CN107468486A - Lower limb class brain intelligent machine electronics ectoskeleton and its complex control system - Google Patents

Lower limb class brain intelligent machine electronics ectoskeleton and its complex control system Download PDF

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Publication number
CN107468486A
CN107468486A CN201710856745.1A CN201710856745A CN107468486A CN 107468486 A CN107468486 A CN 107468486A CN 201710856745 A CN201710856745 A CN 201710856745A CN 107468486 A CN107468486 A CN 107468486A
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China
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ectoskeleton
lower limb
brain
connecting rod
joint
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CN201710856745.1A
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CN107468486B (en
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郑勇
臧大维
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/369—Electroencephalography [EEG]
    • 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
    • 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
    • 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
    • A61H2201/165—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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5082—Temperature sensors
    • 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
    • A61H2230/08—Other bio-electrical signals
    • A61H2230/10—Electroencephalographic signals
    • A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus

Abstract

The present invention relates to a kind of lower limb class brain intelligent machine electronics ectoskeleton and its complex control system, its technical characterstic to be：Footwear and plantar pressure sensors are fixed including gravity center adjuster, multiple electric mechanical joints, multiple connecting rods, multiple ectoskeletons, foot；The gravity center adjuster is arranged in waist connecting rod, and the waist connecting rod, hip electric mechanical joint, thigh ectoskeleton, thigh connecting rod, knee electric mechanical joint, shank ectoskeleton, shank connecting rod, ankle electric mechanical joint are sequentially connected and connect；Electric mechanical is intra-articular to be provided with joint angles and damping sensor and drives generation to act by corresponding joint mechanical actuation device.The present invention is reasonable in design, various actions can accurately be sensed and realize respective control function accordingly, meanwhile, pass through gravity center adjuster adjust automatically lower limb and balance, ensure walking stability and reliability, can efficiently solve lower limb function lose patient rehabilitation efficacy it is slow the problem of.

Description

Lower limb class brain intelligent machine electronics ectoskeleton and its complex control system
Technical field
The invention belongs to Electrophysiology technical field, especially a kind of lower limb class brain intelligent machine electronics ectoskeleton and its Complex control system.
Background technology
Many scientific research institutions of the world and company are all in the products such as research and development mechanical exoskeleton, mechanical prosthetic limb, these products at present The activity of people's limb assisting or the limb rehabilitating of limbs disturbance are helped, these products are using based on reading muscle electricity at present The mode of signal, electronic sensor signals or module drives mechanical part, and this mode is only applicable to part population, as limbs lack The crowd that mistake or peripheral nerve are damaged, but it is inclined as caused by cerebrovascular disease to be not particularly suited for the impaired crowd of maincenter conduction path The patients such as paralysed patient, high paraplegia patient, motor neuron disease (amyotrophic lateral sclerosis).This kind of product can not establish two-way nerve with brain Feedback network, the full bionic function of class brain can not be realized.Also there are some mechanical exoskeletons based on EEG signals driving related at present Patent or product, this kind of product are used as based on Steady State Visual Evoked Potential (Visual evoked potentail, SSVEP) and set Standby control core, but SSVEP confined conditions are very more：(1) objective factor includes：Whole Optic nerve pathway any one have Lesion, all the equipment can be caused not use.As common near-sighted long sight, astigmatism, glaucoma, cataract, a variety of causes cause Diplopia, fundus hemorrhage, ocular fundus arteriosclerosis, macular degeneration, papilloedema caused by a variety of causes, optic atrophy and disease Become, optic nerve demyelinate, intracranial tumors compressing optic nerve or optic chiasma, a variety of lesions of encephalic involve optic nerve conduction path (such as most common cerebral infarction or cerebral hemorrhage disease), such as occipital Lobe Infarction bleeding etc. of visual cortex lesion, can all make the equipment without Method uses.In addition, dominating the oculomotor nerve of extraocular muscle, trochlear nerve and abducent nerve, any one nerve is because any reason It is impaired, the equipment can be made not use, and these diseases exactly clinical very common disease.(2) subjective factor includes： The VEP detection methods generally acknowledged in the world at present are the black and white lattice chessboards that subject's viewing is constantly overturn, so that pathways for vision produces Raw signal, it is whether unobstructed to detect pathways for vision, but this VEP producing method obviously can not be used for controlling limbs Motion.Therefore subject to produce it is effective, the VEP of guiding effect can be produced to motor function, it is necessary to which having to produce The generally acknowledged scheme for having international standard of raw VEP, scheme is inconsistent, result can be caused to vary, hardly resulted in Generally acknowledge.The vision current potential of the equipment produces scheme, approves without extensive clinical trial and specialty, availability and replicability Still unknowable, 2 reasons of the above, causing the equipment use range, significantly limited and reliability can not be inferred.
