CN110200786A - A kind of lower limbs rehabilitation training robot and method - Google Patents
A kind of lower limbs rehabilitation training robot and method Download PDFInfo
- Publication number
- CN110200786A CN110200786A CN201910628633.XA CN201910628633A CN110200786A CN 110200786 A CN110200786 A CN 110200786A CN 201910628633 A CN201910628633 A CN 201910628633A CN 110200786 A CN110200786 A CN 110200786A
- Authority
- CN
- China
- Prior art keywords
- ipsilateral
- strong
- waistband
- knee
- leg device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 19
- 230000003447 ipsilateral effect Effects 0.000 claims abstract description 64
- 230000033001 locomotion Effects 0.000 claims abstract description 59
- 210000002414 leg Anatomy 0.000 claims description 54
- 210000001624 hip Anatomy 0.000 claims description 35
- 210000003127 knee Anatomy 0.000 claims description 23
- 210000000689 upper leg Anatomy 0.000 claims description 21
- 210000003423 ankle Anatomy 0.000 claims description 12
- 210000000629 knee joint Anatomy 0.000 claims description 9
- 238000013528 artificial neural network Methods 0.000 claims description 4
- 238000000354 decomposition reaction Methods 0.000 claims description 4
- 230000000306 recurrent effect Effects 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000032258 transport Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 208000034657 Convalescence Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of lower limbs rehabilitation training robot and method, and device includes: waistband, control box, the strong big leg device in side and the big leg device of Ipsilateral；The waistband is fixed on the waist of patient；The control box is fixed on the waistband；The big leg device in strong side is fixed on the healthy side leg of patient, and is connect by the waistband with the control box；The big leg device of Ipsilateral is fixed on the illness side leg of patient, and is connect by the waistband with the control box；The control box controls the big leg device of the Ipsilateral according to the motion state signal and moves for acquiring the big leg device motion state signal in strong side.Above-mentioned apparatus in the present invention can be realized the mirror movements guidance that patient is good for side leg to Ipsilateral leg, realizes and moves in acquisition, can be suitable for different patients.
Description
Technical field
The present invention relates to field of medical rehabilitation, more particularly to a kind of lower limbs rehabilitation training robot and method.
Background technique
Existing rehabilitation technique is generally using manual massage, and the modes such as mechanical traction carry out rehabilitation, began in recent years
The rehabilitations product such as part ectoskeleton comes out successively, but what is used is still passive rehabilitation mode, that is, sets rehabilitation procedure, passively
Guidance carries out rehabilitation, and rehabilitation efficacy is poor, cannot take different rehabilitation curves, the time is long, often according to different patients
Become strong leg and suffer from leg in tow to walk, ideal rehabilitation efficacy is not achieved, seriously affects the physical rehabilitation and health at heart of patient,
Cause the indelible pain of injury of patient.
Summary of the invention
The object of the present invention is to provide a kind of lower limbs rehabilitation training robot and method, realize that patient is good for side leg to Ipsilateral leg
Mirror movements guidance.
To achieve the above object, the present invention provides following schemes:
A kind of lower limbs rehabilitation training robot, the robot include:
Waistband, control box, the strong big leg device in side and the big leg device of Ipsilateral；
The waistband is fixed on the waist of patient；
The control box is fixed on the waistband；
The big leg device in strong side is fixed on the healthy side leg of patient, and is connected by the waistband and the control box
It connects；
The big leg device of Ipsilateral is fixed on the illness side leg of patient, and is connected by the waistband and the control box
It connects；
The control box is controlled for acquiring the big leg device motion state signal in strong side, and according to the motion state signal
The big leg device movement of Ipsilateral.
Optionally, the control box includes: master controller and sub-controller；
The master controller is connect with the sub-controller, and the master controller is for acquiring the big leg device fortune in the strong side
Dynamic status signal, and operation curve is generated according to the motion state signal；
The sub-controller controls the Ipsilateral thigh according to the operation curve and fills for receiving the operation curve
Set movement.
Optionally, the big leg device in strong side includes:
Strong side connecting plate, coxa joint signal generator, strong side thigh pillar, knee signal generator, strong side shank branch
Column, strong batter ankle fixed part and strong batter plate fixed part；
One end of the strong side connecting plate is connect with the waistband, and the other end and the hip of the strong side connecting plate close
Save signal generator, the strong side thigh pillar, the knee signal generator, the strong side shank pillar, the strong batter
Ankle fixed part and the strong batter plate fixed part are sequentially connected.
