CN107126344A - Lower limb walking function rehabilitation exoskeleton rehabilitation robot and control system and method - Google Patents
Lower limb walking function rehabilitation exoskeleton rehabilitation robot and control system and method Download PDFInfo
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- CN107126344A CN107126344A CN201710540020.1A CN201710540020A CN107126344A CN 107126344 A CN107126344 A CN 107126344A CN 201710540020 A CN201710540020 A CN 201710540020A CN 107126344 A CN107126344 A CN 107126344A
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/48—Other medical applications
- A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/6811—External prosthesis
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
- A61B2505/09—Rehabilitation or training
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/085—Crotch
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
A kind of lower limb walking function rehabilitation exoskeleton rehabilitation robot and its control system and method, the robot include backrest, hip joint power source, hip joint component, waist feature, thigh bar assembly, knee joint power source, knee components, shank bar assembly, ankle-joint component, foot pedal successively from top to bottom.This lower limb exoskeleton rehabilitation robot uses bionics principle design driven scheme, increases the ankle-joint active free degree, accelerates the resume speed of its ankle joint function by actively pulling patient's heel string muscle；Waist feature, linkage and foot pedal use carbon fibre composite, keep intensity to mitigate construction weight and volume simultaneously；Waist width, thigh length and lower-leg length are respectively provided with electrodeless adjustable function, and with flexible bandage, at utmost meet user's wearing comfort degree requirement.Both the walking-replacing tool of the patient of the invention that can have been disabled as walking, can also help patients with cerebral apoplexy regain locomotor activity by active training.
Description
Technical field
The present invention relates to medical rehabilitation equipment technical field, the walking disorder that is particularly suitable for use in, physical rehabilitation, paralytic patient
Function training and synkinesia etc., more specifically, more particularly to a kind of lower limb walking function rehabilitation exoskeleton rehabilitation machine
People and control system and control method for being controlled to the robot.
Background technology
Function refers to the feature sexuality of tissue, organ, limbs etc., and the function of such as hand is worked using instrument, lower limb
Function is support body and walked, for the patient with lower limb walking function obstacle, and its locomotor activity is limited, even
It can not be walked.
In the prior art, lower limb walking function obstacle rehabilitation instrument is mainly wheeled walking aids, a kind of typical walking
Device for rehabilitation, its concrete structure is：Include the main body of a plank frame, stainless steel leg is set in the both sides of main body, in master
The upside of body sets handrail.Patient holds handrail, is slowly moved using supporting leg as support, so as to reach the mesh of rehabilitation training
's.
Above-mentioned wheeled walking aids function is single, is only limitted to the patient of slight lower limb walking function obstacle, suffers from for severe
For the patient that person can not either walk, above-mentioned wheeled walking aids can not just play rehabilitation training function.
The content of the invention
(1) technical problem
In summary, how a kind of wheeled walking aids suitable for lower limb walking function obstacle patient with severe symptoms are provided, is turned into
Those skilled in the art urgent problems to be solved.
(2) technical scheme
The invention provides a kind of lower limb walking function rehabilitation exoskeleton rehabilitation robot, include：
Lumbar support system, the lumbar support system includes the flexible bandage of waist feature, backrest and waist；
Hip System, the Hip System is surrounded by hip joint power source, hip joint component；
Leg exercise system, the leg exercise system includes thigh bar assembly, knee joint power source, knee joint group
Part, shank bar assembly；
Foot's system, foot's system includes ankle-joint component and foot pedal；
Wherein, the front end of the backrest is connected with the flexible bandage of the waist, the rear end of the backrest and the waist group
Part is connected, and the back side of the backrest is provided with the power supply for power supply and the control module with control function；
The hip joint power source be fixedly installed in the waist feature and with the power supply and the control module
Connection, the hip joint component is fixedly installed on the waist feature, the hip joint component by articulated manner with it is described big
Leg bar assembly is connected, and the hip joint power source passes through the hip joint component and the thigh bar assembly power connector and can
The thigh bar assembly is driven to be rotated relative to the waist feature；
The knee joint power source be fixedly installed in the thigh bar assembly and with the power supply and the control mould
Group connection, the thigh bar assembly and the shank bar assembly are hinged by the knee components, the knee joint power
Source is by the knee components and the shank bar assembly power connector and can drive the shank bar assembly relative to described
Thigh bar assembly is rotated；
The ankle-joint component is connected by bonding mode with the shank bar assembly, the ankle-joint component and the foot
Portion's pedal connection；
In being provided with thigh bondage support and the flexible bandage of thigh in the thigh bar assembly, in the shank bar assembly
On be provided with the flexible bandage of shank bondage support and shank.
Preferably, the hip joint power source includes the first servomotor and matched somebody with somebody with the first servomotor power
Close the first ball-screw of connection, first ball-screw and the thigh bar member hinges；The knee joint power source bag
Include the second servomotor and the second ball-screw being connected with the second servomotor power, second ball
Leading screw is hinged with the shank bar assembly.
Preferably, the thigh bar assembly is included under thigh upper lever, the first borehole jack, the long regulating member of thigh bar, thigh
Rod member, hip joint power connections, the long regulation stud of thigh bar, knee joint power source bearing；First borehole jack passes through interference
Coordinate in the press-in hip joint power connections, the hip joint power connections are arranged on the thigh upper boom by bolt
On part, the knee joint power source bearing is arranged under the thigh on rod member by bolt, the long regulating member of thigh bar
The mode that is connected through a screw thread of two ends be separately mounted to the end of rod member under the thigh upper lever and the thigh；It is described small
Leg bar assembly include shank upper lever, the second borehole jack, the long regulating member of shank bar, shank under rod member, knee joint power connections,
The long regulation stud of shank bar；Second borehole jack is pressed into the knee joint power connections by being interference fitted, and the knee is closed
Save power connections to be arranged in the shank upper lever by bolt, the two ends of the long regulating member of shank bar pass through screw thread
The mode of connection is separately mounted to the end of rod member under the shank upper lever and the shank.
