CN107468486B - Intelligent mechanical electronic exoskeleton of lower limb brain and comprehensive control system thereof - Google Patents
Intelligent mechanical electronic exoskeleton of lower limb brain and comprehensive control system thereof Download PDFInfo
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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
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- 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]
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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
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- 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
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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
- 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
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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
- 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
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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
- 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
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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
- 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
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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
- 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 invention relates to a lower limb brain intelligent mechanical electronic exoskeleton and a comprehensive control system thereof, which are technically characterized in that: comprises a gravity center adjusting device, a plurality of electromechanical joints, a plurality of connecting rods, a plurality of exoskeletons, foot fixing shoes and plantar sensors; the center of gravity adjusting device is arranged on the waist connecting rod, and the waist connecting rod, the hip electronic mechanical joint, the thigh exoskeleton, the thigh connecting rod, the knee electronic mechanical joint, the shank exoskeleton, the shank connecting rod and the ankle electronic mechanical joint are sequentially connected; the electronic mechanical joint is internally provided with a joint angle and damping sensor and is driven to act through a corresponding joint mechanical driving device. The invention has reasonable design, can accurately sense various actions and realize corresponding control functions according to the actions, simultaneously, automatically adjusts the balance of the lower limbs through the gravity center adjusting device, ensures the stability and reliability of walking, and can effectively solve the problem of slow rehabilitation effect of patients with lower limb loss.
Description
Technical Field
The invention belongs to the technical field of nerve electrophysiology, in particular to an intelligent mechanical and electronic exoskeleton for a lower limb brain and a comprehensive control system thereof.
Background
At present, a plurality of scientific research institutions and companies in the world are developing products such as mechanical exoskeleton, mechanical artificial limbs and the like, the products help people with limb dysfunction assist limb activities or limb rehabilitation, and at present, the products drive mechanical parts by means of reading muscle electric signals, electronic sensor signals or modules, and the method is only suitable for partial people such as people with limb loss or peripheral nerve damage, but is not suitable for patients with hemiplegia, high paraplegic, motor neuron diseases (gradually freezing people) and the like caused by cerebrovascular diseases. The product can not establish a two-way nerve feedback path with the brain, and can not realize the brain-like full bionic function. There are also some mechanical exoskeleton related patents or products based on electroencephalogram signals, and these products are based on steady-state visual evoked potentials (Visual evoked potentail, SSVEP) as control cores of devices, but SSVEP is limited in a very large number of conditions: (1) objective factors include: any lesion in the entire visual conduction path can render the device unusable. Such as common myopia and hyperopia, astigmatism, glaucoma, cataract, multiple vision due to various reasons, fundus hemorrhage, fundus arteriosclerosis, macular degeneration, papillary edema due to various reasons, optic atrophy and lesions, optic demyelination, intracranial tumor pressing optic nerve or visual cross, various intracranial lesions involving optic nerve conduction pathways (such as most common cerebral infarction or cerebral hemorrhage, etc.), visual cortical lesions such as occipital She Gengsi hemorrhage, etc., can render the device unusable. In addition, the motor nerves, pulley nerves and abductor nerves that innervate the extraocular muscles, any one of which is damaged for any reason, render the device unusable, and these diseases are precisely the very common clinical diseases. (2) subjective factors include: the currently internationally accepted VEP detection method is that a tested person views a continuously turned black-white checkerboard, so that a visual pathway generates a signal to detect whether the visual pathway is unobstructed or not, but the visual evoked potential generation mode obviously cannot be used for controlling limb movement. Therefore, in order for a subject to generate an effective visual evoked potential that can induce exercise function, there is a need for an internationally accepted solution for generating visual evoked potentials, and the solution is inconsistent, which results in a great deal of variability and is difficult to be accepted. The visual potential generation scheme of the equipment is not widely accepted by clinical experiments and professions, and the usability and popularization are unknown, so that the application range of the equipment is greatly limited and the reliability cannot be inferred.