Optionally, the big leg device of the Ipsilateral includes:
Ipsilateral connecting plate, coxa joint motor, Ipsilateral thigh pillar, knee joint motor, Ipsilateral shank pillar, Ipsilateral foot
Ankle fixed part and Ipsilateral sole fixed part；
One end of the Ipsilateral connecting plate is connect with the waistband, and the other end and the hip of the Ipsilateral connecting plate close
Save motor, the Ipsilateral thigh pillar, the knee joint motor, the Ipsilateral shank pillar, the Ipsilateral ankle fixed part
And the Ipsilateral sole fixed part is sequentially connected.
The present invention additionally provides a kind of lower limb rehabilitation training method, the training method is applied to above-mentioned convalescence device, institute
Stating training method includes:
Acquire the hip motion status signal of strong side leg by coxa joint signal generator, and by the hip motion shape
State signal is sent to master controller；
The knee motion state signal of strong side leg is acquired by knee signal generator, and the knee motion state is believed
Number it is sent to master controller；
The hip motion status signal and the knee motion state signal are decoded by the master controller；
Processing formation movement is carried out to the decoded hip motion status signal and the knee motion state signal
Curve；
Sub-controller controls coxa joint motor according to the operation curve and knee joint motor rotates, and drives patient
Ipsilateral thigh movement.
Optionally, it is described to the decoded hip motion status signal and the knee motion state signal at
It is specifically the empirical mode decomposition combination cospace mode, deepness belief network, recurrent neural network of using that reason, which forms operation curve,
And Bayesian network forms operation curve.
Optionally, the training method is after generating operation curve further include:
It is spaced prefixed time interval.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
Above-mentioned apparatus and method in the present invention are passed through by acquiring the strong side leg joint motions status signal of patient
The decoding of controller and relevant treatment obtain the curve movement of strong side leg, and control Ipsilateral thigh according to the curve movement of strong side
The motor of device rotates, and realizes that the movement to patient's Ipsilateral thigh is drawn, controls Ipsilateral motor according to strong side curve movement mirror image
Movement makes strong side drive Ipsilateral, the gait of patient can be made close to the state before illness, and can be suitable for different trouble
Person.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is waistband of the embodiment of the present invention and control case connecting structure schematic diagram；
Fig. 2 is that the embodiment of the present invention is good for side thigh apparatus structure schematic diagram；
Fig. 3 is Ipsilateral of embodiment of the present invention thigh apparatus structure schematic diagram；
Fig. 4 is lower limb rehabilitation training of embodiment of the present invention method flow diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of lower limbs rehabilitation training robot and method, realize that patient is good for side leg to Ipsilateral leg
Mirror movements guidance.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is recovery set for lower limbs of embodiment of the present invention waistband and control case connecting structure schematic diagram, as shown in Figure 1, institute
Stating convalescence device includes:
Waistband 1, control box 2, the strong big leg device in side and the big leg device of Ipsilateral；
The waistband 1 is fixed on the waist of patient；
The control box 2 is fixed on the waistband 1；
The big leg device in strong side is fixed on the healthy side leg of patient, and is connected by the waistband 1 with the control box 2
It connects；
The big leg device of Ipsilateral is fixed on the illness side leg of patient, and is connected by the waistband 1 with the control box 2
It connects；
The control box 2 is used to acquire the big leg device motion state signal in strong side, and according to the motion state signal control
Make the big leg device movement of the Ipsilateral.
Wherein, the control box 2 includes: master controller and sub-controller；
The master controller is connect with the sub-controller, and the master controller is for acquiring the big leg device fortune in the strong side
Dynamic status signal, and operation curve is generated according to the motion state signal；
The sub-controller controls the Ipsilateral thigh according to the operation curve and fills for receiving the operation curve
Set movement.
Specifically, generate operation curve be specifically use empirical mode decomposition combination cospace mode, deepness belief network,
Recurrent neural network and Bayesian network form operation curve.