Preferably, the hip joint component is fixed including hip joint bearing (ball) cover, the first axle sleeve, hip joint bearing, hip joint
Position baffle plate, the left main shaft of hip joint, the right main shaft of hip joint, thigh bar end-connector, the first low-angle block, the first wide-angle gear
Block；The first axle set is arranged in the hip joint bearing, and the left main shaft of hip joint and the right main shaft of the hip joint pass through
Bolt is arranged in the low back left-hand axis and low back right-hand axis of the waist feature, is closed in the left main shaft of the hip joint and the hip
Save and the hip joint bearing is provided with right main shaft, the outer ring of the hip joint bearing is interior with the hip joint positioning baffle
Hole is connected, and the hip joint bearing (ball) cover is arranged on the hip joint positioning baffle by screw, the first small angle
Degree block, the first wide-angle block adhere to the left main shaft of the hip joint by bonding mode respectively and the hip joint is right
On main shaft, the thigh bar end-connector be bolted the centre that is fixed on the hip joint positioning baffle and with institute
Thigh upper lever is stated to be connected.
Preferably, the knee components include knee joint bearing (ball) cover, the second axle sleeve, the 3rd borehole jack, knee joint bearing,
Knee joint positioning baffle, knee joint main shaft, shank end-connector, the second wide-angle block, the second low-angle block；Described
Two axle sleeves are arranged in the knee joint bearing, and the both sides of the knee joint main shaft are provided with the knee joint bearing, described
The inner ring of knee joint bearing is coordinated by the second axle sleeve and the knee joint main shaft, outer ring and the knee of the knee joint bearing
Joint orientation baffle fit, the 3rd borehole jack is arranged on the knee joint positioning baffle and for connecting by interference fit
The output end of the knee joint power source is connect, the second largest angle limit block is arranged on the knee joint positioning baffle, the
Two low-angle limited blocks are arranged on the knee joint main shaft, and the knee joint bearing (ball) cover is arranged at the knee by screw and closed
Save on positioning baffle, the shank end-connector is bolted on the knee joint positioning baffle.
Preferably, foot's system also includes the flexible bandage of foot pedal, foot pedal, clutch pedal mounting bracket, rubber feet
Bottom, the right locating piece of heel, the left locating piece of heel, treadle supporting block, foot pedal upper limit position block, foot pedal lower position block, ankle
Bearing, decelerator rear support, harmonic speed reducer, disc type electric machine before sufficient connecting plate, decelerator；The disc type electric machine and described humorous
Ripple decelerator is arranged on the decelerator rear support by screw, and bearing is subtracted by screw with the harmonic wave before the decelerator
Fast device is connected and is arranged on the sufficient connecting plate of the ankle, and the treadle supporting block is arranged on the clutch pedal mounting bracket, the heel
Right locating piece and the left locating piece of the heel are arranged at the rear side of the foot pedal, and the flexible bandage of the foot pedal is set
In the upper side of the foot pedal, the rubber feet bottom is arranged at the downside of the foot pedal.
Preferably, the waist feature include front-seat left-hand axis, front-seat jackshaft, front-seat regulation handle, front-seat T-slot,
Front-seat right-hand axis, low back left-hand axis, waist hinge, hip joint power source bearing, bearing waist connector, the 4th borehole jack, waist
Right-hand axis, low back T-slot, low back jackshaft, low back width regulation handle；The front-seat left-hand axis and the front-seat right-hand axis are logical
Cross bolt respectively with the waist gemel connection and being installed in the low back left-hand axis and the low back right-hand axis, it is described before
T-slot is arranged by being arranged on the front-seat jackshaft, the front-seat regulation handle disposed thread and with through the first line center
The T-bolt in hole is threadedly coupled on countershaft；The hip joint power source bearing is fixed on by the bearing waist by screw
On portion's connector, the bearing waist connector is arranged in the low back left-hand axis and the low back right-hand axis, the low back T
Type groove is arranged in the low back left-hand axis and the low back right-hand axis；The heel row regulation handle disposed thread and with through
The T-bolt in hole is threadedly coupled on the heel row jackshaft.
Present invention also offers a kind of dynamical type lower limb exoskeleton rehabilitation robot control system, the control system includes
Micro controller module, straight line executing mechanism module, sensor assembly and data acquisition module；
The sensor assembly includes plantar pressure sensor and obliquity sensor, and the plantar pressure sensor is arranged on
The foot of lower limb exoskeleton is simultaneously distributed at the first metatarsal bone in vola, second metatarsal bone and heel three, to gather people's wearing dermoskeleton
Plantar pressure data when bone is walked；
The obliquity sensor is arranged on the left side thigh bar of exoskeleton robot, left side shank bar, right lateral thigh bar, the right side
At the shank bar of side, for gathering hip joint and kneed angle change data in people's wearing lower limb exoskeleton walking process；
The microcontroller is integrated with analog-digital converter and EBI, the plantar pressure sensor collection
The pressure signal arrived is converted into data signal by analog to digital converter and sensed with the inclination angle after amplification and filtering
The angle signal that device is collected sends PC host computers to by the EBI of microcontroller together.
