Method and device for converting current and moment and rehabilitation robot

A rehabilitation robot, configured for implementing a method for converting a current and a moment, applied to a controller of the rehabilitation robot, wherein the controller is electrically connected to an ankle joint motor, an ankle joint encoder and a sitting and lying adjustment joint encoder of the rehabilitation robot;

• the ankle joint motor of the rehabilitation robot is configured with load weights and a cantilever, the cantilever is coaxially disposed with a rotating shaft of the ankle joint motor;
• scale marks are disposed on the cantilever, the load weights are suspended at corresponding scale mark positions of the cantilever, and the rehabilitation robot is correspondingly configured with a force arm length and an ankle joint motion angle, as well as a sitting and lying adjustment angle corresponding to a foot pedal of the rehabilitation robot, wherein the method comprises steps of:
• acquiring a to-be-processed current data;
• searching for a conversion relationship corresponding to the to-be-processed current data from a pre-stored current conversion relationship table based on the to-be-processed current data, wherein the current conversion relationship table stores at least one set of corresponding relationships between current data and the conversion relationship;
• converting the to-be-processed current data into a corresponding target moment using the conversion relationship,
• collecting a plurality of current data generated after the load weights are placed on the ankle joint motor;
• acquiring the force arm length and the ankle joint motion angle of the rehabilitation robot, as well as the sitting and lying adjustment angle corresponding to the foot pedal of the rehabilitation robot, so as to obtain influencing parameter values corresponding to the moment calculation formula;
• substituting the influencing parameter values and the mass data of the load weights into the moment calculation formula for calculation, so as to obtain a moment data corresponding to the current data generated by each of the load weights, wherein the moment calculation formula is:
• M=F*L*cos|(α−δ)|;
• generating a current and moment curve based on the current data and the moment data corresponding to the current data;
• extracting a plurality of linear moment intervals in the current and moment curve;
• calculating a slope value of each of the linear moment intervals, and saving the slope value as a conversion relationship corresponding to the linear moment intervals;
• extracting current value ranges of the linear moment intervals on the current and moment curve;
• and
• associating and saving the current value ranges and the conversion relationship, so as to generate the current conversion relationship table.