It is the most basic physiological function of the mankind to walk upright, and some diseases are such as：Cerebrovascular disease, spinal cord disease, peripheral nerve Disease and muscle disease etc. cause people's hemiplegia, paraplegia or muscular strength deficiency, so as to influence the normal walking function of people.Lower limb early stage strength And the rehabilitation training of gait is with regard to particularly important.But problem is there is in mechanism currently for lower limb function rehabilitation resonable refer to, under The forfeiture of limb function, it is due to being caused by damage for central nervous system loop, lower limb are in itself and there is no problem, and current health Multiple measure is without any exception focusing on lower limb sheet, therefore cause the actual effect of neural rehabilitation very Difference.In addition current lower limb rehabilitation device and training and measure are fewer, and method is again relatively simple, can not carry out true upright row in early days The strength and gait training walked；And rehabilitation teacher chirismus rehabilitation treatment shortage continuation, systematicness and validity, patient it is autonomous Rehabilitation training often because effect slowly make patient lose rehabilitation confidence and abandon early.
The content of the invention
It is an object of the invention to make up the deficiencies in the prior art part, there is provided outside a kind of lower limb class brain intelligent machine electronics Bone and its complex control system, solve the problems, such as that the rehabilitation efficacy of lower limb function forfeiture patient is slow.
The present invention solves its technical problem and takes following technical scheme to realize：
A kind of lower limb class brain intelligent machine electronics ectoskeleton, including gravity center adjuster, hip electric mechanical joint, knee It is electric mechanical joint, ankle electric mechanical joint, waist connecting rod, thigh connecting rod, shank connecting rod, thigh ectoskeleton, small Leg ectoskeleton, foot fix footwear and plantar pressure sensors；The gravity center adjuster is arranged in waist connecting rod, and the waist connects Extension bar, hip electric mechanical joint, thigh ectoskeleton, thigh connecting rod, knee electric mechanical joint, shank ectoskeleton, shank Connecting rod, ankle electric mechanical joint are sequentially connected and connect；The foot is fixed footwear and is connected with ankle electric mechanical joint, the foot Bottom sensor is arranged on the bottom that foot fixes footwear；Above-mentioned electric mechanical is intra-articular to be provided with joint angles and damping sensor simultaneously Generation is driven to act by corresponding joint mechanical actuation device.
The gravity center adjuster is by U-shaped hollow tubing conductor, two moveable counter weight blocks, driving wheel, rotating shaft, motor and friction Wheel is formed；The U-shaped hollow tubing conductor both sides lower end is installed together with waist connecting rod, and the moveable counter weight block surface has more Individual driving wheel is simultaneously arranged in rotating shaft, there is multiple motor driven friction wheel from rotation inside moveable counter weight block, and the friction pulley drives Driving wheel is rotated so that moveable counter weight block moves in U-shaped hollow tubing conductor.
Fixing strap of waist is respectively equipped with the gravity center adjuster, thigh ectoskeleton and shank ectoskeleton, thigh is fixed Band and small leg restraint webbing.
The waist connecting rod, thigh connecting rod, shank connecting rod are flexible connecting rod.
The plantar pressure sensors are plantar pressure and temperature sensor.
A kind of complex control system of lower limb class brain intelligent machine electronics ectoskeleton, by lower limb class brain intelligent machine electronics outside Bone and upper equipment connect and compose, and the upper equipment includes multi-functional human brain computer interface unit and kinaesthesis controls Device, the lower limb class brain intelligent machine electronics ectoskeleton pass through kinaesthesis control device and multi-functional people's brain computer interfaces Unit is connected, and the kinaesthesis control device is arranged on lower limb class brain intelligent machine electronics ectoskeleton, multi-functional human brain Computer interface unit is worn on head.