Present invention also offers a kind of dynamical type lower limb exoskeleton rehabilitation robot desired trajectory control method, this method bag
Include and have the following steps：
Step 1, the gait walked by three-dimensional infrared moving seizure system acquisition normal human in a gait cycle
Data, including left leg Hip Angle data, left leg knee angle degrees of data, right leg Hip Angle data and right leg knee joint
Angle-data.Sliding-model control is carried out to the joint angles data in a gait cycle, the joint angles of any time are obtained
Value；
Step 2, derived and held at Hip Angle and hip joint according to the geometry site of exoskeleton robot structure
Transformational relation at transformational relation between row mechanism displacement, knee joint angle and knee joint between executing agency's displacement；
In step 2, the transformational relation between exoskeleton robot joint angles and executing agency's displacement is：
The thigh bar of lower limb exoskeleton and shank bar are reduced to bar linkage structure：
Setting：A, which represents hip joint, F and represents knee joint, AF, represents that thigh bar, E represent knee when hip joint lifts maximum angle
The position in joint；
The length of executing agency and the relation of joint angles are at hip joint：
Setting：It is kneed during maximum angle that E' represents that hip joint, F' represent that knee joint, C' represent that knee pass (section 1) is lifted
Position；
Relation at knee joint between the length and joint angles of executing agency is：
In formula (1), L1(t) length of executing agency at t hip joint, θ are represented1(t) t hip joint angle is represented
Degree, in formula (2), L2(t) length of executing agency at t knee joint, θ are represented2(t) t knee joint angle is represented；
Joint angles that step 3, joint angle angle value and step 2 as obtained by step 1 are tried to achieve and executing agency's displacement it
Between transformational relation, obtain the displacement of exoskeleton robot Zuo Tui executing agencies and the displacement of You Tui executing agencies, according to
Transformational relation between executing agency's displacement and pulse obtains the pulsed quantity of executing agency；
In step 3, the transformational relation between the displacement and umber of pulse of exoskeleton robot executing agency is：
In formula (3), θ represents the step angle of servo electric jar, and s represents the pitch of leading screw, and P represents umber of pulse；L(t+Δ
T) length of t+ Δ ts executing agency is represented.
Preferably, by desired trajectory control strategy, based on human body walking mechanism, system acquisition is caught by three-dimensional motion
Gait data of the normal human under level land, ramp walking environment different with stair, is carried out at parametrization to the track generated
Reason, so as to set up motion model of the people under different walking environment；
During level walking, the gait walked according to human normal dresses run trace during healing robot to people
Planned, human normal walking step state is obtained to the change of each joint angles in a gait cycle by parameterized treatment
Change, and joint angles are converted into the displacement of ball-screw, actuator is driven as the input of control system, in walking
During, real time data is fed back to controller and is adjusted by sensor, is finally reached the mesh for realizing human normal walking step state
Mark；
In stair climbing walking process, healing robot hip joint and knee are adjusted according to the height and width of stairway step
Angle is bent and stretched in joint, and the real time data collected according to plantar pressure sensor judges the position of centre of gravity of human body, passes through
The continuous adjustment of controller, makes up to poised state；
In the walking states of upward slope, except to adjust healing robot hip joint according to the angle on slope and kneed
Bend and stretch outside angle, also to increase the both legs support phase time shared in whole gait cycle, the size of proportion wants root
It is adjusted according to the angle on slope.
(3) beneficial effect
Pass through said structure design, the present invention increase ankle-joint active free degree, by actively pulling patient's heel string muscle
Accelerate resume speed.Waist feature, linkage and the foot pedal of lower limb exoskeleton rehabilitation robot are multiple using carbon fiber
Condensation material, keeps intensity to mitigate construction weight and volume simultaneously.Healing robot waist width, thigh length and lower-leg length are equal
Electrodeless adjustable function is set.
Brief description of the drawings
Fig. 1 is the overall structure signal of lower limb walking function rehabilitation exoskeleton rehabilitation robot in the embodiment of the present invention
Figure；
Fig. 2 is the structural representation of thigh bar assembly in the embodiment of the present invention；
Fig. 3 is the structural representation of shank bar assembly in the embodiment of the present invention；
Fig. 4 is the structural representation of waist feature in the embodiment of the present invention；
Fig. 5 is the structural representation of hip joint component in the embodiment of the present invention；
Fig. 6 is the structural representation of knee components in the embodiment of the present invention；
Fig. 7 is the structural representation of ankle-joint component in the embodiment of the present invention；
Fig. 8 is the structured flowchart of dynamical type lower limb exoskeleton rehabilitation robot control system in the embodiment of the present invention；
Fig. 9 is the kinematic sketch of dynamical type lower limb exoskeleton rehabilitation robot in the embodiment of the present invention.
Embodiment
Embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples.Following examples are used for
Illustrate the present invention, but can not be used for limiting the scope of the present invention.
In the description of the invention, unless otherwise indicated, " multiple " are meant that two or more；Term " on ",
" under ", "left", "right", " interior ", " outer ", " front end ", " rear end ", " head ", the orientation of the instruction such as " afterbody " or position relationship be
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than indicate or dark
Specific orientation must be had, with specific azimuth configuration and operation by showing the device or element of meaning, therefore it is not intended that right
The limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. be only used for describe purpose, and it is not intended that indicate or
Imply relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " connected ", " company
Connect " it should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or it is integrally connected；It can be machine
Tool is connected or electrically connected；Can be joined directly together, can also be indirectly connected to by intermediary.For this area
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 be refer to Fig. 9, wherein, Fig. 1 is lower limb walking function rehabilitation exoskeleton rehabilitation machine in the embodiment of the present invention
The overall structure diagram of device people；Fig. 2 is the structural representation of thigh bar assembly in the embodiment of the present invention；Fig. 3 is real for the present invention
Apply the structural representation of shank bar assembly in example；Fig. 4 is the structural representation of waist feature in the embodiment of the present invention；Fig. 5 is this
The structural representation of hip joint component in inventive embodiments；Fig. 6 is the structural representation of knee components in the embodiment of the present invention；
Fig. 7 is the structural representation of ankle-joint component in the embodiment of the present invention；Fig. 8 is dynamical type lower limb exoskeleton in the embodiment of the present invention
The structured flowchart of healing robot control system；Fig. 9 is dynamical type lower limb exoskeleton rehabilitation robot in the embodiment of the present invention
Kinematic sketch.
The invention provides a kind of exoskeleton rehabilitation robot of the patient for lower limb walking function obstacle, from top to bottom
Including：Backrest 1, hip joint power source 2, hip joint component 3, waist feature 9, thigh bar assembly 10, knee joint power source 5, knee
Joint assembly 12, shank bar assembly 13, ankle-joint component 7, foot pedal 15.
The front end of backrest 1 is connected with the flexible bandage 8 of waist, and rear side and the waist feature 9 of backrest 1 are bolted, and are leaned on
The back side of the back of the body 1 is provided with the power supply for power supply and the control module with control function.