Upright walking is the most basic physiological function of humans, and some diseases such as: cerebrovascular disease, spinal cord disease, peripheral nerve disease, muscle disease, etc. cause hemiplegia, paraplegia or muscle deficiency of human, thereby affecting normal walking function of human. Rehabilitation training of early strength and gait of the lower limbs is extremely important. However, there are problems in theory and mechanism for rehabilitation of lower limb functions at present, the loss of lower limb functions is caused by the damage of central nervous system loops, the lower limb itself is not problematic, and the rehabilitation measures at present focus on the lower limb itself without exception, so that the actual effect of nerve rehabilitation is very poor. In addition, the existing lower limb rehabilitation equipment and training measures are few, the method is single, and the force and gait training of real upright walking cannot be performed at an early stage; the rehabilitation therapy of the manipulation of the rehabilitation engineer lacks sustainability, systematicness and effectiveness, and the autonomous rehabilitation training of the patient is often abandoned early due to the slow effect and the loss of the rehabilitation confidence of the patient.
Disclosure of Invention
The invention aims to make up the defects of the prior art, provides an intelligent mechanical and electronic exoskeleton for lower limb brains and a comprehensive control system thereof, and solves the problem of slow rehabilitation effect of patients with lower limb function loss.
The invention solves the technical problems by adopting the following technical scheme:
the intelligent mechanical and electronic exoskeleton comprises a gravity center adjusting device, a hip electromechanical joint, a knee electromechanical joint, an ankle electromechanical joint, a waist connecting rod, a thigh connecting rod, a shank connecting rod, a thigh exoskeleton, a shank exoskeleton, a foot fixing shoe and a sole sensor; the center of gravity adjusting device is arranged on the waist connecting rod, and the waist connecting rod, the hip electronic mechanical joint, the thigh exoskeleton, the thigh connecting rod, the knee electronic mechanical joint, the shank exoskeleton, the shank connecting rod and the ankle electronic mechanical joint are sequentially connected; the foot fixing shoe is connected with the ankle electromechanical joint, and the plantar sensor is arranged at the bottom of the foot fixing shoe; the electronic mechanical joint is internally provided with a joint angle and damping sensor and is driven to act through a corresponding joint mechanical driving device.
The gravity center adjusting device consists of a U-shaped hollow guide pipe, two movable balancing weights, a driving wheel, a rotating shaft, a motor and a friction wheel; the lower ends of two sides of the U-shaped hollow guide pipe are arranged together with the waist connecting rod, the surface of the movable balancing weight is provided with a plurality of driving wheels and is arranged on the rotating shaft, a plurality of motors are arranged inside the movable balancing weight to drive the friction wheels to rotate, and the friction wheels drive the driving wheels to rotate so that the movable balancing weight moves in the U-shaped hollow guide pipe.
The center of gravity adjusting device, the thigh exoskeleton and the shank exoskeleton are respectively provided with a waist fixing strap, a thigh fixing strap and a shank fixing strap.
The waist connecting rod, the thigh connecting rod and the shank connecting rod are telescopic connecting rods.
The sole sensor is a sole pressure sensor and a sole temperature sensor.
The comprehensive control system of the intelligent mechanical and electronic exoskeleton of the lower limb brain comprises the intelligent mechanical and electronic exoskeleton of the lower limb brain and upper equipment, wherein the upper equipment comprises a multifunctional human brain computer interface unit and a motor sense control device, the intelligent mechanical and electronic exoskeleton of the lower limb brain is connected with the multifunctional human brain computer interface unit through the motor sense control device, the motor sense control device is arranged on the intelligent mechanical and electronic exoskeleton of the lower limb brain, and the multifunctional human brain computer interface unit is worn on the head.
The multifunctional human brain computer interface unit comprises a three-dimensional directional magnetic head array and an ultra-micro scalp electrode array, wherein the three-dimensional directional magnetic head array is positioned on the surface of a scalp corresponding to a somatic sensory center of a cerebral cortex and is used for transmitting artificial sensory signals to the somatic sensory center, the ultra-micro scalp electrode array is positioned on the surface of a scalp corresponding to a somatic motor center of the cerebral cortex and is used for collecting electric signals generated by the somatic motor center, and the ultra-micro scalp electrode array is sequentially connected with a signal amplifier, an analog-digital converter and a signal transmitter.
