FUNCTIONAL ELECTRONICAL STIMULATION SYSTEM FOR RECIPROCATING GAIT ORTHOSIS AND CONTROL METHOD THEREOF

摘要

PURPOSE: An electrostimulation system of a walk assisting robot and a method of controlling the electrostimulation using the same are provided, which are capable of assisting the patient's walk according to the walk condition and treating the nerve of paralyzed muscle according to the muscle reaction speed. CONSTITUTION: A method of controlling the electrostimulation of a walk assisting robot includes: a step(S710) of recognizing the muscle reaction time of a first muscle due to the muscle contraction at the time point when electrostimulation is applied to an electric stimulation part; a step(S715) of designating a first pressure detector detecting the heel pressure as a base pressure detector; a step(S720) of computing the first delay time of the required first muscle from the pressure detected time to the electrostimulation approval; a step of approving the electrostimulation signal when the n pressure is detected in the pressure detector; and a step of intercepting the electrostimulation signal of a first channel when the n+1 pressure is detected in the pressure detector.