The multi-functional human brain computer interface unit includes stereotaxis magnetic head arrays and ultra micro scalp electrode array, institute The scalp surface that stereotaxis magnetic head arrays are located at corresponding to cerebral cortex somatesthesia maincenter is stated to be used for somatesthesia maincenter Artificial sensory signal is passed to, the ultra micro scalp electrode array is located at the scalp surface corresponding to cerebral cortex somatic movement maincenter For gathering electric signal caused by somatic movement maincenter, the ultra micro scalp electrode array successively with signal amplifier, analog-to-digital conversion Device and signal transmission device are connected.
The kinaesthesis control device includes feeling administrative unit and lower extremity movement administrative unit；
The sensation administrative unit is controlled single by artificial sensory system centralized control unit, magnetic field Stereo-control coil Member and pulsed magnetic field coil control unit connect and compose；The artificial sensory system centralized control unit receives lower limb class brain intelligence The real-time data letter of multigroup joint angles and damping sensor, pressure sensor, temperature sensor in mechano-electronic ectoskeleton Breath, these data are integrated, encode the recognizable deep sensory of Adult Human Brain and the signal of superficial sensibility, and by coding information and control Instruction processed sends magnetic field Stereo-control coil control unit and pulsed magnetic field coil control unit to, in magnetic field stereotaxis Under the driving of control coil control unit and pulsed magnetic field coil control unit, stereotaxis magnetic head arrays are to cerebral cortex body Sensorium sends the pulsed magnetic field signal that can be understood by brain；
The lower extremity movement administrative unit includes multiple channel mechanical drive set controller, EEG signals solution read through model, spy Levy EEG signals database, cerebellum class brain artificial intelligence module, gyroscope；
The EEG signals solution read through model docks the EEG signals received and stored according in feature EEG signals database The motion intention that various motion characteristics EEG signals data understand brain, and result will be understood and be sent to cerebellum class brain intelligence Analog module；
The gyroscope monitors the posture and acceleration of motion letter of wearer's body and lower limb mechano-electronic ectoskeleton in real time Breath, and cerebellum class brain artificial intelligence module is sent information to immediately；
The cerebellum class brain artificial intelligence module is by real-time reception and analyzes the brain that EEG signals solution read through model sends Motion intention director data, in gyroscope and lower limb mechano-electronic ectoskeleton a variety of, multigroup sensor real time data, under The direction of motion, operation angle, the fortune of joint mechanical actuation device in each electric mechanical joint of limb mechano-electronic ectoskeleton Scanning frequency degree is accurately controlled, carries out centre of gravity adjustment at any time to gravity center adjuster, so as to real-time ensuring body balance and under Limb electric mechanical ectoskeleton is static and voltuntary movement in coordination；
Multiple channel mechanical drive set controller receives the action command of cerebellum class brain artificial intelligence module, and will accordingly refer to Order is distributed to corresponding joint mechanical actuation device and drives corresponding electric mechanical joint generation action.
The cerebellum class brain artificial intelligence module is also connected with automatic training module, and the automatic training module is according to prior establishment Setting send data to cerebellum class brain artificial intelligence module, cerebellum class brain artificial intelligence module is according to the data to multichannel machine Tool drive set controller sends action command driving mechanical exoskeleton and makes various actions.
The advantages and positive effects of the present invention are：
1st, lower limb class brain intelligent machine electronics ectoskeleton of the invention is provided with hip electric mechanical joint, knee electronic machine The joint angles and damping sensor in tool joint, ankle electric mechanical joint and its inside, can accurately sense various actions And respective control function is realized accordingly, meanwhile, balanced by gravity center adjuster adjust automatically lower limb, ensure the stability of walking And reliability, can efficiently solve lower limb function lose patient rehabilitation efficacy it is slow the problem of.