As shown in Fig. 2, the big leg device in strong side includes:
Strong side connecting plate 301, coxa joint signal generator 302, strong side thigh pillar 303, knee signal generator
304, side shank pillar 305, strong batter ankle fixed part 306 and strong batter plate fixed part 307 are good for；
One end of the strong side connecting plate 301 is connect with the waistband 1, the other end and the hip of the strong side connecting plate
Portion joint signal generator 302, the strong side thigh pillar 303, the knee signal generator 304, the strong side shank branch
Column 305, the strong batter ankle fixed part 306 and the strong batter plate fixed part 307 are sequentially connected.
As shown in figure 3, the big leg device of Ipsilateral includes:
Ipsilateral connecting plate 401, coxa joint motor 402, Ipsilateral thigh pillar 403, knee joint motor 404, Ipsilateral are small
Leg pillar 405, Ipsilateral ankle fixed part 406 and Ipsilateral sole fixed part 407；
One end of the Ipsilateral connecting plate 401 is connect with the waistband 1, the other end of the Ipsilateral connecting plate 401 and institute
State coxa joint motor 402, the Ipsilateral thigh pillar 403, the knee joint motor 404, the Ipsilateral shank pillar
405, the Ipsilateral ankle fixed part 406 and the Ipsilateral sole fixed part 407 are sequentially connected.
Fig. 4 is lower limb rehabilitation training of embodiment of the present invention method flow diagram, which comprises
Step 101: acquiring the hip motion status signal of strong side leg by coxa joint signal generator, and by the hip
Portion's motion state signal is sent to master controller.
Step 102: acquiring the knee motion state signal of strong side leg by the knee signal generator, and by the knee
Motion state signal is sent to master controller.
Step 103: by the master controller to the hip motion status signal and the knee motion state signal
It is decoded.
Step 104: the decoded hip motion status signal and the knee motion state signal are handled
Form operation curve.
Wherein, generating operation curve is specifically to use empirical mode decomposition combination cospace mode, deepness belief network, pass
Neural network and Bayesian network is returned to form operation curve.
Step 105: interval prefixed time interval.
Wherein, the purpose of interval time is to maintain the balance of patient, prevents from acting too fast, leads to patient falls, makes
At secondary injury.
Step 106: sub-controller controls coxa joint motor according to the operation curve and knee joint motor rotates,
Drive the Ipsilateral thigh movement of patient.
Above-mentioned apparatus and method in the present invention can be good for the motor message of side leg with real time emission, be divided to master controller
Analysis decoding, generates operation curve, drives the motor on Ipsilateral list leg according to curvilinear motion after being rationally delayed, realizes in acquisition
Movement is good for side leg and drives Ipsilateral leg, promotes the functional rehabilitation of Ipsilateral leg.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (7)
1. a kind of lower limbs rehabilitation training robot, which is characterized in that the robot includes:
Waistband, control box, the strong big leg device in side and the big leg device of Ipsilateral；
The waistband is fixed on the waist of patient；
The control box is fixed on the waistband；
The big leg device in strong side is fixed on the healthy side leg of patient, and is connect by the waistband with the control box；
The big leg device of Ipsilateral is fixed on the illness side leg of patient, and is connect by the waistband with the control box；
The control box is used to acquire the big leg device motion state signal in strong side, and according to motion state signal control
The big leg device movement of Ipsilateral.
2. lower limbs rehabilitation training robot according to claim 1, which is characterized in that the control box includes: main control
Device and sub-controller；
The master controller is connect with the sub-controller, and the master controller is for acquiring the big leg device movement shape in the strong side
State signal, and operation curve is generated according to the motion state signal；
The sub-controller controls the big leg device of the Ipsilateral according to the operation curve and transports for receiving the operation curve
It is dynamic.
3. lower limbs rehabilitation training robot according to claim 1, which is characterized in that the strong big leg device in side includes:
Strong side connecting plate, strong side thigh pillar, knee signal generator, strong side shank pillar, is good at coxa joint signal generator
Batter ankle fixed part and strong batter plate fixed part；
One end of the strong side connecting plate is connect with the waistband, and the other end and the coxa joint of the strong side connecting plate are believed
Number generator, the strong side thigh pillar, the knee signal generator, the strong side shank pillar, the strong batter ankle are solid
Determine portion and the strong batter plate fixed part is sequentially connected.