Hip joint power source 2 is installed in waist feature 9 by hip joint power source bearing 65, and hip joint component 3 passes through
Bolt and buckle structure are installed in waist feature 9 and are connected by articulated manner with thigh bar assembly 10.
Knee joint power source 5 is fixed by the knee joint power source bearing 22 installed in thigh bar lower end, knee components
12 are installed in thigh bar assembly 10 and shank bar assembly 13 by articulated manner.
Thigh bar assembly 10 is provided with thigh bondage support 4 and the flexible bandage 11 of thigh, and shank bar assembly is provided with small
Leg bondage support 6 and the flexible bandage 14 of shank.Ankle-joint component 7 is connected by bonding mode with shank bar assembly 13, and is passed through
Bolt is connected with foot pedal 15.
Hip joint power source 2 and knee joint power source 5 are servo electric jar, and its principle is that motor coordinates with ball-screw
Power is provided, its advantage is：Quality is lighter than the scheme that motor coordinates with decelerator, and its ring in the case of equal power output
Border adaptability is stronger, while bionic design is more embodied, human muscle's stretching motion rule when simulating normal person's walking.Also because
This causes gait more natural.
Thigh bar assembly 10 is identical with the constituted mode of shank bar assembly 13, and by taking thigh bar assembly as an example, it is included on thigh
Rod member 19, hip joint power connections 20, thigh bar length are adjusted under rod member 16, the first borehole jack 17, the long adjustable side 18 of thigh bar, thigh
Save stud 21, knee joint power source bearing 22.
First borehole jack 17 is pressed into the respective aperture of hip joint power connections 20 by interference fit, and hip joint power connects
Fitting 20 is arranged in thigh upper lever 16 by bolt, and knee joint power source bearing 22 is arranged on rod member under thigh by bolt
On 19.The mode that the long adjustable side 18 of thigh bar is connected through a screw thread is separately mounted to rod member 19 under thigh upper lever 16 and thigh
End, and coordinated by the long disposed thread of adjustable side 18 of thigh bar and the long regulation stud of thigh bar 21, by the He of thigh upper lever 16
Rod member 19 links together under thigh.
Thigh bar assembly 10 and shank bar assembly 13 can realize electrodeless regulation to bar length, meet the user of different heights
Wearing requires that its adjusting method is：The clamp nut of the upper end of rod member 19 under the lower end of thigh upper lever 16 and thigh is unclamped, is screwed big
The long regulation stud 21 of leg bar, the long thread rotary orientation of adjustable side 18 of the thigh bars of two bars is different, thus during regulation above and below rod member to opposite
Direction is moved, and after regulation to suitable length, tightens the clamp nut on two rod members, that is, completes regulation.
Shank bar assembly 13 includes on rod member 25 under the long regulating member 24 of shank upper lever 23, shank bar, shank, shank
Rod member 23 is realized by rod member 25 under the long regulating member 24 of shank bar and shank and assembled.
Hip joint component 3 include hip joint bearing (ball) cover 26, axle sleeve 27, hip joint bearing 28, hip joint positioning baffle 30,
The left main shaft 29 of hip joint, the right main shaft 32 of hip joint, thigh bar end-connector 31, the first low-angle block 33, the second wide-angle
Block 34.
The mounting means of hip joint component 3 is：The left main shaft 29 of hip joint and the right main shaft 32 of hip joint are arranged on by bolt
In the low back left-hand axis 63 and low back right-hand axis 68 of waist feature 9, left and right main shaft is separately installed with hip joint bearing 28, hip joint
The bearing inner race of bearing 28 coordinates with the left and right main shaft of above-mentioned hip joint, and bearing outer ring and the hip joint of hip joint bearing 28 are determined
The position inner hole of baffle plate 30.Hip joint bearing (ball) cover 26 is arranged on hip joint positioning baffle 30 by screw.First low-angle
Block 33, the second wide-angle block 34 are respectively fixedly disposed at left and right main shaft correspondence position, so as to avoid hip joint main shaft and hip
Joint baffle plate moves to the contact surface abrasion that the impact produced during extreme position due to position-limiting action is caused.
Thigh bar end-connector 31, which is bolted, to be fixed in the middle of two side hip joint positioning baffle 30 and and thigh
Upper lever 16 is connected.
The left main shaft 29 of hip joint, the right main shaft 32 of hip joint are mostly important, because it will not only connect top waist and fixation,
The load that patient and exoskeleton system apply is born, to be also responsible for the spacing of hip joint sagittal plane activity, is that patient's wearing is laggard
Protection is provided during row rehabilitation training, but also to absorb the mechanical oscillation produced during part motion and percussion.
Secondly it is important that hip joint positioning baffle 30, on the one hand it need to interact with left and right main shaft to reach arrow
The purpose of shape face sports limiting, while also to connect thigh bar end-connector 31 to keep the contact of upper and lower side.Bearing (ball) cover
26 and axle sleeve 27 the hip joint bearing 28 installed on main shaft is sealed and fixed respectively.
Knee components 12 include knee joint bearing (ball) cover 35, the second axle sleeve 36, the 3rd borehole jack 37, knee joint bearing 38,
Knee joint positioning baffle 39, knee joint main shaft 40, shank end-connector 41, the second wide-angle block 42, the second low-angle gear
Block 43.The mounting means of knee components 12 is：The both sides of knee joint main shaft 40 are mounted on knee joint bearing 38, bearing inner race with
Knee joint main shaft 40 coordinates, and bearing outer ring coordinates with knee joint positioning baffle 39, and the 3rd borehole jack 37 is arranged on by interference fit
In the respective aperture of knee joint positioning baffle 39, for connecting the output end of knee joint power source 5, wide-angle limited block 42 passes through splicing side
Formula adheres to knee joint positioning baffle 39, and low-angle limited block 43 adheres to knee joint main shaft 40 by bonding mode, for keeping away
Exempt from the contact surface abrasion that knee joint main shaft is caused with positioning baffle due to position-limiting action.