2nd, complex control system of the invention is directly gathered by human brain Computer Interface Technology, understands brain motor cortex Control core of the electroneurographic signal of (advanced motion maincenter) as system, human brain can directly control machinery electronics ectoskeleton press The intention of human brain produces various actions, and electronics ectoskeleton steadily, is evenly operated with a variety of methods；It is multigroup by collecting Periphery sensor produces joint angles, pressure and temperature information and is handled by system and simulate the recognizable deep sensory of Adult Human Brain The signal of (joint sensation) and superficial sensibility (touch-pressure sensation and temperature sensation), brain is fed back to by human brain computer interface unit and feels skin Layer (advanced sensorium), after brain sensory cortex handles electroneurographic signal integration, feed back to brain advanced motion cortex Maincenter, secondary active movement behavior is produced, play the secondary correction of motion control signal and adjustment effect.Meanwhile pass through the present invention Class cerebellum intelligent control module, can adjustment patient it is upright, balance and gait, patient is truly realized without outside Freely walked in the state of fixing device.Finally, after the training and treatment of certain time, perilesional can produce compensatory Neutral net, so as to veritably rebuild the motor function of lower limb.
3rd, the present invention is reasonable in design, and it is established two way blocks with human brain by human brain computer interface unit and is connected, Human brain can directly control lower limb class brain intelligent machine electronics ectoskeleton to produce various actions by the intention of human brain, and with a variety of Method makes the running that electronics ectoskeleton is steady, balances, limb motion, acrognosis caused by can be widely applied to nervous system injury Feel rehabilitation, the life auxiliary of dysfunction crowd；Other robot technology are also widely applied to, such as remote mechanical control, are helped Power auxiliary, hazardous environment exploration, operation of getting rid of the danger etc..
Brief description of the drawings
Fig. 1 is the lower limb mechano-electronic ectoskeleton side view of the present invention；
Fig. 2 is the three-dimensional perspective of the gravity center adjuster of the present invention；
Fig. 3 is the sectional view of the gravity center adjuster of the present invention；
Fig. 4 is the 3 dimensional drawing of the moveable counter weight block of the present invention；
The complex control system that Fig. 5 is the present invention connects block diagram；
In figure, 1：Kinaesthesis control device, 2：Gravity center adjuster, 3-1：Fixing strap of waist, 3-2：Thigh fixed belt, 3-3：Small leg restraint webbing, 4-1：Waist connecting rod, 4-2：Thigh connecting rod, 4-3：Shank connecting rod, 5-1：Hip electric mechanical Joint, 5-2：Knee electric mechanical joint, 5-3：Ankle electric mechanical joint, 6-1：Thigh ectoskeleton, 6-2：Shank ectoskeleton, 7- foots fix footwear, 8- plantar pressures and temperature sensor；2-1：U-shaped hollow tubing conductor, 2-2：Moveable counter weight block, 2-3：Lead Line, 2-4：Driving wheel, 2-5：Rotating shaft, 2-6：Motor, 2-7：Friction pulley.
Embodiment
The embodiment of the present invention is further described below in conjunction with accompanying drawing：
A kind of lower limb class brain intelligent machine electronics ectoskeleton, as shown in figure 1, including gravity center adjuster 2, hip electronic machine Tool joint 5-1, knee electric mechanical joint 5-2, ankle electric mechanical joint 5-3, waist connecting rod 4-1, thigh connecting rod 4- 2nd, shank connecting rod 4-3, thigh ectoskeleton 6-1, shank ectoskeleton 6-2, foot fix footwear 7 and plantar pressure and temperature sensor 8.The gravity center adjuster 2 is arranged on waist connecting rod 4-1, the waist connecting rod 4-1, hip electric mechanical joint 5- 1st, thigh ectoskeleton 6-1, thigh connecting rod 4-2, knee electric mechanical joint 5-2, shank ectoskeleton 6-2, shank connecting rod 4- 3rd, ankle electric mechanical joint 5-3, which is sequentially connected, connects.The foot is fixed footwear 7 and is connected with ankle electric mechanical joint 5-3, is used for Fixing wearing person's foot.The plantar pressure and temperature sensor 8 are arranged on the bottom that foot fixes footwear 7, for detecting vola Real time data is simultaneously sent to kinaesthesis control device 1 by portion's real-time pressure and temperature data.In gravity center adjuster 2, thigh Ectoskeleton 6-1 and shank ectoskeleton 6-2 is respectively equipped with fixing strap of waist 3-1, thigh fixed belt 3-2, small leg restraint webbing 3-3, uses It is tightly fastened in by people's limbs and mechano-electronic ectoskeleton, so as to the moving limb motion of mechano-electronic ectoskeleton band.
