CN111920654A - Wearable rehabilitation walking-aid robot self-adjusting system - Google Patents

Wearable rehabilitation walking-aid robot self-adjusting system Download PDF

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CN111920654A
CN111920654A CN202010907136.6A CN202010907136A CN111920654A CN 111920654 A CN111920654 A CN 111920654A CN 202010907136 A CN202010907136 A CN 202010907136A CN 111920654 A CN111920654 A CN 111920654A
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苏海龙
彭涛
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Tianjin University of Science and Technology
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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
    • 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
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • 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
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—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
    • A61H2201/5007—Control means thereof computer controlled
    • 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
    • A61H2201/5023—Interfaces to the user
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5041—Interfaces to the user control is restricted to certain individuals

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
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Abstract

The invention relates to a wearable rehabilitation walking aid robot self-adjusting system which comprises a human-computer interaction interface, a user information database and a wearable exoskeleton self-adjusting module, wherein the wearable exoskeleton self-adjusting module is the core of the system. Personal basic information (sex, age and height characteristics) is input into a user information database through a human-computer interaction interface, the length of a thigh rod and the length of a shank rod of the wearable lower limb rehabilitation walking aid robot are self-adjusted based on a height-leg length standard model, and the stride length most suitable for individual training is determined through a height-step length mathematical model embedded in a wearable self-adjustment exoskeleton module. The invention has compact design structure, and can realize the rapid analysis of the length of the lower limb and the length of the stride matched with the height of the user and the automatic adjustment after inputting the information instruction of the user.