Knee joint bearing (ball) cover 35 is arranged on knee joint positioning baffle 39 by screw, and shank end-connector 41 passes through
It is bolted between two pieces of knee joint positioning baffles 39.In this knee design, knee joint main shaft 40 is mostly important, because
It will not only connect upper end thigh bar, bear the weight of patient and exoskeleton system part, to be also responsible for the limit of knee articulation
Position will absorb the mechanical oscillation produced during part motion come to provide protection when carrying out rehabilitation training after patient's wearing
With percussion.
The effect of knee joint positioning baffle 39 is also extremely important, and on the one hand it need to be connected as ectoskeleton knee joint flexion-extension
Motion provides the servo electric jar output end of power, on the other hand needs to have reached spacing purpose with main shaft interaction,
Also to connect shank boom end connector 41 to keep the contact of upper and lower side, the axle sleeve 36 of knee joint bearing (ball) cover 35 and second simultaneously
The knee joint bearing 38 installed on main shaft is sealed and fixed respectively.
Ankle-joint component 7 and foot pedal 15, including the flexible bandage 44 of foot pedal, foot pedal 45, clutch pedal mounting bracket 46,
Rubber feet bottom 47, the right locating piece 48 of heel, heel do locating piece 50, treadle supporting block 49, foot pedal upper limit position block 51, foot
Bearing 54, decelerator rear support 55, harmonic speed reducer 56, disc type electricity before the sufficient connecting plate 53 of pedal lower position block 52, ankle, decelerator
Machine 57.The mounting means of ankle-joint component 7 is：Disc type electric machine 57 and harmonic speed reducer 56 are arranged on after decelerator by screw to be propped up
On seat 55, bearing 54 is connected with harmonic speed reducer 56 and installed on the sufficient connecting plate 53 of ankle by screw before decelerator.Heel is installed
The right left locating piece 50 of locating piece 48 and heel, treadle supporting block 49 adheres to the specified location of clutch pedal mounting bracket 46 by bonding mode,
Foot pedal upper limit position block 51 and foot pedal lower position block 52 are installed, rubber feet bottom 47 is adhered to by pedal by bonding mode
The bottom of bearing 46.The design foot pedal, by the way that treadle supporting block 49 is made into fulcrum, can make foot pedal 45 with lever principle
Occurs elastic deformation when bearing the weight of human body and healing robot.
Waist feature 9 includes：It is front-seat left-hand axis 58, front-seat jackshaft 59, front-seat regulation handle 60, front-seat T-slot 61, preceding
Arrange right-hand axis 62, low back left-hand axis 63, waist hinge 64, hip joint power source bearing 65, bearing waist connector 66, borehole jack
67th, waist right-hand axis 68, low back T-slot 69, the low back width regulation handle 71 of low back jackshaft 70.
The mounting means of waist feature 9 is：Front-seat left-hand axis 58 and front-seat right-hand axis 62 are closed with waist respectively by bolt
Page 64 connects and is installed on low back left-hand axis 63 and low back right-hand axis 68, and front-seat T-slot 61 adheres to front row by bonding mode
On jackshaft 59, the front-seat disposed thread of regulation handle 60 carries out screw thread company with the T-bolt through hole on front-seat jackshaft 59
Connect.
Hip joint power source bearing 65 is fixed on bearing waist connector 66 by screw, bearing waist connector 66
It is fixed on by bonding mode in low back left-hand axis 63 and low back right-hand axis 68, low back T-slot 69 is adhered to by bonding mode
In low back left-hand axis 63 and low back right-hand axis 68, the disposed thread of heel row regulation handle 71, with the T through hole on heel row jackshaft 70
Type bolt is threadedly coupled.After waist feature 9 can realize that step-less adjustment, specific regulative mode are for user's waist width
Waist left-hand axis 63 and low back right-hand axis 68 form guide tracked connection with low back jackshaft 70, and pass through low back width regulation handle 71
Fixation is tightened, front-seat left-hand axis 58 and front-seat right-hand axis 62 form guide tracked connection with front-seat jackshaft 59, and by front-seat wide
Degree regulation handle 60 tightens fixation, after size corresponding with wearer is arrived in the regulation of front-seat and low back corresponding component, passes through handle
Fastening, so that comfort level requirement when at utmost meeting patient's wearing.
The present invention is provided with sensor for collecting during healing robot walking in hip joint component and knee components
The information of joint angles and joint moment, plantar pressure sensor built in foot pedal, vola when collecting healing robot walking
Pressure size and the information of distribution, all the sensors are connected with control system.
In control aspect, the present invention takes desired trajectory control strategy in control method, based on human body walking mechanism, leads to
Cross three-dimensional motion and catch gait data of the system acquisition normal person under the difference walking environment such as level land, ramp, stair, to giving birth to
Into track carry out parameterized treatment so that set up people it is different walking environment under motion models.By controlling human-machine operation
Interface, user can carry out corresponding gait training for different walking environment, and movement pattern speed, stride are carried out
Adjustment in real time, sets anti-spasm early warning and emergency stop device, control system is had more hommization and intellectuality, make control model with
The matching of people is more preferable, so as to greatly meet the use demand of wearer.
During level walking, the run trace when gait walked according to human normal dresses walk helper to people is carried out
Planning, human normal walking step state is obtained by parameterized treatment the change of each joint angles in a gait cycle, and
Joint angles are converted into the displacement of ball-screw, actuator are driven as the input of control system, in walking process
In, real time data is fed back to controller and is adjusted by sensor, is finally reached the target for realizing human normal walking step state.
In stair climbing walking process, walk helper hip joint is adjusted according to the height and width of stairway step and kneed
Bend and stretch angle, and the real time data collected according to plantar pressure sensor judges the position of centre of gravity of human body, passes through control
The continuous feedback adjustment of device makes up to poised state.
In the walking states of upward slope, except to adjust walk helper hip joint according to the angle on slope and kneed bend and stretch
Outside angle, also to increase the both legs support phase time shared in whole gait cycle, the size of proportion will be according to slope
Angle be adjusted.
Compared with prior art, innovative point of the invention is：
1. increasing the ankle-joint active free degree, resume speed is accelerated by actively pulling patient's heel string muscle.