Above-mentioned hip electric mechanical joint 5-1, knee electric mechanical joint 5-2, ankle electric mechanical joint 5-3 are by corresponding The driving generation action of joint mechanical actuation device, above-mentioned electric mechanical is intra-articular to be provided with joint angles and damping sensor, Corresponding joint angle, the direction of motion, kinetic damping data are sent to upper equipment by the sensor in real time.The waist connection Bar 4-1, thigh connecting rod 4-2, shank connecting rod 4-3 can be flexible and fixed up and down along long rotating shaft, to adapt to different wearings The height change of person.Above-mentioned ectoskeleton is made up of firm plastics or metal material, is sticked and is fixed on human body surface, can be supported Limbs simultaneously drive limb motion.
It is shown as shown in Figure 2, Figure 3 and Figure 4, gravity center adjuster 7 by U-shaped hollow tubing conductor 2-1, two moveable counter weight block 2-2, Driving wheel 2-4, rotating shaft 2-5, motor 2-6 and friction pulley 2-7 are formed.The U-shaped hollow tubing conductor 2-1 both sides lower end is connected with waist Bar 4-1 is installed together, and described two moveable counter weight block 2-2 are arranged in U-shaped hollow tubing conductor 2-1 and hollow can led along U-shaped Pipe 2-1 inwalls move.There are multiple driving wheel 2-4 on the moveable counter weight block 2-2 surfaces and on rotating shaft 2-5, may move There are multiple motor 2-6 to drive friction pulley 2-7 rotations inside balancing weight 2-2, friction pulley 2-7 drives driving wheel 2-4 rotations, may move Balancing weight 2-2 is moved in U-shaped hollow tubing conductor 2-1.Motor 2-6 one end connecting wire 2-3, the connection of the wire 2-3 other ends Upper equipment, under the control of upper equipment, two moveable counter weight block 2-2 are by accordingly moving to adjust mechano-electronic dermoskeleton The transfer of bone center of gravity, mechano-electronic ectoskeleton center of gravity is set to remain poised state.
A kind of complex control system of lower limb class brain intelligent machine electronics ectoskeleton, by lower limb class brain intelligent machine electronics outside Bone and upper equipment connect and compose, and the upper equipment includes multi-functional human brain computer interface unit and kinaesthesis controls Device, as shown in figure 5, lower limb class brain intelligent machine electronics ectoskeleton is calculated by kinaesthesis control device and multi-functional human brain Machine interface unit is connected, and the kinaesthesis control device 1 is arranged on (this reality on lower limb class brain intelligent machine electronics ectoskeleton Example is applied on gravity center adjuster, as shown in Figure 1), multi-functional human brain computer interface unit is worn on head.
The multi-functional human brain computer interface unit is provided with stereotaxis magnetic head arrays and ultra micro scalp electrode array, The stereotaxis magnetic head arrays and ultra micro scalp electrode array respectively with the sensation administrative unit of kinaesthesis control device and Lower extremity movement administrative unit is connected.The stereotaxis magnetic head arrays are located at the head corresponding to cerebral cortex somatesthesia maincenter Epidermis face is used to be passed to artificial sensory signal to somatesthesia maincenter, and the ultra micro scalp electrode array is located at cerebral cortex body Scalp surface corresponding to motor center is used to gather electric signal caused by somatic movement maincenter.The ultra micro scalp electrode array It is connected successively with signal amplifier, analog-digital converter and signal transmission device.Signal output device outputs signal to lower extremity movement pipe Manage unit.
The kinaesthesis control device includes feeling administrative unit and lower extremity movement administrative unit.
Feel administrative unit by artificial sensory system centralized control unit, magnetic field Stereo-control coil control unit and Pulsed magnetic field coil control unit connects and composes.The artificial sensory system centralized control unit receives lower limb class brain intelligent machine Multigroup joint angles and damping sensor, pressure sensor, the real-time data message of temperature sensor in electronics ectoskeleton, will These data are integrated, encode the recognizable deep sensory (joint sensation) of Adult Human Brain and the letter of superficial sensibility (touch-pressure sensation and temperature sensation) Number, and send coding information and control instruction to magnetic field Stereo-control coil control unit and the control of pulsed magnetic field coil Unit, under the driving of magnetic field Stereo-control coil control unit and pulsed magnetic field coil control unit, stereotaxis magnetic Head array sends the pulsed magnetic field signal that can be understood by brain to cerebral cortex somatesthesia maincenter, so as to produce artificial sensation, Brain, which can perceive, to be contacted the information such as the temperature of object, soft or hard and joint position by mechano-electronic ectoskeleton and passes through The neutral net of intracerebral passes to IC other functional areas, human body is produced corresponding reaction.