Description

Wearable rehabilitation walking-aid robot self-adjusting system
Technical Field
The invention belongs to the fields of robotics and rehabilitation medicine, relates to a robot rehabilitation training device, and particularly relates to a self-adjusting system of a wearable rehabilitation walking aid robot.
Background
The statistics data of Chinese Union 2019 show that the total number of Chinese disabled people is 8500 million, wherein the limb disabilities account for 1/4, and corresponding rehabilitation instruments are very needed. On the other hand, with the accelerated aging of society, the population of patients with cerebrovascular diseases is expanding. Stroke patients in China rise at a rate of 9% per year, and if more effective measures are not taken, 3177 ten thousand stroke patients exist in China by 2030.
Research shows that the good recovery possibility is reduced by 1% when the rehabilitation training is delayed for 1 hour after stroke, the good recovery possibility is increased by 13% when the rehabilitation training is increased for 10-30min, the proportion of independent walking for 50 meters is increased by 66%, and the development or recurrence of nervous system symptoms is reduced by 11%. The early rehabilitation training has good promotion effect on the recovery of the motor function and the daily life activity of the disabled. However, the traditional exercise rehabilitation therapy is time-consuming and labor-consuming, and particularly, the rehabilitation training of the lower limbs causes great burden to therapists, so that the intensity and duration of the therapy are difficult to ensure, and the effect of the therapy is influenced. In addition, at present, the proportion of the basic population occupied by rehabilitation doctors in China is only 1.7 per 10 thousands of people, and a huge gap exists among rehabilitation professionals. With the development of science and technology, the exercise rehabilitation therapy is continuously innovated, and the traditional method is gradually changed from the original common apparatus to the intelligent auxiliary apparatus, so that the traditional method is changed by the strength of science and technology, and the optimal apparatus and treatment method are provided for patients and medical care personnel.
The lower limb rehabilitation robot is a branch of the medical robot, can effectively and economically help patients with limb disorders to carry out rehabilitation treatment, and has become a research hotspot in the robot field. The lower limb rehabilitation robot is a complete rehabilitation training system comprising hardware and software, the treatment concept of limb rehabilitation function is from the concept of motor therapy and nerve remodeling, and the lower limb rehabilitation robot combines a plurality of fields of rehabilitation medicine, biomechanics, mechanics, electronics, materials, computer science, robotics and the like, provides a systematic rehabilitation treatment scheme and repeated motor training for patients with lower limb motor dysfunction, and reestablishes a nerve path for controlling limb movement, thereby achieving the purpose of recovering limb function. At present, the research of wearable rehabilitation walking-aid robots is still in a development stage, most of existing rehabilitation robot systems adopt fixed-track type lower limb rehabilitation training, and the self-adjustment of leg rod length and stride length ranges for matching with personal characteristics of users is not carried out. The stride length range of the users with different heights is different, if the same rehabilitation action is adopted to help the patients to carry out rehabilitation training, the use comfort and the rehabilitation effectiveness of the patients are not facilitated, and the secondary damage to the joints is easily caused.
Patent CN201410246194.3 discloses a control system and method for a rehabilitation robot. The control system is mainly based on parts such as human-computer interface equipment, an upper computer PC, a multi-axis motion controller, a motor control unit, a sensing unit, a CAN bus and the like. The posture balance of the robot and the patient in the rehabilitation training process can be ensured to a certain extent, and the reliability, the maintainability and the real-time performance of the system are improved. But does not take the matching degree of the machine and the patient and the use comfort into consideration in a targeted way.
Patent CN201810173731.4 designs a six-degree-of-freedom control system for upper limb rehabilitation robot. The control system is an Ethernet bus type topological structure and comprises control system software, an industrial personal computer, human-computer interaction equipment connected with the industrial personal computer and a bus control module; the structure of the control system is simplified to a certain extent, the execution efficiency of the control system is improved, and the joint synchronism of the equipment is improved. However, the control system does not specifically consider the inconsistent joint lengths of patients with different characteristics, and the patients feel poor fit and can cause secondary damage in use.
Through a search for a patent publication, no patent publication that is the same as the present patent application is found.
Disclosure of Invention
The wearable rehabilitation walking-aid robot aims to supplement the defects of the prior art, and the man-machine matching degree is improved through the self-adjusting system of the wearable rehabilitation walking-aid robot, so that a user can perform rehabilitation training more scientifically and effectively.
The technical problem to be solved by the invention is realized by the following technical scheme:
a self-adjusting system of a wearable rehabilitation walking-aid robot. The system is characterized by comprising a human-computer interaction interface module, a user information database module and a wearable exoskeleton self-adjusting module. Wherein the wearable exoskeleton self-adjusting module is the core of the system. The user inputs an information database through personal basic information (sex, age and height characteristics), the length of a thigh rod and the length of a shank rod of the wearable lower limb rehabilitation walking-aid robot are self-adjusted based on the user information database module, and the pulse quantity of a motor in a gait cycle is adjusted through a height-step-size mathematical model embedded in the wearable exoskeleton self-adjustment module to determine the most suitable stride length.
The invention realizes the adjustment of the stride length by adjusting the hip and knee joint angles and the ball screw stroke, and comprises the following three steps:
step 1, acquiring gait data of a normal human body walking in a gait cycle through a three-dimensional infrared motion capture system, wherein the gait data comprises left leg hip joint angle data, left leg knee joint angle data, right leg hip joint angle data and right leg knee joint angle data. Discretizing the joint angle data in one gait cycle to obtain joint angle values at any moment;
step 2, deducing a conversion relation between the hip joint angle and the displacement of the actuating mechanism at the hip joint and a conversion relation between the knee joint angle and the displacement of the actuating mechanism at the knee joint according to the geometric position relation of the exoskeleton robot structure;
in step 2, the conversion relationship between the exoskeleton robot joint angle and the actuator displacement is as follows:
simplifying the thigh rod and the shank rod of the lower limb exoskeleton into a connecting rod structure:
the length of each rod piece of the four-bar mechanism is determined by combining the principle of the four-bar mechanism, the motion trail of the device and the size of a normal human body. The stroke of the ball screw is calculated by using the limit position of each joint. The ball screw stroke at the hip joint is shown in FIG. 2, AE1Indicating the length of the lead screw from the installed position to the end of the lead screw, fully retracted. AE represents the length of the lead screw extending a certain distance, the mounting position to the end of the lead screw. The stroke of the screw is denoted by Δ H.
Figure BSA0000218352050000031
Figure BSA0000218352050000032
As known from the theory of the cosine of,
Figure BSA0000218352050000033
as can be seen from the cosine law,
Figure BSA0000218352050000034
the stroke of the ball screw mounted on the hip joint driver: Δ H-AE1。
Ball screw travel at knee is shown in fig. 3, BC representing the length of the screw from the fully retracted, installed position to the end of the screw. BC1Indicating the length of the lead screw extending a certain distance, the mounting position to the end of the lead screw. The stroke of the screw is denoted by Δ K.
When the knee joint is vertical to the ground, namely extends for 0 degree,
Figure BSA0000218352050000035
Figure BSA0000218352050000036
as known from the theory of the cosine of,
Figure BSA0000218352050000037
when the knee joint is flexed to the maximum angle value,
Figure BSA0000218352050000038
