Virtual scene interactive rehabilitation training robot based on lower limb connecting rod model and force sense information and control method thereof
US11491071B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 20, 2020 |
| Grant date | Nov 8, 2022 |
| Priority date | — |
| Expiry date | Apr 9, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F2203/012
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A virtual scene interactive rehabilitation training robot based on a lower limb connecting rod model and force sense information and a control method thereof are disclosed. The thigh, calf and foot of a leg of a human body are equated to a three-connecting rod series-connected mechanical arm. A human body leg gravity compensation model is constructed. The leg posture of a patient is detected by Kinect. An interaction force between a limb of the patient and a rehabilitation robot is detected by a force sensor on the rehabilitation robot. Then, a progressive rehabilitation training method is designed for the model. According to a set weight reduction ratio, the motion of the rehabilitation robot is controlled by judging plantar force data.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.