The motor sense control device comprises a sense management unit and a lower limb movement management unit;
the sensory management unit is formed by connecting an artificial sensory system central control unit, a magnetic field stereotactic control coil control unit and a pulse magnetic field coil control unit; the artificial sensory system central control unit receives the real-time data information of a plurality of groups of joint angles, damping sensors, pressure sensors and temperature sensors in the intelligent mechanical electronic exoskeleton of the lower limb brain, integrates and codes the data into signals of deep sensation and shallow sensation which can be identified by the brain of a human, transmits the coded information and control instructions to the magnetic field stereotactic control coil control unit and the pulse magnetic field coil control unit, and the stereotactic magnetic head array sends pulse magnetic field signals which can be read by the brain to the somatic sense center of the cerebral cortex under the driving of the magnetic field stereotactic control coil control unit and the pulse magnetic field coil control unit;
the lower limb movement management unit comprises a multichannel mechanical driving device controller, an electroencephalogram signal interpretation module, a characteristic electroencephalogram signal database, a cerebellum brain intelligent simulation module and a gyroscope;
the electroencephalogram interpretation module interprets the movement intention of the brain according to the received electroencephalogram signals and the characteristic electroencephalogram signal data stored with various movements in the characteristic electroencephalogram signal database, and transmits the interpretation result to the cerebellum brain intelligent simulation module;
the gyroscope monitors the posture and movement acceleration information of the mechanical electronic exoskeleton of the body and the lower limb of the wearer in real time and sends the information to the cerebellum intelligent simulation module in real time;
the cerebellum intelligent simulation module precisely controls the movement direction, the operation angle and the operation speed of a joint mechanical driving device in each electronic mechanical joint of the lower limb mechanical electronic exoskeleton and adjusts the gravity center of the gravity adjusting device at any time by receiving and analyzing the movement intention instruction data of the brain, the real-time data of a plurality of sensors and a plurality of groups of sensors in the lower limb mechanical electronic exoskeleton sent by the electroencephalogram signal reading module in real time, so that the balance of the body and the coordination in the static and random movement of the lower limb mechanical exoskeleton are ensured in real time;
the multichannel mechanical driving device controller receives the action instructions of the cerebellum brain intelligent simulation module, and distributes the corresponding instructions to the corresponding joint mechanical driving devices to drive the corresponding electronic mechanical joints to act.
The cerebellum intelligent simulation module is also connected with an automatic training module, the automatic training module sends data to the cerebellum intelligent simulation module according to the preset settings, and the cerebellum intelligent simulation module sends action instructions to the multi-channel mechanical driving device controller according to the data to drive the mechanical exoskeleton to make various actions.
The invention has the advantages and positive effects that:
1. the intelligent mechanical and electronic exoskeleton for the lower limb brain is provided with the hip electromechanical joint, the knee electromechanical joint, the ankle electromechanical joint and the joint angle and damping sensor inside the hip electromechanical joint, can accurately sense various actions and realize corresponding control functions according to the actions, and meanwhile, the balance of the lower limb is automatically adjusted through the gravity center adjusting device, so that the stability and reliability of walking are ensured, and the problem of slow rehabilitation effect of a patient with loss of the lower limb function can be effectively solved.
2. The comprehensive control system directly collects and interprets nerve electric signals of brain motor cortex (advanced motor center) as a control core of the system through a human brain computer interface technology, and the human brain can directly control the mechanical electronic exoskeleton to generate various actions according to the intention of the human brain and can make the electronic exoskeleton operate stably and in balance by using various methods; the information of joint angle, pressure and temperature is generated by collecting a plurality of groups of peripheral sensors, and signals of deep sensation (joint sensation) and shallow sensation (touch pressure sensation and temperature sensation) which can be recognized by the adult brain are processed and simulated by a system, and are fed back to a brain sensory cortex (advanced sensory center) through a brain computer interface device, and are fed back to the brain advanced motor cortex center after being integrated and processed by the brain sensory cortex, so that secondary active movement behaviors are generated, and the secondary correction and adjustment effects of movement control signals are achieved. Meanwhile, through the cerebellum-like intelligent control module, the erection, balance and gait of a patient can be intelligently adjusted, so that the patient can walk freely without an external fixing device. Finally, after training and treatment for a certain time, compensatory neural networks are generated around the focus, so that the movement function of the lower limb can be truly reconstructed.