2. the waist feature of lower limb exoskeleton rehabilitation robot, linkage and foot pedal use carbon fiber composite
Material, keeps intensity to mitigate construction weight and volume simultaneously.
3. healing robot waist width, thigh length and lower-leg length are respectively provided with electrodeless adjustable function.
A kind of lower limb exoskeleton robot that the present invention is provided towards crowd be mainly motor dysfunction of lower limb patient, make
Their the exercise ability of lower limbs is tempered for rehabilitation accessory, so the control program selected is desired trajectory control method, control
Target is to enable to motor dysfunction of lower limb patient to be walked with the help of lower limb exoskeleton according to the normal gait of human body,
The normal gait track of human body is converted into each joint drive electricity according to the geometry site of the ectoskeleton structure above designed
The movement locus of machine, these information are stored into controller, and when people needs wearing ectoskeleton walking, controller believes these
Breath changes into the instruction that executing agency can recognize, executing agency completes corresponding action according to the instruction received, finally,
The coordinative role of the executing agency of each joint helps motor dysfunction of lower limb patient to complete the walking according to human normal gait.
The present invention, based on human body walking mechanism, system acquisition is caught by three-dimensional motion by desired trajectory control strategy
Gait data of the normal human under level land, ramp walking environment different with stair, is carried out at parametrization to the track generated
Reason, so as to set up motion model of the people under different walking environment.By controlling man machine operation interface, user can be for difference
Walking environment carries out corresponding gait training and motor pattern, movement velocity, stride is adjusted in real time, sets anti-spasm
Early warning and emergency stop device, are capable of the walking safety of effective guarantee wearer, control system is had more hommization and intellectuality so that
Control model and the matching of people are more preferable, so as to greatly meet the use demand of wearer.The system solves rehabilitation machines
The motor control problems of device people so that robot can be walked according to the gait track of planning.
System is caught by three-dimensional infrared moving and obtains the gait data that normal human walks in a gait cycle, bag
Include left leg Hip Angle data, left leg knee angle degrees of data, right leg Hip Angle data and the right leg knee angle number of degrees
According to.Sliding-model control is carried out to the joint angles data in a gait cycle, the joint angle angle value of any time is obtained.
Hip Angle and executing agency at hip joint are derived according to the geometry site of exoskeleton robot structure
Transformational relation at transformational relation between displacement, knee joint angle and knee joint between executing agency's displacement.
By the transformational relation between gained joint angle angle value and the joint angles tried to achieve and executing agency's displacement, obtain
The displacement of exoskeleton robot Zuo Tui executing agencies and the displacement of You Tui executing agencies, according to executing agency's displacement and arteries and veins
Transformational relation between punching obtains the pulsed quantity of executing agency.By controlling the change of executing agency's displacement to reach under control
The purpose of limb exoskeleton robot joint attitudes vibration.
Selected executing agency is servo electric jar, according to the parameter setting of servo electric jar, by corresponding push rod displacement
It is converted into that the pulsed quantity of servo-electric cylinder working can be driven, by the rate conversion of above-mentioned executing agency into pulse frequency.
Underlying parameter is set in the tables of data of host computer, data command is passed to down by way of bus transfer
Data command is converted into the signal that servo-driver can be recognized by position machine, slave computer, and servo electricity is controlled by servo-driver
The motion of dynamic cylinder.
The integrated optical rotary encoder of servo electric jar can gather the reality output data of servo electric jar in real time
Value；The obliquity sensor installed at lower limb exoskeleton robot thigh bar and shank bar can collect exoskeleton robot leg bar
The delta data of position angle, the changing value to calculate hip joint and knee joint angle；Installed in exoskeleton robot vola
Plantar pressure sensor can gather wearing exoskeleton robot walking when plantar pressure data；Above-mentioned collected number
Slave computer is transferred to according to by data acquisition module, then host computer is fed back to by the mode of bus transfer and is handled and is calculated,
Then new target instruction target word is obtained.By constantly control and feedback regulation, preferable control targe is finally reached.
Embodiments of the invention are provided for the sake of example and description, and are not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
Select and describe embodiment and be more preferably to illustrate the principle and practical application of the present invention, and make one of ordinary skill in the art
It will be appreciated that the present invention is so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (10)
1. a kind of lower limb walking function rehabilitation exoskeleton rehabilitation robot, it is characterised in that include：
Lumbar support system, the lumbar support system includes the flexible bandage of waist feature (9), backrest (1) and waist
(8)；
Hip System, the Hip System is surrounded by hip joint power source (2), hip joint component (3)；
Leg exercise system, the leg exercise system includes thigh bar assembly (10), knee joint power source (5), knee joint
Component (12), shank bar assembly (13)；
Foot's system, foot's system includes ankle-joint component (7) and foot pedal (15)；
Wherein, the front end of the backrest (1) is connected with the flexible bandage (8) of the waist, rear end and the waist of the backrest (1)
Parts (9) are connected, and the back side of the backrest (1) is provided with the power supply for power supply and the control mould with control function
Group；
The hip joint power source (2) be fixedly installed in the waist feature (9) and with the power supply and the control mould
Group connection, the hip joint component (3) is fixedly installed on the waist feature (9), and the hip joint component (3) passes through the side of being hinged
Formula is connected with the thigh bar assembly (10), and the hip joint power source (2) passes through the hip joint component (3) and the thigh
Bar assembly (10) power connector simultaneously can drive the thigh bar assembly (10) to be rotated relative to the waist feature (9)；
The knee joint power source (5) be fixedly installed on the thigh bar assembly (10) and with the power supply and the control
Molding group is connected, and the thigh bar assembly (10) and the shank bar assembly (13) are cut with scissors by the knee components (12)
Connect, the knee joint power source (5) passes through the knee components (12) and shank bar assembly (13) power connector and can
The shank bar assembly (13) is driven to be rotated relative to the thigh bar assembly (10)；
The ankle-joint component (7) is connected by bonding mode with the shank bar assembly (13), the ankle-joint component (7) with
Foot pedal (15) connection；
In being provided with thigh bondage support (4) and the flexible bandage (11) of thigh on the thigh bar assembly (10), in described small
Shank bondage support (6) and the flexible bandage (14) of shank are provided with leg bar assembly.
