CN106859928A - 步态康复训练机器人及用于该机器人的力反馈控制方法 - Google Patents
步态康复训练机器人及用于该机器人的力反馈控制方法 Download PDFInfo
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- CN106859928A CN106859928A CN201710257171.6A CN201710257171A CN106859928A CN 106859928 A CN106859928 A CN 106859928A CN 201710257171 A CN201710257171 A CN 201710257171A CN 106859928 A CN106859928 A CN 106859928A
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- 230000005021 gait Effects 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000009123 feedback regulation Effects 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 7
- 238000011084 recovery Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 5
- 210000001364 upper extremity Anatomy 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 11
- 208000027418 Wounds and injury Diseases 0.000 abstract description 3
- 230000006378 damage Effects 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 8
- 210000001699 lower leg Anatomy 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 210000000689 upper leg Anatomy 0.000 description 6
- 210000002414 leg Anatomy 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 4
- 230000003993 interaction Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6828—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
- A61B2505/09—Rehabilitation or training
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Physiology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
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CN201710257171.6A CN106859928B (zh) | 2017-04-19 | 2017-04-19 | 步态康复训练机器人及用于该机器人的力反馈控制方法 |
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CN201710257171.6A CN106859928B (zh) | 2017-04-19 | 2017-04-19 | 步态康复训练机器人及用于该机器人的力反馈控制方法 |
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CN106859928A true CN106859928A (zh) | 2017-06-20 |
CN106859928B CN106859928B (zh) | 2019-11-22 |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109199805A (zh) * | 2017-06-30 | 2019-01-15 | 山东华宇工学院 | 智能电子导盲系统 |
CN109771230A (zh) * | 2017-11-14 | 2019-05-21 | 纬创资通股份有限公司 | 助行装置 |
CN111658445A (zh) * | 2020-07-20 | 2020-09-15 | 上海金矢机器人科技有限公司 | 用于下肢康复训练的髋关节结构和被动步态协调控制方法 |
CN111939009A (zh) * | 2020-07-01 | 2020-11-17 | 南京伟思医疗科技股份有限公司 | 一种双轨道循迹的康复减重步行训练车及循迹方法 |
CN114305996A (zh) * | 2022-01-05 | 2022-04-12 | 中国科学技术大学 | 下肢机器人速度控制系统与方法 |
CN115501543A (zh) * | 2022-09-21 | 2022-12-23 | 南京伟思医疗科技股份有限公司 | 一种用于步行康复的抗阻方法及系统 |
Citations (5)
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CN102225034A (zh) * | 2011-04-25 | 2011-10-26 | 中国科学院合肥物质科学研究院 | 步态康复训练机器人控制系统 |
KR20130001663A (ko) * | 2011-06-27 | 2013-01-04 | 엘지전자 주식회사 | 보행 보조 장치 및 그 작동 제어 방법 |
CN103040586A (zh) * | 2012-12-20 | 2013-04-17 | 上海大学 | 用于下肢运动训练的外骨骼机器人及其运动控制方法 |
CN105213156A (zh) * | 2015-11-05 | 2016-01-06 | 京东方科技集团股份有限公司 | 一种动力外骨骼及其控制方法 |
CN106309081A (zh) * | 2015-07-06 | 2017-01-11 | 深圳市肯綮科技有限公司 | 一种轻便运动助力装置及其控制方法 |
-
2017
- 2017-04-19 CN CN201710257171.6A patent/CN106859928B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN102225034A (zh) * | 2011-04-25 | 2011-10-26 | 中国科学院合肥物质科学研究院 | 步态康复训练机器人控制系统 |
KR20130001663A (ko) * | 2011-06-27 | 2013-01-04 | 엘지전자 주식회사 | 보행 보조 장치 및 그 작동 제어 방법 |
CN103040586A (zh) * | 2012-12-20 | 2013-04-17 | 上海大学 | 用于下肢运动训练的外骨骼机器人及其运动控制方法 |
CN106309081A (zh) * | 2015-07-06 | 2017-01-11 | 深圳市肯綮科技有限公司 | 一种轻便运动助力装置及其控制方法 |
CN105213156A (zh) * | 2015-11-05 | 2016-01-06 | 京东方科技集团股份有限公司 | 一种动力外骨骼及其控制方法 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109199805A (zh) * | 2017-06-30 | 2019-01-15 | 山东华宇工学院 | 智能电子导盲系统 |
CN109771230A (zh) * | 2017-11-14 | 2019-05-21 | 纬创资通股份有限公司 | 助行装置 |
CN109771230B (zh) * | 2017-11-14 | 2021-06-04 | 纬创资通股份有限公司 | 助行装置 |
CN111939009A (zh) * | 2020-07-01 | 2020-11-17 | 南京伟思医疗科技股份有限公司 | 一种双轨道循迹的康复减重步行训练车及循迹方法 |
CN111658445A (zh) * | 2020-07-20 | 2020-09-15 | 上海金矢机器人科技有限公司 | 用于下肢康复训练的髋关节结构和被动步态协调控制方法 |
CN114305996A (zh) * | 2022-01-05 | 2022-04-12 | 中国科学技术大学 | 下肢机器人速度控制系统与方法 |
CN114305996B (zh) * | 2022-01-05 | 2022-12-30 | 中国科学技术大学 | 下肢机器人速度控制系统与方法 |
CN115501543A (zh) * | 2022-09-21 | 2022-12-23 | 南京伟思医疗科技股份有限公司 | 一种用于步行康复的抗阻方法及系统 |
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Inventor after: Liu Tao Inventor after: Wang Lei Inventor after: Chen Zhongxian Inventor after: Dong Tianyun Inventor after: Han Meimei Inventor after: Han Yi Inventor before: Liu Tao Inventor before: Wang Lei Inventor before: Chen Zhongxian Inventor before: Dong Tianyun Inventor before: Han Meimei |
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Address after: 310052 room 228, 2f, building 1, no.1180 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Applicant after: Zhejiang Welfare Medical Devices Co., Ltd. Address before: Hangzhou City, Zhejiang province Binjiang District 310052 shore road 1180 No. 2 Building 2 room 2238 Applicant before: Hangzhou welfare medical instrument Co., Ltd. |
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Address after: 310052 room 228, 2f, building 1, no.1180 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: Zhejiang wellbeing Technology Co., Ltd Address before: 310052 room 228, 2f, building 1, no.1180 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province Patentee before: Zhejiang Welfare Medical Devices Co., Ltd. |