3. The invention has reasonable design, establishes two-way neural network connection with the human brain through the human brain computer interface device, can directly control the intelligent mechanical electronic exoskeleton of the lower limb brain to generate various actions according to the intention of the human brain, and uses various methods to lead the electronic exoskeleton to operate stably and in balance, thus being widely applied to rehabilitation and life assistance of people with limb movement and limb sensory dysfunction caused by the damage of a nervous system; the robot can also be widely applied to other robot technologies, such as remote mechanical control, assistance, dangerous environment exploration, danger elimination operation and the like.
Drawings
FIG. 1 is a side view of a lower extremity mechatronic exoskeleton of the present invention;
FIG. 2 is a three-dimensional perspective view of the center of gravity adjustment device of the present invention;
FIG. 3 is a cross-sectional view of the center of gravity adjustment device of the present invention;
FIG. 4 is a three-dimensional perspective view of a movable weight of the present invention;
FIG. 5 is a block diagram of the integrated control system connection of the present invention;
in the figure, 1: motor sensation control device, 2: center of gravity adjusting device, 3-1: waist fixed band, 3-2: thigh fixing strap, 3-3: shank fixed band, 4-1: waist connecting rod, 4-2: thigh connecting rod, 4-3: shank connecting rod, 5-1: hip electromechanical joint, 5-2: knee electromechanical joint, 5-3: ankle electromechanical joint, 6-1: thigh exoskeleton, 6-2: shank exoskeleton, 7-foot fixing shoe, 8-plantar pressure and temperature sensor; 2-1: u-shaped hollow catheter, 2-2: 2-3 parts of movable balancing weight: conducting wire, 2-4: driving wheel, 2-5: rotating shaft, 2-6: motor, 2-7: friction wheel.
Detailed Description
Embodiments of the invention are described in further detail below with reference to the attached drawing figures:
the intelligent mechanical and electronic exoskeleton of the lower limb brain, as shown in figure 1, comprises a gravity center adjusting device 2, a hip electronic mechanical joint 5-1, a knee electronic mechanical joint 5-2, an ankle electronic mechanical joint 5-3, a waist connecting rod 4-1, a thigh connecting rod 4-2, a shank connecting rod 4-3, a thigh exoskeleton 6-1, a shank exoskeleton 6-2, a foot fixing shoe 7 and a sole pressure and temperature sensor 8. The gravity center adjusting device 2 is arranged on the waist connecting rod 4-1, and the waist connecting rod 4-1, the hip electromechanical joint 5-1, the thigh exoskeleton 6-1, the thigh connecting rod 4-2, the knee electromechanical joint 5-2, the shank exoskeleton 6-2, the shank connecting rod 4-3 and the ankle electromechanical joint 5-3 are sequentially connected. The foot fixing shoe 7 is connected with the ankle electromechanical joint 5-3 for fixing the foot of the wearer. The plantar pressure and temperature sensor 8 is installed at the bottom of the foot fixing shoe 7, and is used for detecting real-time pressure and temperature data of the bottom of the foot and transmitting the real-time data to the motor feel control device 1. The center of gravity adjusting device 2, the thigh exoskeleton 6-1 and the shank exoskeleton 6-2 are respectively provided with a waist fixing band 3-1, a thigh fixing band 3-2 and a shank fixing band 3-3, which are used for tightly fixing the limbs of the person and the mechano-electronic exoskeleton so that the mechano-electronic exoskeleton drives the limbs of the person to move.
The hip electromechanical joint 5-1, the knee electromechanical joint 5-2, and the ankle electromechanical joint 5-3 are driven by corresponding joint mechanical driving devices to operate, joint angle and damping sensors are installed in the electromechanical joints, and the sensors transmit corresponding joint angle, motion direction, and motion damping data to the upper device in real time. The waist connecting rod 4-1, the thigh connecting rod 4-2 and the shank connecting rod 4-3 can be stretched up and down along the long rotating shaft and fixed so as to adapt to the length changes of different wearers. The exoskeleton is made of firm plastic or metal materials, is applied and fixed on the surface of a human body, and can support limbs and drive the limbs to move.