4. lower limbs rehabilitation training robot according to claim 1, which is characterized in that the big leg device of Ipsilateral includes:
Ipsilateral connecting plate, coxa joint motor, Ipsilateral thigh pillar, knee joint motor, Ipsilateral shank pillar, Ipsilateral ankle are solid
Determine portion and Ipsilateral sole fixed part；
One end of the Ipsilateral connecting plate is connect with the waistband, the other end of the Ipsilateral connecting plate and coxa joint electricity
Machine, the Ipsilateral thigh pillar, the knee joint motor, the Ipsilateral shank pillar, the Ipsilateral ankle fixed part and
The Ipsilateral sole fixed part is sequentially connected.
5. a kind of lower limb rehabilitation training method, which is characterized in that the training method is applied to claim 1-4 any one institute
The recovery exercising robot stated, the training method include:
The hip motion status signal of strong side leg is acquired by coxa joint signal generator, and the hip motion state is believed
Number it is sent to master controller；
The knee motion state signal of strong side leg is acquired by knee signal generator, and the knee motion state signal is sent out
It send to master controller；
The hip motion status signal and the knee motion state signal are decoded by the master controller；
Processing is carried out to the decoded hip motion status signal and the knee motion state signal and forms operation curve；
Sub-controller controls coxa joint motor according to the operation curve and knee joint motor rotates, and drives the trouble of patient
The movement of side thigh.
6. lower limb rehabilitation training method according to claim 5, which is characterized in that described to be transported to the decoded hip
Dynamic status signal and the knee motion state signal carry out processing and form operation curve to be specifically to use empirical mode decomposition knot
It amounts to spatial model, deepness belief network, recurrent neural network and Bayesian network and forms operation curve.
7. lower limb rehabilitation training method according to claim 5, which is characterized in that the lower limb rehabilitation training method is in life
After operation curve further include:
It is spaced prefixed time interval.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910628633.XA CN110200786A (en) | 2019-07-12 | 2019-07-12 | A kind of lower limbs rehabilitation training robot and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910628633.XA CN110200786A (en) | 2019-07-12 | 2019-07-12 | A kind of lower limbs rehabilitation training robot and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110200786A true CN110200786A (en) | 2019-09-06 |
Family
ID=67797264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910628633.XA Pending CN110200786A (en) | 2019-07-12 | 2019-07-12 | A kind of lower limbs rehabilitation training robot and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110200786A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974631A (en) * | 2019-10-23 | 2020-04-10 | 布法罗机器人科技（成都）有限公司 | Asymmetric lower limb exoskeleton robot and control method |
| CN111249119A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Combined lower limb exoskeleton rehabilitation device |
| CN111249116A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Unilateral lower limb exoskeleton rehabilitation device |
| CN111265387A (en) * | 2020-01-20 | 2020-06-12 | 深圳市丞辉威世智能科技有限公司 | Fixed gait walking training method and device, terminal and storage medium |
| CN111312361A (en) * | 2020-01-20 | 2020-06-19 | 深圳市丞辉威世智能科技有限公司 | Free gait walking training method and device, terminal and storage medium |
| CN111312362A (en) * | 2020-01-20 | 2020-06-19 | 深圳市丞辉威世智能科技有限公司 | In-place stepping training method, device, terminal and storage medium |
| CN112220650A (en) * | 2020-12-09 | 2021-01-15 | 南京伟思医疗科技股份有限公司 | Online step generation control system for exoskeleton robot contralateral training |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2688278Y (en) * | 2004-04-07 | 2005-03-30 | 哈尔滨工程大学 | Multifunctional robot for upper limb rehabilitating exercise |
| WO2011055428A1 (en) * | 2009-11-04 | 2011-05-12 | トヨタ自動車株式会社 | Walking aid device |