Lower extremity movement administrative unit includes multiple channel mechanical drive set controller, EEG signals solution read through model, feature brain Electrical signal data storehouse, cerebellum class brain artificial intelligence module (movement posture balance control module), gyroscope, automatic training module. Lower extremity movement administrative unit can provide the autonomous drive pattern of EEG signals and (be analyzed by receiving in human cerebral cortex's somatic movement The motion electric signal driving mechano-electronic ectoskeleton action of pivot), automatic training module drive pattern (pass through the setting worked out in advance Drive the action of mechano-electronic ectoskeleton), a variety of drives such as power-assisted drive pattern (providing mechano-electronic ectoskeleton power-assisted for wearer) Dynamic model formula.Various drive patterns can drive lower limb mechano-electronic with independent work or multiple drive modes Collaboration therein Ectoskeleton.The various pieces of lower extremity movement administrative unit are illustrated respectively below：
The EEG signals that EEG signals solution read through model is received by analyzing understand the motion intention of brain, and analysis is tied Fruit is sent to cerebellum class brain artificial intelligence module (movement posture balance control module).
Various motion characteristics EEG signals data, EEG signals solution read through model are store in feature EEG signals database The EEG signals received can be compared with data in the database and understand brain intention so as to quick, accurate.
Gyroscope can monitor the information such as posture and the acceleration of motion of body in real time, and send information to cerebellum immediately Class brain artificial intelligence module (movement posture balance control module).
Cerebellum class brain artificial intelligence module (movement posture balance control module)：Because the major function of mankind's cerebellum is to adjust Save body balance, regulation muscle tonue, coordinate voltuntary movement etc., therefore this module is sent out by real-time reception EEG signals solution read through model The real time data of a variety of, multigroup sensor in the motion intention director data of the brain gone out, gyroscope and mechano-electronic ectoskeleton, By the integration to these data and comprehensive analysis, to the joint in each electric mechanical joint of lower limb mechano-electronic ectoskeleton The direction of motion of mechanical actuation device, operation angle, speed of service etc. are accurately controlled, gravity center adjuster are carried out at any time Centre of gravity adjustment, so as to real-time ensuring body balance and lower limb electric mechanical ectoskeleton is static and voltuntary movement in coordination, it is real The function of mankind's cerebellum is now simulated, electric mechanical ectoskeleton can steadily, be evenly operated under various motor patterns.Specifically Including following functions：
(1) analysis of data is sent to EEG signals solution read through model：What the data transmitted according to other sensors were described Current mechanical electronics ectoskeleton attitude information, further clear and definite brain action are intended to, mistake and dangerous action are intended to carry out Amendment, normal or revised human brain action intent instructions are sent to multiple channel mechanical drive set controller.
(2) analysis of data is sent to gyroscope：The real-time attitude of analysis wearer's body and acceleration of motion become in real time Change.
(3) joint angles and damping sensor are sent with the analysis of data：The angle in each electric mechanical joint is analyzed in real time Degree, the direction of motion and the kinetic damping delta data in each electric mechanical joint, determine that mechano-electronic ectoskeleton is each according to analysis The individual real-time attitude information in joint.Under the autonomous drive pattern of EEG signals and under automatic training module drive pattern, pass through reality When measure the kinetic damping change in electric mechanical joint, understand the tense situation of wearer joint, muscle and tendon indirectly, work as resistance The motion of mechano-electronic ectoskeleton will be slowed or stopped when Buddhist nun's numerical value is higher than setting early warning value by instruction, avoid causing wearer The damage in joint, muscle or tendon；Under power-assisted drive pattern, passed by the angle and damping of analyzing each electric mechanical joint The trickle data change of sensor, the intention of the direction of motion in each joint of user, movement velocity and dynamics is specified, so that phase The joint mechanical actuation device in the electric mechanical joint answered produces corresponding power-assisted.