As shown in fig. 2, 3 and 4, the gravity center adjusting device 7 is composed of a U-shaped hollow conduit 2-1, two movable weights 2-2, a driving wheel 2-4, a rotating shaft 2-5, a motor 2-6 and a friction wheel 2-7. The lower ends of two sides of the U-shaped hollow guide tube 2-1 are installed together with the waist connecting rod 4-1, and the two movable balancing weights 2-2 are installed in the U-shaped hollow guide tube 2-1 and can move along the inner wall of the U-shaped hollow guide tube 2-1. The movable balancing weight 2-2 is provided with a plurality of driving wheels 2-4 on the surface and is arranged on the rotating shaft 2-5, a plurality of motors 2-6 are arranged inside the movable balancing weight 2-2 to drive the friction wheels 2-7 to rotate, the friction wheels 2-7 drive the driving wheels 2-4 to rotate, and the movable balancing weight 2-2 moves in the U-shaped hollow guide tube 2-1. One end of the motor 2-6 is connected with the lead 2-3, the other end of the lead 2-3 is connected with the upper equipment, and the two movable balancing weights 2-2 adjust the transfer of the gravity center of the mechano-electronic exoskeleton through corresponding movement under the control of the upper equipment, so that the gravity center of the mechano-electronic exoskeleton is always kept in a balanced state.
The utility model provides a comprehensive control system of low limbs class brain intelligence mechano-electronic exoskeleton, is by low limbs class brain intelligence mechano-electronic exoskeleton and upper apparatus connection constitution, upper apparatus includes multi-functional human brain computer interface unit and motion sense controlling means, as shown in fig. 5, and low limbs class brain intelligence mechano-electronic exoskeleton is connected with multi-functional human brain computer interface unit through motion sense controlling means, motion sense controlling means 1 installs on low limbs class brain intelligence mechano-electronic exoskeleton (this embodiment installs on focus adjusting device, as shown in fig. 1), and multi-functional human brain computer interface unit wears on the head.
The multifunctional human brain computer interface unit is provided with a three-dimensional directional magnetic head array and an ultra-micro scalp electrode array, and the three-dimensional directional magnetic head array and the ultra-micro scalp electrode array are respectively connected with a sensation management unit and a lower limb movement management unit of the motor sensation control device. The three-dimensional directional magnetic head array is positioned on the surface of the scalp corresponding to the somatic sensory center of the cerebral cortex and used for transmitting artificial sensory signals to the somatic sensory center, and the ultra-micro scalp electrode array is positioned on the surface of the scalp corresponding to the somatic sensory center of the cerebral cortex and used for collecting electric signals generated by the somatic sensory center. The ultra-micro scalp electrode array is sequentially connected with the signal amplifier, the analog-to-digital converter and the signal transmitter. The signal output device outputs signals to the lower limb movement management unit.
The motor sensation control device comprises a sensation management unit and a lower limb movement management unit.
The sensory management unit is formed by connecting an artificial sensory system central control unit, a magnetic field stereotactic control coil control unit and a pulse magnetic field coil control unit. The artificial sensory system central control unit receives the data information of a plurality of groups of joint angles and damping sensors, pressure sensors and temperature sensors in the intelligent mechanical electronic exoskeleton of the lower limb brain, integrates and codes the data into signals of deep sensation (joint sensation) and shallow sensation (touch pressure sensation and temperature sensation) which can be identified by the brain of a human body, transmits the coded information and control instructions to the magnetic field stereotactic control coil control unit and the pulse magnetic field coil control unit, and the stereotactic magnetic head array sends pulse magnetic field signals which can be read by the brain to the brain cortical somatosensory center under the driving of the magnetic field stereotactic control coil control unit and the pulse magnetic field coil control unit, so that artificial sensation is generated, and the brain can sense the temperature, softness, position and the like of an object contacted by the mechanical electronic exoskeleton and transmit the information to other functional areas in the brain through a neural network in the brain, so that the human body generates corresponding reactions.