| CN102567638A (en) * | 2011-12-29 | 2012-07-11 | 无锡微感科技有限公司 | Interactive upper limb rehabilitation system based on micro-sensor |
| CN103203748A (en) * | 2013-04-08 | 2013-07-17 | 布法罗机器人科技（苏州）有限公司 | Exoskeleton robot controlling system and method |
| CN103536424A (en) * | 2013-10-26 | 2014-01-29 | 河北工业大学 | Control method of gait rehabilitation training robot |
| CN103892989A (en) * | 2014-04-16 | 2014-07-02 | 崔建忠 | Lower limb rehabilitation training robot and training method thereof |
| CN105213153A (en) * | 2015-09-14 | 2016-01-06 | 西安交通大学 | Based on the lower limb rehabilitation robot control method of brain flesh information impedance |
| TWI523648B (en) * | 2010-08-10 | 2016-03-01 | Univ Chang Gung | Prosthetic sensory compensation system |
| CN105476817A (en) * | 2016-01-13 | 2016-04-13 | 何平 | Mechanical leg controlled through thoughts of user and rehabilitation walking method |
| CN105662789A (en) * | 2016-03-30 | 2016-06-15 | 北京精密机电控制设备研究所 | Exoskeleton system for monitoring and controlling disabled limb movement based on healthy limb movement |
| CN106176134A (en) * | 2016-07-12 | 2016-12-07 | 王春宝 | A kind of method and system of autonomous training |
| CN106618957A (en) * | 2016-12-16 | 2017-05-10 | 南通大学 | Somatosensory control method for upper limb rehabilitation robot and rehabilitation training strategy |
| CN108939436A (en) * | 2018-08-01 | 2018-12-07 | 龚映清 | A kind of the active leg training system and its operating method of strong side Ipsilateral collaboration |
| CN109276807A (en) * | 2018-11-18 | 2019-01-29 | 郑州大学 | Hemiplegic patient's lower limb function electric stimulation therapeutic apparatus based on mirror image rehabilitation |
| CN109692104A (en) * | 2019-02-13 | 2019-04-30 | 中国工程物理研究院总体工程研究所 | Medical rehabilitation ectoskeleton interactive mode synchronous control system and method |
-
2019
- 2019-07-12 CN CN201910628633.XA patent/CN110200786A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2688278Y (en) * | 2004-04-07 | 2005-03-30 | 哈尔滨工程大学 | Multifunctional robot for upper limb rehabilitating exercise |
| WO2011055428A1 (en) * | 2009-11-04 | 2011-05-12 | トヨタ自動車株式会社 | Walking aid device |
| TWI523648B (en) * | 2010-08-10 | 2016-03-01 | Univ Chang Gung | Prosthetic sensory compensation system |
| CN102567638A (en) * | 2011-12-29 | 2012-07-11 | 无锡微感科技有限公司 | Interactive upper limb rehabilitation system based on micro-sensor |
| CN103203748A (en) * | 2013-04-08 | 2013-07-17 | 布法罗机器人科技（苏州）有限公司 | Exoskeleton robot controlling system and method |
| CN103536424A (en) * | 2013-10-26 | 2014-01-29 | 河北工业大学 | Control method of gait rehabilitation training robot |
| CN103892989A (en) * | 2014-04-16 | 2014-07-02 | 崔建忠 | Lower limb rehabilitation training robot and training method thereof |
| CN105213153A (en) * | 2015-09-14 | 2016-01-06 | 西安交通大学 | Based on the lower limb rehabilitation robot control method of brain flesh information impedance |
| CN105476817A (en) * | 2016-01-13 | 2016-04-13 | 何平 | Mechanical leg controlled through thoughts of user and rehabilitation walking method |
| CN105662789A (en) * | 2016-03-30 | 2016-06-15 | 北京精密机电控制设备研究所 | Exoskeleton system for monitoring and controlling disabled limb movement based on healthy limb movement |
| CN106176134A (en) * | 2016-07-12 | 2016-12-07 | 王春宝 | A kind of method and system of autonomous training |
| CN106618957A (en) * | 2016-12-16 | 2017-05-10 | 南通大学 | Somatosensory control method for upper limb rehabilitation robot and rehabilitation training strategy |
| CN108939436A (en) * | 2018-08-01 | 2018-12-07 | 龚映清 | A kind of the active leg training system and its operating method of strong side Ipsilateral collaboration |
| CN109276807A (en) * | 2018-11-18 | 2019-01-29 | 郑州大学 | Hemiplegic patient's lower limb function electric stimulation therapeutic apparatus based on mirror image rehabilitation |
| CN109692104A (en) * | 2019-02-13 | 2019-04-30 | 中国工程物理研究院总体工程研究所 | Medical rehabilitation ectoskeleton interactive mode synchronous control system and method |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974631A (en) * | 2019-10-23 | 2020-04-10 | 布法罗机器人科技（成都）有限公司 | Asymmetric lower limb exoskeleton robot and control method |