(4) analysis of data is sent to plantar pressure sensor and temperature sensor：When mechano-electronic ectoskeleton vola is every During secondary contact ground, plantar pressure sensor and temperature sensor will produce pressure and temperature data immediately, by analyzing pressure And the numerical value of temperature data change and the speed of numerical value change, the change of material, the hardness on contacted ground etc. can be estimated, when When these numerical value exceed early warning value, the motion of mechano-electronic ectoskeleton will be slowed or stopped by instruction, avoid making a misstep or tramp Object.
Automatic training module：According to the setting worked out in advance, to cerebellum class brain artificial intelligence module, (movement posture balance is controlled Molding block) data are sent, cerebellum class brain artificial intelligence module (movement posture balance control module) is by the data and a variety of sensings Device aggregation of data, which is analyzed and handles backward multiple channel mechanical drive set controller, sends action command driving mechano-electronic dermoskeleton Bone makes various actions.The module can simulate the gimmick of professional rehabilitation teacher, the lower limb exercise to caused by various nerve and muscle damages The patient of dysfunction carries out personalized, incremental rehabilitation training.The module can also receive and analyze cerebellum class brain intelligence Analog module (movement posture balance control module) return to joint angles and damping sensor analyze data, and according to the number According to the tensity for assessing wearer joint, muscle and tendon, and the intensity and degree of adjust automatically training.The module can also be commented Estimate the training effect of wearer.
Multiple channel mechanical drive set controller can receive (the movement posture balance control of cerebellum class brain artificial intelligence module Module) action command, and command adapted thereto is distributed to corresponding joint mechanical actuation device and drives corresponding electric mechanical to close Save generation action.
It is emphasized that embodiment of the present invention is illustrative, rather than it is limited, therefore present invention bag Include and be not limited to embodiment described in embodiment, it is every by those skilled in the art's technique according to the invention scheme The other embodiment drawn, also belongs to the scope of protection of the invention.

Claims (9)

  1. A kind of 1. lower limb class brain intelligent machine electronics ectoskeleton, it is characterised in that：Including gravity center adjuster, hip electric mechanical Joint, knee electric mechanical joint, ankle electric mechanical joint, waist connecting rod, thigh connecting rod, shank connecting rod, thigh Ectoskeleton, shank ectoskeleton, foot fix footwear and plantar pressure sensors；The gravity center adjuster is arranged in waist connecting rod, The waist connecting rod, hip electric mechanical joint, thigh ectoskeleton, thigh connecting rod, knee electric mechanical joint, outside shank Bone, shank connecting rod, ankle electric mechanical joint are sequentially connected and connect；The foot is fixed footwear and connected with ankle electric mechanical joint Connect, the plantar pressure sensors are arranged on the bottom that foot fixes footwear；Above-mentioned electric mechanical is intra-articular to be provided with joint angles and resistance Buddhist nun's sensor simultaneously drives generation to act by corresponding joint mechanical actuation device.
  2. 2. lower limb class brain intelligent machine electronics ectoskeleton according to claim 1, it is characterised in that：The centre of gravity adjustment dress Put and be made up of U-shaped hollow tubing conductor, two moveable counter weight blocks, driving wheel, rotating shaft, motor and friction pulley；The U-shaped hollow tubing conductor Both sides lower end is installed together with waist connecting rod, and there are multiple driving wheels on the moveable counter weight block surface and are arranged on rotating shaft On, there are multiple motor driven friction wheel from rotation inside moveable counter weight block, the friction pulley drives driving wheel rotation so that removable Dynamic balancing weight moves in U-shaped hollow tubing conductor.
  3. 3. lower limb class brain intelligent machine electronics ectoskeleton according to claim 1 or 2, it is characterised in that：The center of gravity is adjusted Fixing strap of waist, thigh fixed belt and small leg restraint webbing are respectively equipped with engagement positions, thigh ectoskeleton and shank ectoskeleton.
  4. 4. lower limb class brain intelligent machine electronics ectoskeleton according to claim 1 or 2, it is characterised in that：The waist connects Extension bar, thigh connecting rod, shank connecting rod are flexible connecting rod.
  5. 5. lower limb class brain intelligent machine electronics ectoskeleton according to claim 1 or 2, it is characterised in that：The vola passes Sensor is plantar pressure and temperature sensor.