The lower limb movement management unit comprises a multichannel mechanical driving device controller, an electroencephalogram signal interpretation module, a characteristic electroencephalogram signal database, a cerebellum brain intelligent simulation module (action gesture balance control module), a gyroscope and an automatic training module. The lower limb movement management unit can provide a plurality of driving modes such as an electroencephalogram autonomous driving mode (driving mechanical and electronic exoskeleton actions by receiving and analyzing movement electric signals of the human brain cortex somatic movement center), an automatic training module driving mode (driving mechanical and electronic exoskeleton actions by pre-programmed setting), a power-assisted driving mode (providing mechanical and electronic exoskeleton power assistance for a wearer) and the like. The various drive modes may operate independently or in conjunction with one another to drive the lower extremity mechatronic exoskeleton. The following describes each part of the lower limb movement management unit:
the electroencephalogram interpretation module interprets the movement intention of the brain by analyzing the received electroencephalogram signals and transmits the analysis result to the cerebellum-like brain intelligent simulation module (action posture balance control module).
The characteristic electroencephalogram data of various movements is stored in the characteristic electroencephalogram data base, and the electroencephalogram interpretation module can compare the received electroencephalogram data with the data in the data base so as to rapidly and accurately interpret brain intention.
The gyroscope can monitor the information such as the body posture and the motion acceleration in real time and send the information to the cerebellum intelligent simulation module (motion posture balance control module) in real time.
Cerebellum intelligent simulation module (action gesture balance control module): the main functions of the human cerebellum are body balance adjustment, muscle tension adjustment, coordination and random movement and the like, so that the module receives the movement intention instruction data of the brain, the real-time data of a plurality of sensors and a plurality of groups of sensors in a gyroscope and a mechanical electronic exoskeleton in real time, integrates and comprehensively analyzes the data, precisely controls the movement direction, the operation angle, the operation speed and the like of a joint mechanical driving device in each electronic mechanical joint of the lower limb mechanical electronic exoskeleton, and adjusts the gravity center of a gravity adjusting device at any time, thereby ensuring the balance of the body, the coordination of the lower limb electronic mechanical exoskeleton in static and random movement in real time, realizing the function of simulating the human cerebellum, and enabling the electronic mechanical exoskeleton to operate stably and balanced in various movement modes. The method specifically comprises the following functions:
(1) Analysis of the brain electrical signal interpretation module transmitted data: and according to the current mechanical electronic exoskeleton gesture information depicted by the data transmitted by other sensors, further determining the brain action intention, correcting the wrong and dangerous action intention, and transmitting a normal or corrected human brain action intention instruction to the multichannel mechanical driving device controller.
(2) Analysis of gyroscope transmitted data: real-time analysis of the real-time posture and movement acceleration changes of the wearer's torso.
(3) Analysis of joint angle and damping sensor transmit data: the angle and the movement direction of each electromechanical joint and the movement damping change data of each electromechanical joint are analyzed in real time, and the real-time posture information of each joint of the mechanical and electronic exoskeleton is determined according to the analysis. In an electroencephalogram autonomous driving mode and an automatic training module driving mode, the tension state of joints, muscles and tendons of a wearer is indirectly known through measuring motion damping changes of the electromechanical joints in real time, and when the damping value is higher than a set early warning value, the motion of the electromechanical exoskeleton is slowed down or stopped through instructions, so that the damage to the joints, the muscles or the tendons of the wearer is avoided; in the power-assisted driving mode, the intention of the movement direction, movement speed and force of each joint of a user is clarified by analyzing the angle of each electromechanical joint and the fine data change of the damping sensor, so that the joint mechanical driving device of the corresponding electromechanical joint generates corresponding power assistance.
(4) Analysis of plantar pressure and temperature sensor transmit data: when the sole of the mechano-electronic exoskeleton touches the ground, the sole pressure sensor and the temperature sensor can generate pressure and temperature data in real time, the change of the material, the hardness and the like of the ground can be estimated by analyzing the numerical value of the change of the pressure and the temperature data and the speed of the change of the numerical value, and when the numerical value exceeds an early warning value, the movement of the mechano-electronic exoskeleton is slowed down or stopped by instructions, so that the phenomenon of stepping on the object is avoided.