2. lower limb walking function rehabilitation exoskeleton rehabilitation robot according to claim 1, it is characterised in that
The hip joint power source (2) include the first servomotor and with the first servomotor power be connected
First ball-screw, first ball-screw is hinged with the thigh bar assembly (10)；
The knee joint power source (5) include the second servomotor and with the second servomotor power be connected
Second ball-screw, second ball-screw is hinged with the shank bar assembly (13).
3. lower limb walking function rehabilitation exoskeleton rehabilitation robot according to claim 1, it is characterised in that
The thigh bar assembly (10) includes thigh upper lever (16), the first borehole jack (17), the long regulating member of thigh bar (18), big
Rod member (19), hip joint power connections (20), the long regulation stud of thigh bar (21), knee joint power source bearing (22) under leg；
First borehole jack (17) is pressed into the hip joint power connections (20) by being interference fitted, the hip joint power
Connector (20) is arranged on the thigh upper lever (16) by bolt, and the knee joint power source bearing (22) passes through bolt
Divide installed in the mode that on rod member (19), the two ends of the long regulating member of thigh bar (18) are connected through a screw thread under the thigh
Not An Zhuan under the thigh upper lever (16) and the thigh rod member (19) end；
The shank bar assembly includes rod member under shank upper lever (23), the second borehole jack, the long regulating member of shank bar (24), shank
(25), knee joint power connections, the long regulation stud of shank bar；
Second borehole jack is pressed into the knee joint power connections by being interference fitted, and the knee joint power connections lead to
Bolt is crossed in the shank upper lever, the mode that the two ends of the long regulating member of shank bar are connected through a screw thread is distinguished
The end of rod member under the shank upper lever and the shank.
4. lower limb walking function rehabilitation exoskeleton rehabilitation robot according to claim 1, it is characterised in that
The hip joint component (3) includes hip joint bearing (ball) cover (26), the first axle sleeve (27), hip joint bearing (28), hip and closed
Save positioning baffle (30), it is the left main shaft of hip joint (29), the right main shaft of hip joint (32), thigh bar end-connector (31), first small
Angle block (33), the first wide-angle block (34)；
First axle sleeve (27) is arranged in the hip joint bearing (28), and the left main shaft of hip joint (29) and the hip are closed
Right main shaft (32) is saved to be arranged on by bolt in the low back left-hand axis (63) and low back right-hand axis (68) of the waist feature (9),
It is described in being provided with the hip joint bearing (28) on the left main shaft of the hip joint (29) and the right main shaft of the hip joint (32)
The outer ring of hip joint bearing (28) is connected with the inner hole of the hip joint positioning baffle (30), the hip joint bearing (ball) cover
(26) it is arranged at by screw on the hip joint positioning baffle (30), it is the first low-angle block (33), described first big
Angle block (34) adheres to the left main shaft of the hip joint (29) and the right main shaft of the hip joint (32) by bonding mode respectively
On, the thigh bar end-connector (31) is bolted the centre, simultaneously for being fixed on the hip joint positioning baffle (30)
It is connected with the thigh upper lever (16).
5. lower limb walking function rehabilitation exoskeleton rehabilitation robot according to claim 1, it is characterised in that
The knee components (12) include knee joint bearing (ball) cover (35), the second axle sleeve (36), the 3rd borehole jack (37), knee joint
Bearing (38), knee joint positioning baffle (39), knee joint main shaft (40), shank end-connector (41), the second wide-angle block
(42), the second low-angle block (43)；
Second axle sleeve (36) is arranged in the knee joint bearing (38), and the both sides of the knee joint main shaft (40) are respectively provided with
There is the knee axis to hold (38), the inner ring of the knee joint bearing (38) passes through the second axle sleeve (36) and the knee joint main shaft
(40) coordinate, the outer ring of the knee joint bearing (38) coordinates with the knee joint positioning baffle (39), the 3rd borehole jack
(37) it is arranged on by interference fit on the knee joint positioning baffle (39) and for connecting the knee joint power source (5)
Output end, the second largest angle limit block (42) is arranged on the knee joint positioning baffle (39), the second low-angle limit
Position block (43) is arranged on the knee joint main shaft (40), and the knee joint bearing (ball) cover (35) is arranged at the knee by screw
On joint orientation baffle plate (39), the shank end-connector (41) is bolted on the knee joint positioning baffle (39)
On.
6. lower limb walking function rehabilitation exoskeleton rehabilitation robot according to claim 1, it is characterised in that
Foot's system also includes the flexible bandage (44) of foot pedal, foot pedal (45), clutch pedal mounting bracket (46), rubber feet
Bottom (47), the right locating piece of heel (48), the left locating piece of heel (50), treadle supporting block (49), foot pedal upper limit position block (51),
Bearing (54), decelerator rear support (55), harmonic wave subtract before the sufficient connecting plate (53) of foot pedal lower position block (52), ankle, decelerator
Fast device (56), disc type electric machine (57)；
The disc type electric machine (57) and the harmonic speed reducer (56) are arranged on the decelerator rear support (55) by screw
On, bearing (54) is connected with the harmonic speed reducer (56) by screw and connected enough installed in the ankle before the decelerator
On plate (53), the treadle supporting block (49) is arranged on the clutch pedal mounting bracket (46), the right locating piece of heel (48) and
The left locating piece of heel (50) is arranged at the rear side of the foot pedal (45), and the flexible bandage (44) of the foot pedal is set
In the upper side of the foot pedal (45), the rubber feet bottom (47) is arranged at the downside of the foot pedal (45).