therefore, the stroke of the knee joint ball screw is as follows: Δ K ═ BC1-BC。
Step 3, establishing a height-step mathematical model by measuring the step length and the height of 100 males aged 15-40 years: y (height) 0.1819x (x is the step) + 156.79. Acquiring the displacement of the left leg execution mechanism and the displacement of the right leg execution mechanism of the exoskeleton robot according to the joint angle value obtained in the step 1 and the conversion relation between the joint angle obtained in the step 2 and the displacement of the execution mechanism, and acquiring the pulse quantity of the execution mechanism according to the conversion relation between the displacement of the execution mechanism and the pulse;
in step 3, the conversion relationship between the displacement of the exoskeleton robot actuator and the pulse number is as follows:
Figure BSA0000218352050000041
in the formula, theta represents a step angle of the servo electric cylinder, s represents a screw pitch of a lead screw, and P represents a pulse number; l (t + Δ t) represents the length of the actuator at time t + Δ t.
Obtaining the step length x of the normal movement of the human body according to the height-step length mathematical model, dynamically adjusting the joint angle and the lead screw stroke of the exoskeleton robot, and establishing a lower limb single-step movement model as shown in fig. 4, wherein for convenience of analysis, the knee joint is assumed to be in a fully extended state, so that the following steps can be obtained:
l1＝l2length of leg- Δ H- Δ K
x1＝l1×sin q1
x2＝l2×sin q2
x＝x1+x2
In the formula I1And l2Representing the real length of the left leg and the real length of the right leg, and the leg length is obtained according to a height-leg length standard model, namely the leg length is t1+t2，q1The angle of motion of the hip joint of the left leg compared to the sagittal axis, q2The angle of motion of the hip joint of the right leg compared to the sagittal axis.
Drawings
FIG. 1 is a schematic overall structure diagram of a wearable rehabilitation walking aid robot self-adjustment system in an embodiment of the invention;
FIG. 2 is a schematic view of the motion stroke of the hip joint in an embodiment of the present invention;
FIG. 3 is a schematic view of the knee joint movement stroke according to the embodiment of the present invention;
FIG. 4 is a schematic view of a single step lower limb movement in accordance with an embodiment of the present invention.
Detailed Description
A wearable recovered help capable robot self-interacting system of, its characterized in that: the human-computer interaction interface comprises a user information registration and login interface, a use function interface and a user information interface. Privacy settings and personal use selections can be made in the user registration login interface. After the privacy and authority specification is used by the agreement platform, the user can log in and check own data information, rehabilitation training records and the like. The doctor can also review the patient's personal health profile and training records and criteria after logging in. The user can view the user information and set the reminder of the training mode when using the functional interface. In the user information interface, the doctor can add or modify the user roster. And the personal information of the patient is consulted, including the name, sex and age of the patient, the rehabilitation training condition, the login times and the time record and the like.
A wearable recovered help capable robot self-interacting system of, its characterized in that: the user database mainly utilizes an Access data management system to store user account password information, personal information and rehabilitation training data. The doctor can inquire the condition information of different patients through the user information database, and can look up the personal information of the patients in the database, wherein the personal information comprises the names, the sexes and the ages of the patients, the rehabilitation training conditions, the login times, the time records and the like. And the management of the user data can be realized, including deletion, addition, modification and adjustment and the like. The user information database comprises a user data center and a personal management center, wherein the user data center is mainly used for storing data of user accounts and passwords and matching the data with user information of the personal management center and a rehabilitation training database. The user after the first registration fills the information into the user data center, the account password can be automatically matched with the user information of the personal management center during the second login, and the user enters the personal management center after successful matching. The personal management center is mainly used for storing user information, rehabilitation training records and physical training index conditions.
The above-mentionedThe self-adjusting system of wearable rehabilitation walking-aid robot is characterized in that: the wearable exoskeleton self-adjusting module mainly realizes the self-adjustment of the length of the leg rod. According to the standard model of human height-leg length, the length t of thigh1Height x 0.341, shank length t2Height x 0.21. Based on a user information database, when personal characteristic information of a new user is input, the wearable exoskeleton self-adjusting module can control the direct-current push rod motor to work, a pair of screw rod nuts are driven after gear reduction, the rotary motion of the motor is changed into linear motion, and the push rod action is completed by utilizing the positive and negative rotation of the motor so as to control and adjust the length of the leg.
A wearable recovered help capable robot self-interacting system of, its characterized in that: the wearable exoskeleton self-adjusting module mainly realizes the self-adjustment of the stride length. For stride length adjustment, a user height-step length based mathematical model is established. The height-step mathematical model is established by measuring the step length and the height of 100 males aged 15-40 years: y (height) 0.1819x (x is the step) + 156.79. The wearable exoskeleton self-adjusting module analyzes the input characteristics of the user such as height and the like according to the information data of the user to guide the input characteristics into the mathematical model in the system module to carry out the stride length corresponding to the height of the user after the user logs in and inputs and matches the information, so that the user can better use the rehabilitation walking aid robot to carry out more scientific rehabilitation training within the range of the matched stride length.
The invention has the advantages and beneficial effects that:
1. the man-machine interaction interface module comprises a user information registration and login interface, a use function interface and a user information interface. Privacy settings and personal use selections can be made in the user registration login interface. After the privacy and authority specification is used by the agreement platform, the user can log in and check own data information, rehabilitation training records and the like. The doctor can also view the patient's personal health profile and training records and time after logging in. The rehabilitation training can be more targeted to the personal condition of the user.
2. The user information database of the invention comprises a user data center and a personal management center, wherein the user data center is mainly used for storing the data of user accounts and passwords and matching the data with the user information of the personal management center and a rehabilitation training database. The user after the first registration fills the information into the user data center, the account password can be automatically matched with the user information of the personal management center during the second login, and the user enters the personal management center after successful matching. The personal management center is mainly used for storing user information, rehabilitation training records and physical training index conditions. This allows for full storage of information and for fast matching of operations.
3. The invention provides an automatic adjusting system for rehabilitation training of a wearable rehabilitation walking aid robot, which is established by a mathematical model of linear relation between the height and the stride length of a user and has an experimental data basis. After the user logs in and inputs and matches information, the wearable exoskeleton self-adjusting module analyzes the height and other characteristics input by the user according to the information data of the user and guides the height-step length mathematical model into the system module to carry out the step length corresponding to the height of the user, so that the user can use the rehabilitation walking aid robot to carry out more scientific rehabilitation training within the range of the matched step length.