Automatic training module: and sending data to the cerebellum intelligent simulation module (action gesture balance control module) according to the pre-programmed setting, comprehensively analyzing and processing the data and various sensor data by the cerebellum intelligent simulation module (action gesture balance control module), and sending action instructions to the multichannel mechanical driving device controller to drive the mechano-electronic exoskeleton to perform various actions. The module can simulate the manipulation of a professional rehabilitation engineer and carry out personalized and progressive rehabilitation training on patients with lower limb movement dysfunction caused by various neuromuscular injuries. The module can also receive and analyze the analysis data of the joint angle and the damping sensor returned by the cerebellum brain intelligent simulation module (action gesture balance control module), evaluate the tension degree of joints, muscles and tendons of a wearer according to the data, and automatically adjust the intensity and the degree of training. The module may also evaluate the training effect of the wearer.
The multichannel mechanical driving device controller can receive the action instructions of the cerebellum intelligent simulation module (action gesture balance control module) and distribute the corresponding instructions to the corresponding joint mechanical driving devices to drive the corresponding electromechanical joints to act.
It should be emphasized that the examples described herein are illustrative rather than limiting, and therefore the invention includes, but is not limited to, the examples described in the detailed description, as other embodiments derived from the technical solutions of the invention by a person skilled in the art are equally within the scope of the invention.
Claims (6)
1. A comprehensive control system of intelligent mechanical electronic exoskeleton of lower limb brain is characterized in that: the intelligent mechanical electronic exoskeleton of the lower limb brain and the upper equipment are connected;
the intelligent mechanical and electronic exoskeleton of the lower limb brain comprises a gravity center adjusting device, a hip electromechanical joint, a knee electromechanical joint, an ankle electromechanical joint, a waist connecting rod, a thigh connecting rod, a shank connecting rod, a thigh exoskeleton, a shank exoskeleton, a foot fixing shoe and a sole sensor; the center of gravity adjusting device is arranged on the waist connecting rod, and the waist connecting rod, the hip electronic mechanical joint, the thigh exoskeleton, the thigh connecting rod, the knee electronic mechanical joint, the shank exoskeleton, the shank connecting rod and the ankle electronic mechanical joint are sequentially connected; the foot fixing shoe is connected with the ankle electromechanical joint, and the plantar sensor is arranged at the bottom of the foot fixing shoe; the electronic mechanical joint is internally provided with a joint angle and damping sensor and is driven by a corresponding joint mechanical driving device to generate actions;
the upper equipment comprises a multifunctional human brain computer interface unit and a motor sense control device, wherein the lower limb brain intelligent mechanical electronic exoskeleton is connected with the multifunctional human brain computer interface unit through the motor sense control device, the motor sense control device is arranged on the lower limb brain intelligent mechanical electronic exoskeleton, and the multifunctional human brain computer interface unit is worn on the head;
the multifunctional human brain computer interface unit comprises a three-dimensional directional magnetic head array and an ultra-micro scalp electrode array, wherein the three-dimensional directional magnetic head array is positioned on the surface of a scalp corresponding to a somatic sensory center of a cerebral cortex and is used for transmitting artificial sensory signals to the somatic sensory center, the ultra-micro scalp electrode array is positioned on the surface of a scalp corresponding to a somatic motor center of the cerebral cortex and is used for collecting electric signals generated by the somatic motor center, and the ultra-micro scalp electrode array is sequentially connected with a signal amplifier, an analog-digital converter and a signal transmitter;
the motor sense control device comprises a sense management unit and a lower limb movement management unit;
the sensory management unit is formed by connecting an artificial sensory system central control unit, a magnetic field stereotactic control coil control unit and a pulse magnetic field coil control unit; the artificial sensory system central control unit receives the real-time data information of a plurality of groups of joint angles, damping sensors, pressure sensors and temperature sensors in the intelligent mechanical electronic exoskeleton of the lower limb brain, integrates and codes the data into signals of deep sensation and shallow sensation which can be identified by the brain of a human, transmits the coded information and control instructions to the magnetic field stereotactic control coil control unit and the pulse magnetic field coil control unit, and the stereotactic magnetic head array sends pulse magnetic field signals which can be read by the brain to the somatic sense center of the cerebral cortex under the driving of the magnetic field stereotactic control coil control unit and the pulse magnetic field coil control unit;