7. lower limb walking function rehabilitation exoskeleton rehabilitation robot according to claim 1, it is characterised in that
The waist feature (9) is T-shaped including front-seat left-hand axis (58), front-seat jackshaft (59), front-seat regulation handle (60), front row
Groove (61), front-seat right-hand axis (62), low back left-hand axis (63), waist hinge (64), hip joint power source bearing (65), bearing waist
Portion's connector (66), the 4th borehole jack (67), waist right-hand axis (68), low back T-slot (69), low back jackshaft (70), wide low back
Spend regulation handle (71)；
The front-seat left-hand axis (58) and the front-seat right-hand axis (62) are connected with the waist hinge (64) respectively by bolt
And be installed in the low back left-hand axis (63) and the low back right-hand axis (68), the front-seat T-slot (61) is by setting
In on the front-seat jackshaft (59), front-seat regulation handle (60) disposed thread and with through the front-seat jackshaft
(59) T-bolt in hole is threadedly coupled on；
The hip joint power source bearing (65) is fixed on the bearing waist connector (66) by screw, the bearing
Waist connector (66) is arranged in the low back left-hand axis (63) and the low back right-hand axis (68), the low back T-slot
(69) it is arranged in the low back left-hand axis (63) and the low back right-hand axis (68)；
Heel row regulation handle (71) disposed thread is simultaneously carried out with the T-bolt through hole on the heel row jackshaft (70)
Threaded connection.
8. a kind of dynamical type lower limb exoskeleton rehabilitation robot control system, it is characterised in that
Include micro controller module, straight line executing mechanism module, sensor assembly and data acquisition module；
The sensor assembly includes plantar pressure sensor and obliquity sensor, and the plantar pressure sensor is arranged on lower limb
The foot of ectoskeleton is simultaneously distributed at the first metatarsal bone in vola, second metatarsal bone and heel three, to gather people's wearing ectoskeleton row
Plantar pressure data when walking；
It is small that the obliquity sensor is arranged on the left side thigh bar of exoskeleton robot, left side shank bar, right lateral thigh bar, right side
At leg bar, for gathering hip joint and kneed angle change data in people's wearing lower limb exoskeleton walking process；
The microcontroller is integrated with analog-digital converter and EBI, what the plantar pressure sensor was collected
Pressure signal is converted into data signal by analog to digital converter and adopted with the obliquity sensor after amplification and filtering
The angle signal collected sends PC host computers to by the EBI of microcontroller together.
9. a kind of dynamical type lower limb exoskeleton rehabilitation robot desired trajectory control method, it is characterised in that
Including having the following steps：
Step 1, the gait data walked by three-dimensional infrared moving seizure system acquisition normal human in a gait cycle,
Including left leg Hip Angle data, left leg knee angle degrees of data, right leg Hip Angle data and right leg knee joint angle
Data.Sliding-model control is carried out to the joint angles data in a gait cycle, the joint angle angle value of any time is obtained；
Step 2, execution machine is derived at Hip Angle and hip joint according to the geometry site of exoskeleton robot structure
Transformational relation at transformational relation between structure displacement, knee joint angle and knee joint between executing agency's displacement；
In step 2, the transformational relation between exoskeleton robot joint angles and executing agency's displacement is：
The thigh bar of lower limb exoskeleton and shank bar are reduced to bar linkage structure：
Setting：A, which represents hip joint, F and represents knee joint, AF, represents that thigh bar, E represent knee joint when hip joint lifts maximum angle
Position；
The length of executing agency and the relation of joint angles are at hip joint：
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Relation at knee joint between the length and joint angles of executing agency is：
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<msub>
<mi>&theta;</mi>
<mn>2</mn>
</msub>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mo>&angle;</mo>
<msup>
<mi>A</mi>
<mo>&prime;</mo>
</msup>
<msup>
<mi>C</mi>
<mo>&prime;</mo>
</msup>
<msup>
<mi>B</mi>
<mo>&prime;</mo>
</msup>
<mo>)</mo>
</mrow>
</msqrt>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula (1), L1(t) length of executing agency at t hip joint, θ are represented1(t) t Hip Angle is represented,
In formula (2), L2(t) length of executing agency at t knee joint, θ are represented2(t) t knee joint angle is represented；
Between joint angles that step 3, joint angle angle value and step 2 as obtained by step 1 are tried to achieve and executing agency's displacement
Transformational relation, obtains the displacement of exoskeleton robot Zuo Tui executing agencies and the displacement of You Tui executing agencies, according to execution
Transformational relation between mechanism displacement amount and pulse obtains the pulsed quantity of executing agency；
In step 3, the transformational relation between the displacement and umber of pulse of exoskeleton robot executing agency is：
<mrow>
<mi>P</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mo>&lsqb;</mo>
<mi>L</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>+</mo>
<mi>&Delta;</mi>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mi>L</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>&rsqb;</mo>
<mo>*</mo>
<mn>720</mn>
</mrow>
<mrow>
<mi>&theta;</mi>
<mo>*</mo>
<mi>s</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula (3), θ represents the step angle of servo electric jar, and s represents the pitch of leading screw, and P represents umber of pulse；L (t+ Δ t) tables
Show the length of t+ Δ ts executing agency.
10. dynamical type lower limb exoskeleton rehabilitation robot desired trajectory control method according to claim 9, its feature exists
In,
By desired trajectory control strategy, based on human body walking mechanism, system acquisition normal human is caught by three-dimensional motion and existed
Gait data under level land, ramp walking environment different with stair, carries out parameterized treatment, so as to set up to the track generated
Motion model of the people under different walking environment；
During level walking, the run trace when gait walked according to human normal dresses healing robot to people is carried out
Planning, human normal walking step state is obtained by parameterized treatment the change of each joint angles in a gait cycle, and
Joint angles are converted into the displacement of ball-screw, actuator are driven as the input of control system, in walking process
In, real time data is fed back to controller and is adjusted by sensor, is finally reached the target for realizing human normal walking step state；
In stair climbing walking process, healing robot hip joint and knee joint are adjusted according to the height and width of stairway step
Bend and stretch angle, and the real time data collected according to plantar pressure sensor judges the position of centre of gravity of human body, passes through control
The continuous adjustment of device, makes up to poised state；
In the walking states of upward slope, except to adjust healing robot hip joint according to the angle on slope and kneed bend and stretch
Outside angle, also to increase the both legs support phase time shared in whole gait cycle, the size of proportion will be according to slope
Angle be adjusted.
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