preset action of the next gait; obtaining an action curve of the next gait according to the preset action of the next gait, the current stride information theta st and the current step speed information omega s; and controlling the action of the affected leg side according to the action curve of the next gait. The method has the advantages of simple and reliable control, self-adaptive control, mirror image control and the like.

Description

technical field [0001] The invention mainly relates to the technical field of robotic exoskeletons, in particular to a gait adaptive control method and system for hemiplegic patients. Background technique [0002] The human lower limb exoskeleton system is similar to the traditional robot, it is a very complex nonlinear system with multiple inputs and multiple outputs, and its control is very complicated. The commonly used control strategies include robot position control, motion trajectory tracking control, sensitivity amplification control and other methods. The three methods are described below: 1. Robot position control method: This method has been widely used in medical exoskeletons and achieved great success, but it has the disadvantage that it is difficult to coordinate with the user's walking, and the control effect is relatively poor. . [0003] 2. Human body motion trajectory tracking control method: real-time detection and analysis of the motion trajectory of ...

Claims

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Application Information

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IPC IPC(8): A61H3/00A61B5/11
CPCA61H3/00A61B5/112A61B5/1126A61H2201/5069A61H2201/5071A61H2201/5058A61H2201/5061A61H2230/625
Inventor 熊军任明
Owner 长沙优龙机器人有限公司
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