APPARATUS AND METHOD FOR CONTROLLING OF LOWER-LIMB REHABILITATION ROBOT

摘要

The present disclosure can quantitatively diagnose a patient's condition that has been measured by a therapist's eyes or senses, and can continually perform exercise therapy of the patient without being tired. In addition, it is possible to perform effective exercise therapy by solving the conventional problems that are not enough to use several patients in a hospital. In most of the rehabilitation exercises performed manually using the manpower, the ratio of rehabilitation therapists The rehabilitation therapist is able to secure the time for the rehabilitation therapist to perform the rehabilitation therapies and to set the degree of exercise more accurately according to the patient's height, The patient's treatment can be actively performed, and the brain lesion, cerebral hemorrhage, etc. It is possible to provide effective rehabilitation training to various subjects such as hemiplegic patients due to cardiovascular diseases or patients suffering from traffic accidents, injuries such as sports injuries, industrial accidents, and surgical patients such as hip joints and knee joints, The robot can be controlled in accordance with the walking command inputted by the user and the systematic rehabilitation training can be performed by detecting the intention of the unconscious user walking accompanying the walking. Various sensors, motors, monitoring By providing a convenience from the user's point of view by using the device and configuring it to be suitable for the use of the sensor signal, the user can easily rehabilitate according to his or her intention to walk through monitoring of the physical condition, It is intended for people who do not have a sensor to check various situations It is possible to train in various ways such as standing up and sitting, standing and balancing, weight shift training, pre-walking training and walking training using the motor drive, thereby enhancing the walking ability by improving the lower extremity muscles. Rehabilitation and spinal rehabilitation are beneficial to patients, and patient-tailored efficient rehabilitation training is possible through accurate patient intention analysis using analog sensor data. The range of rehabilitation exercise and the speed of rehabilitation exercise can be adjusted according to the patient's weight and height The present invention relates to a control apparatus and a control method for a rehabilitation robot having an advantage of simple operation of a program, monitoring of a patient's condition at all times and improvement of posture and convenience of the rehabilitation robot. A control apparatus for a rehabilitation robot according to an embodiment of the present disclosure includes a center frame, a side frame spaced apart from the center frame by a predetermined distance, a support frame mounted on the center frame, A frame provided with an upright rotated on the center frame through a driving force of an upright actuator installed on a side of the rehabilitation trainer; A saddle chair provided on the upright and supporting the hip of the rehabilitation trainee; a chest supporting the chest of the rehabilitation trainer, the chest supporting the chest of the rehabilitation trainer; Support and a rehabilitation exercise according to the height and weight of the rehabilitation trainee And a monitoring device for controlling the setting and the speed of rehabilitation movement and expressing the state of the rehabilitation trainee to check in real time. The control method of the underarm rehabilitation robot according to the present disclosure is a control method of a underarm rehabilitation robot for performing rehabilitation training of a rehabilitation trainee using a control device of the underarm rehabilitation robot, A setting step of setting a stride and a repetition frequency in accordance with rehabilitation training according to the height and weight of the rehabilitation trainee; A height comparison step of comparing the heights of the two feet of the rehabilitation trainee with each other to compare the heights of the feet generated by the walking training according to the rehabilitation training of the rehabilitation trainee, A motor driving step in which a motor for driving the foot plate is driven so that each of the foot plates is correspondingly operated And an ending step of stopping the operation of the foot plate by determining whether the rehabilitation training of the rehabilitation trainee is completed according to the stride and the repetition number according to the setting step.