the lower limb movement management unit comprises a multichannel mechanical driving device controller, an electroencephalogram signal interpretation module, a characteristic electroencephalogram signal database, a cerebellum brain intelligent simulation module and a gyroscope;
the electroencephalogram interpretation module interprets the movement intention of the brain according to the received electroencephalogram signals and the characteristic electroencephalogram signal data stored with various movements in the characteristic electroencephalogram signal database, and transmits the interpretation result to the cerebellum brain intelligent simulation module;
the gyroscope monitors the posture and movement acceleration information of the mechanical electronic exoskeleton of the body and the lower limb of the wearer in real time and sends the information to the cerebellum intelligent simulation module in real time;
the cerebellum intelligent simulation module precisely controls the movement direction, the operation angle and the operation speed of a joint mechanical driving device in each electronic mechanical joint of the lower limb mechanical electronic exoskeleton and adjusts the gravity center of the gravity adjusting device at any time by receiving and analyzing the movement intention instruction data of the brain, the real-time data of a plurality of sensors and a plurality of groups of sensors in the lower limb mechanical electronic exoskeleton sent by the electroencephalogram signal reading module in real time, so that the balance of the body and the coordination in the static and random movement of the lower limb mechanical exoskeleton are ensured in real time;
the multichannel mechanical driving device controller receives the action instructions of the cerebellum intelligent simulation module and distributes the corresponding instructions to the corresponding joint mechanical driving devices to drive the corresponding electronic mechanical joints to act.
2. The integrated control system of the intelligent mechanical electronic exoskeleton of the lower limb brain of claim 1, wherein: the cerebellum intelligent simulation module is also connected with an automatic training module, the automatic training module sends data to the cerebellum intelligent simulation module according to the preset settings, and the cerebellum intelligent simulation module sends action instructions to the multi-channel mechanical driving device controller according to the data to drive the mechanical exoskeleton to make various actions.
3. The integrated control system of the intelligent mechanical electronic exoskeleton of the lower limb brain of claim 1, wherein: the gravity center adjusting device consists of a U-shaped hollow guide pipe, two movable balancing weights, a driving wheel, a rotating shaft, a motor and a friction wheel; the lower ends of two sides of the U-shaped hollow guide pipe are arranged together with the waist connecting rod, the surface of the movable balancing weight is provided with a plurality of driving wheels and is arranged on the rotating shaft, a plurality of motors are arranged inside the movable balancing weight to drive the friction wheels to rotate, and the friction wheels drive the driving wheels to rotate so that the movable balancing weight moves in the U-shaped hollow guide pipe.
4. A comprehensive control system for intelligent mechano-electronic exoskeleton of lower limb brain according to claim 1 or 3, wherein: the center of gravity adjusting device, the thigh exoskeleton and the shank exoskeleton are respectively provided with a waist fixing strap, a thigh fixing strap and a shank fixing strap.
5. A comprehensive control system for intelligent mechano-electronic exoskeleton of lower limb brain according to claim 1 or 3, wherein: the waist connecting rod, the thigh connecting rod and the shank connecting rod are telescopic connecting rods.
6. A comprehensive control system for intelligent mechano-electronic exoskeleton of lower limb brain according to claim 1 or 3, wherein: the sole sensor is a sole pressure sensor and a sole temperature sensor.
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| CN110279560A (en) * | 2019-07-29 | 2019-09-27 | 武汉轻工大学 | Utilize the healing robot of opposite side upper limb control lower limb |
| CN110882134A (en) * | 2019-10-24 | 2020-03-17 | 中国科学院深圳先进技术研究院 | Obstacle crossing intention identification method, exoskeleton robot obstacle crossing control method and device |
| CN113426081A (en) * | 2021-05-28 | 2021-09-24 | 杭州国辰迈联机器人科技有限公司 | Sitting and standing training control method and sitting and standing training system based on brain-computer interface |
| CN114191261B (en) * | 2021-11-25 | 2023-12-15 | 天津大学 | Iterative learning brain-controlled electrical stimulation and intelligent support system and lower limb rehabilitation training method |
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