  6. 6. a kind of complex control system of the lower limb class brain intelligent machine electronics ectoskeleton as described in any one of claim 1 to 5, its It is characterised by：Connected and composed by lower limb class brain intelligent machine electronics ectoskeleton and upper equipment, the upper equipment includes more work( Able person's brain computer interfaces unit and kinaesthesis control device, the lower limb class brain intelligent machine electronics ectoskeleton pass through motion Feel that control device is connected with multi-functional human brain computer interface unit, the kinaesthesis control device is arranged on lower limb class On brain intelligent machine electronics ectoskeleton, multi-functional human brain computer interface unit is worn on head.
  7. 7. the complex control system of lower limb class brain intelligent machine electronics ectoskeleton according to claim 6, it is characterised in that： The multi-functional human brain computer interface unit includes stereotaxis magnetic head arrays and ultra micro scalp electrode array, described three-dimensional fixed The scalp surface being located to magnetic head arrays corresponding to cerebral cortex somatesthesia maincenter is artificial for being passed to somatesthesia maincenter Sensory signal, the scalp surface that the ultra micro scalp electrode array is located at corresponding to cerebral cortex somatic movement maincenter are used to gather Electric signal caused by somatic movement maincenter, the ultra micro scalp electrode array successively with signal amplifier, analog-digital converter and signal Transmitter is connected.
  8. 8. the complex control system of lower limb class brain intelligent machine electronics ectoskeleton according to claim 6, it is characterised in that： The kinaesthesis control device includes feeling administrative unit and lower extremity movement administrative unit；
    It is described sensation administrative unit by artificial sensory system centralized control unit, magnetic field Stereo-control coil control unit and Pulsed magnetic field coil control unit connects and composes；The artificial sensory system centralized control unit receives lower limb class brain intelligent machine Multigroup joint angles and damping sensor, pressure sensor, the real-time data message of temperature sensor in electronics ectoskeleton, will These data are integrated, encode the recognizable deep sensory of Adult Human Brain and the signal of superficial sensibility, and coding information and control are referred to Order sends magnetic field Stereo-control coil control unit and pulsed magnetic field coil control unit to, in magnetic field Stereo-control Under the driving of coil control unit and pulsed magnetic field coil control unit, stereotaxis magnetic head arrays are to cerebral cortex somatesthesia Maincenter sends the pulsed magnetic field signal that can be understood by brain；
    The lower extremity movement administrative unit includes multiple channel mechanical drive set controller, EEG signals solution read through model, feature brain Electrical signal data storehouse, cerebellum class brain artificial intelligence module, gyroscope；
    EEG signals that EEG signals solution read through model docking receives are simultaneously each according to store in feature EEG signals database Kind motion characteristics EEG signals data understand the motion intention of brain, and are sent to cerebellum class brain artificial intelligence by result is understood Module；
    The gyroscope monitors the posture and movement acceleration information of wearer's body and lower limb mechano-electronic ectoskeleton in real time, and Immediately cerebellum class brain artificial intelligence module is sent information to；
    The cerebellum class brain artificial intelligence module is by real-time reception and analyzes the fortune for the brain that EEG signals solution read through model is sent The real time data of a variety of, multigroup sensor in dynamic intent instructions data, gyroscope and lower limb mechano-electronic ectoskeleton, to lower limb machine The direction of motion, operation angle, the operation speed of joint mechanical actuation device in each electric mechanical joint of tool electronics ectoskeleton Degree is accurately controlled, carries out centre of gravity adjustment at any time to gravity center adjuster, so as to balance and the lower limb electricity of real-time ensuring body Sub- mechanical exoskeleton is static and voltuntary movement in coordination；
    Multiple channel mechanical drive set controller receives the action command of cerebellum class brain artificial intelligence module, and command adapted thereto is divided Issue corresponding joint mechanical actuation device and drive corresponding electric mechanical joint generation action.
  9. 9. the complex control system of lower limb class brain intelligent machine electronics ectoskeleton according to claim 8, it is characterised in that： The cerebellum class brain artificial intelligence module is also connected with automatic training module, the automatic training module according to the setting worked out in advance to Cerebellum class brain artificial intelligence module sends data, and cerebellum class brain artificial intelligence module drives to multiple channel mechanical according to the data and filled Put controller send action command driving mechanical exoskeleton make various actions.
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