Claims (5)

1. The utility model provides a wearable recovered helps capable robot self-interacting system which characterized in that: the utility model provides a wearable recovered helps capable robot self-interacting system which characterized in that: the self-adjusting system of the wearable rehabilitation walking aid robot is established based on a mathematical model of linear relation between the height of a user and the length of legs and stride. The system mainly comprises three modules: the system comprises a human-computer interaction interface, a user information database and a wearable exoskeleton self-adjusting module. The user logs in a human-computer interaction interface after registering a personal account, personal basic information is input into a user information database through the human-computer interaction interface, the wearable exoskeleton self-adjusting module automatically adjusts the length of a leg rod through a height-leg length standard model, and the height-step length mathematical model is used for automatically adjusting the stride length of the rehabilitation walking-aid robot which meets the height of the user.
2. The self-adjusting system of a wearable rehabilitation walker robot of claim 1, wherein: the human-computer interaction interface module comprises a user information registration and login interface, a use function interface and a user information interface. Privacy settings and personal use selections can be made in the user registration login interface. After the privacy and authority specification is used by the agreement platform, the user can log in and check own data information, rehabilitation training records and the like. The doctor can also review the patient's personal health profile and training records and criteria after logging in. The user can view the user information and set the reminder of the training mode when using the functional interface. In the user information interface, the doctor can add or modify the user roster. And the personal information of the patient is consulted, including the name, sex, age, height of the patient, the rehabilitation training condition, the login times and the time record and the like.
3. The self-adjusting system of a wearable rehabilitation walker robot of claim 1, wherein: the user database comprises a user data center and a personal management center, and the Access data management system is used for storing the user account password information, the personal information and the rehabilitation training data. The doctor records the personal information and the training condition of the patient through a software and hardware platform and stores the personal information and the training condition into a user information database. The doctor can inquire the condition information of different patients through the user information database. And the personal information of the patient can be consulted in the database, including the name, sex, age, height, rehabilitation training condition, login times and time records and the like of the patient. And the management of the user data can be realized, including deletion, addition, modification and adjustment and the like. The user data center is mainly used for storing data of user accounts and passwords and matching the data with user information of another personal management center and a rehabilitation training database. The user after the first registration fills the information into the user data center, the account password can be automatically matched with the user information of the personal management center during the second login, and the user enters the personal management center after successful matching. The personal management center is mainly used for storing user information, rehabilitation training records and physical training index conditions.
4. A wearable rehabilitation walking aid robot self-adjustment system according to claim 3, characterized in that: the software and hardware platform for recording and storing the personal information and the rehabilitation training condition of the patient comprises a hardware platform and a software platform, wherein the hardware platform comprises a Vicon system, a Novel plantar pressure measuring system, a Noraxon muscle force testing system, an encoder and a plantar pressure sensor, and the software platform comprises a NEXUS data acquisition application analyzer for evaluating the form and posture of the patient, evaluating the muscle force, improving the joint activity, improving the muscle tension, balancing and coordinating the ability, checking the neuroelectrophysiology and acquiring the gait data.
5. The self-adjusting system of a wearable rehabilitation walker robot of claim 1, wherein: the wearable exoskeleton self-adjusting module is mainly a height-step length mathematical model based on a linear relation between the height and the step length of a user, after the user logs in and information is input and matched, the wearable exoskeleton self-adjusting module analyzes the input height characteristics of the user in combination with information data of the user based on a height-leg length standard model to adjust the length of a leg rod of the rehabilitation walking-assisting robot, and then performs step length self-adjustment corresponding to the height of the user according to the height-step length mathematical model in the wearable exoskeleton self-adjusting module, so that the user can perform more scientific rehabilitation training when using the rehabilitation walking-assisting robot.
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Citations (8)