| CN111249119A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Combined lower limb exoskeleton rehabilitation device |
| CN111249116A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Unilateral lower limb exoskeleton rehabilitation device |
| CN111265387A (en) * | 2020-01-20 | 2020-06-12 | 深圳市丞辉威世智能科技有限公司 | Fixed gait walking training method and device, terminal and storage medium |
| CN111312361A (en) * | 2020-01-20 | 2020-06-19 | 深圳市丞辉威世智能科技有限公司 | Free gait walking training method and device, terminal and storage medium |
| CN111312362A (en) * | 2020-01-20 | 2020-06-19 | 深圳市丞辉威世智能科技有限公司 | In-place stepping training method, device, terminal and storage medium |
| CN111312361B (en) * | 2020-01-20 | 2024-05-10 | 深圳市丞辉威世智能科技有限公司 | Exercise gait control method, device, terminal and storage medium |
| CN111312362B (en) * | 2020-01-20 | 2024-05-10 | 深圳市丞辉威世智能科技有限公司 | In-situ stepping training method, device, terminal and storage medium |
| CN112220650A (en) * | 2020-12-09 | 2021-01-15 | 南京伟思医疗科技股份有限公司 | Online step generation control system for exoskeleton robot contralateral training |
| CN112220650B (en) * | 2020-12-09 | 2021-04-16 | 南京伟思医疗科技股份有限公司 | Online step generation control system for exoskeleton robot contralateral training |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110200786A (en) | A kind of lower limbs rehabilitation training robot and method | |
| Talaty et al. | Differentiating ability in users of the ReWalk TM powered exoskeleton: An analysis of walking kinematics | |
| US10537733B2 (en) | Functional electrical stimulation cycling device for people with impaired mobility | |
| Hidler et al. | Kinematic trajectories while walking within the Lokomat robotic gait-orthosis | |
| Asselin et al. | Heart rate and oxygen demand of powered exoskeleton-assisted walking in persons with paraplegia | |
| Ferris et al. | Powered lower limb orthoses for gait rehabilitation | |
| Ivanenko et al. | Plasticity and modular control of locomotor patterns in neurological disorders with motor deficits | |
| CN105852874B (en) | A kind of autonomous type rehabilitation training system and method | |
| CN107106398B (en) | Method for enhancing rehabilitation or training of exoskeleton wearer | |
| CN107405249B (en) | Spinal cord electrical stimulation device for walking training | |
| Monaco et al. | Design and evaluation of NEUROBike: A neurorehabilitative platform for bedridden post-stroke patients | |
| Bailey et al. | Neurotherapeutic and neuroprosthetic effects of implanted functional electrical stimulation for ambulation after incomplete spinal cord injury | |
| Galvez et al. | Robotics for gait training after spinal cord injury | |
| RU2513418C1 (en) | Method for complex rehabilitation of patients in early rehabilitation period of cerebral apoplexy | |
| CN110404168A (en) | A kind of adaptive electro photoluminescence training system | |
| Gomez-Vargas et al. | Therapy with t-flex ankle-exoskeleton for motor recovery: A case study with a stroke survivor | |
| Bellman | Control of cycling induced by functional electrical stimulation: A switched systems theory approach | |
| Zhuang et al. | Applying the Interaction of Walking-Emotion to an Assistive Device for Rehabilitation and Exercise | |
| Lee et al. | Feasibility of gait entrainment to hip mechanical perturbation for locomotor rehabilitation | |
| Papachristos | Functional electrical stimulation in paraplegia | |
| Thoumie et al. | Restoration of functional gait in paraplegic patients with the RGO-II hybrid orthosis. A multicentre controlled study. I. Clinical evaluation | |
| Hussein et al. | Muscle coordination in healthy subjects during floor walking and stair climbing in robot assisted gait training | |
| CN107261325B (en) | Method and device for preventing hemiplegia patient from overstretching during walking training | |
| CN108836748A (en) | A kind of lower limb rehabilitation exoskeleton system | |
| Lendaro et al. | Classification of non-weight bearing lower limb movements: towards a potential treatment for phantom limb pain based on myoelectric pattern recognition |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190906 |
|
| RJ01 | Rejection of invention patent application after publication |