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Publication number Priority date Publication date Assignee Title
CN101057806A (en) * 2007-05-28 2007-10-24 哈尔滨工程大学 Gait image training robot
CN101810532A (en) * 2010-04-28 2010-08-25 河北工业大学 Lower limbs rehabilitation training robot
WO2015099292A1 (en) * 2013-12-27 2015-07-02 한국산업기술대학교산학협력단 System and method for controlling joint angle of knee-joint type walking training robot
CN105769506A (en) * 2016-03-02 2016-07-20 广西科技大学 Lower limb rehabilitation robot
CN105832496A (en) * 2016-03-17 2016-08-10 合肥工业大学 Novel lower extremity exoskeleton rehabilitation training device and training method
CN107115191A (en) * 2017-04-27 2017-09-01 北京航空航天大学 A kind of leg device with interaction measurement of force suitable for lower limb rehabilitation exoskeleton robot
CN107126344A (en) * 2017-07-05 2017-09-05 天津科技大学 Lower limb walking function rehabilitation exoskeleton rehabilitation robot and control system and method
CN110680335A (en) * 2019-10-08 2020-01-14 深圳市臻络科技有限公司 Step length measuring method and device, system and non-volatile computer storage medium thereof

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101057806A (en) * 2007-05-28 2007-10-24 哈尔滨工程大学 Gait image training robot
CN101810532A (en) * 2010-04-28 2010-08-25 河北工业大学 Lower limbs rehabilitation training robot
WO2015099292A1 (en) * 2013-12-27 2015-07-02 한국산업기술대학교산학협력단 System and method for controlling joint angle of knee-joint type walking training robot
CN105769506A (en) * 2016-03-02 2016-07-20 广西科技大学 Lower limb rehabilitation robot
CN105832496A (en) * 2016-03-17 2016-08-10 合肥工业大学 Novel lower extremity exoskeleton rehabilitation training device and training method
CN107115191A (en) * 2017-04-27 2017-09-01 北京航空航天大学 A kind of leg device with interaction measurement of force suitable for lower limb rehabilitation exoskeleton robot
CN107126344A (en) * 2017-07-05 2017-09-05 天津科技大学 Lower limb walking function rehabilitation exoskeleton rehabilitation robot and control system and method
CN110680335A (en) * 2019-10-08 2020-01-14 深圳市臻络科技有限公司 Step length measuring method and device, system and non-volatile computer storage medium thereof

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Application publication date: 20201113