CN109199786A - A kind of lower limb rehabilitation robot based on two-way neural interface - Google Patents
A kind of lower limb rehabilitation robot based on two-way neural interface Download PDFInfo
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 160
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- 238000002567 electromyography Methods 0.000 claims abstract description 44
- 238000012549 training Methods 0.000 claims abstract description 28
- 230000005021 gait Effects 0.000 claims abstract description 24
- 210000003414 extremity Anatomy 0.000 claims abstract description 23
- 210000003205 muscle Anatomy 0.000 claims description 40
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- 208000020442 loss of weight Diseases 0.000 claims description 10
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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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- 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
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
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- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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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
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
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Abstract
The present invention relates to a kind of lower limb rehabilitation robots based on two-way neural interface, belong to medical rehabilitation technical field, and solving the problems, such as existing healing robot, there are patient's degree of being actively engaged in is not high.Include: EEG signals system, acquire the EEG signals of patient, recognize the motion intention and rehabilitation training demand of patient, and EEG signals are converted into movement instruction export and give lower extremity movement system；Electromyography signal system for acquiring the lower limb electromyography signal of patient, and is analyzed and processed, and the motion state of lower limb is fed back to lower extremity movement system and EEG signals system；Lower extremity movement system carries out gait generation according to the movement instruction received, guides patient's lower extremity movement；Meanwhile the lower extremity movement state of the electromyography signal system feedback is received, suffering limb is moved and carries out appropriate intervention.The present invention perceives bi-directional ring using closed loop people-machine nerve information, realizes the high efficiency interactive between patient and healing robot, improves sufferer and participates in initiative, lifting motion rehabilitation efficiency.
Description
Technical field
The present invention relates to medical rehabilitation technical field more particularly to a kind of lower limb rehabilitation machines based on two-way neural interface
People.
Background technique
Currently, lower limb rehabilitation robot represents the development trend of this class product in terms of application and market, development is
Entered a bottleneck stage, Current Domestic external equipment carries out basic natural gait instruction using rehabilitation ectoskeleton guidance patient
Practice, can satisfy the most substitution work in physical strength for rehabilitation therapist substantially, is limited to automation rehabilitation and sets
Standby scope is only capable of obtaining the effect of passive exercise, does not have the intension of neural rehabilitation external dynamics mechanism.
Current China is in the starting stage for developing rehabilitation medicine equipment, for sufferer mechanics of human motion characteristic, electricity
The research such as physiological property is insufficient, needs to solve key technology, advanced medical leg rehabilitation instrument of having an effect by Scientific exploration rule
Device labor market.
Main problem existing for existing healing robot has: passively training method causes stroke hemiplegia actively to join
With spend not high, Ipsilateral muscle active undershrinking, muscular states monitoring missing, the training gait in conventional motion rehabilitation and mechanics
Environment mismatches.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of lower limb rehabilitation robot based on two-way neural interface, is used
To solve existing healing robot using in a manner of passive exercise, patient's degree of being actively engaged in is high, Ipsilateral muscle active undershrinking,
Muscular states monitoring missing, the training gait in conventional motion rehabilitation and the unmatched problem of mechanical environment.
The purpose of the present invention is mainly achieved through the following technical solutions:
Provide a kind of lower limb rehabilitation robot based on two-way neural interface, comprising: EEG signals system, electromyography signal
System, lower extremity movement system；
The EEG signals system recognizes the motion intention and rehabilitation training of patient for acquiring the EEG signals of patient
Demand, and EEG signals are converted into movement instruction export and give lower extremity movement system；
The electromyography signal system for acquiring the lower limb electromyography signal of patient, and is analyzed and processed, by the fortune of lower limb
Dynamic state feeds back to lower extremity movement system and EEG signals system；
The lower extremity movement system carries out gait generation according to the movement instruction received, guides patient's lower extremity movement；
Meanwhile according to the lower extremity movement state of the electromyography signal system feedback, appropriate intervention is carried out to patient's lower extremity movement.
The present invention has the beneficial effect that: the two-way neural interface technology such as present invention application brain electricity, myoelectricity, using height communication speed
The brain-computer interface of rate realizes quick, convenient, the self-service control of lower limb exoskeleton；People-machine based on myoneural stimulation is reversed
Regulate and control channel, realizes that lower limb rehabilitation robot intervenes the monitoring of body state and appropriateness；Construct the control ring of aircraft-pilot coupling
Personalized loss of weight gait training is realized on road.Establish the intelligent rehabilitation lower limb exoskeleton brain of biology-robot nerve perception access
Man-controlled mobile robot can make patient be actively engaged in training process carry out man-machine integration rehabilitation training, patient carry out autonomous control,
Reach neural feedback physical training condition and effect, greatly improves the neural plasticity recovering process of patient.
On the basis of above scheme, the present invention has also done following improvement:
Further, the EEG signals system includes: eeg signal acquisition device, at visual stimulator, electroencephalogramsignal signal analyzing
Manage module, instruction sending module, visual feedback module；
For showing the flashing lamp for representing different control instructions, patient is produced the visual stimulator by watching flashing lamp attentively
Raw different EEG signals；
The brain wave acquisition device is used to acquire the EEG signals of patient, and passes to the electroencephalogramsignal signal analyzing processing mould
Block；
The electroencephalogramsignal signal analyzing processing module, the EEG signals that will acquire are converted into movement instruction, and are sent by instruction
Module is sent to lower extremity movement system；
The visual feedback module receives lower extremity movement status feedback signal, and shows patient by visual stimulator.
Further, the electromyography signal system, comprising: electromyographic signal acquisition device, electromyography signal analysis and processing module, movement
Information feedback module；
The electromyographic signal acquisition device is used to acquire the electromyography signal of patient's lower limb；
The electromyography signal analysis and processing module is for being analyzed and processed collected lower limb electromyography signal, under acquisition
The movement state information of limb；
Above-mentioned movement state information is fed back to lower extremity movement system and EEG signals system by the motion information feedback module
System.
Further, the lower extremity movement system, comprising: medical treadmill, lower limb exoskeleton, handrail；
The lower limb exoskeleton, according to the movement state information of the movement instruction and electromyography signal system feedback that receive,
Personalized gait is generated, lower extremity movement is controlled；
The handrail is for assisting patient stand；
The medical treadmill, for cooperating lower limb exoskeleton real-time adjustment speed in the training process.
Further, the lower extremity movement system, including muscle electric stimulation instrument refer to according to the movement that EEG signals system issues
It enables, stimulates the muscle of Ipsilateral lower limb, guide lower extremity movement.
Further, the muscle electric stimulation instrument cooperates with lower limb exoskeleton, common to guide Ipsilateral lower extremity movement.
Further, muscle electric stimulation instrument is by the FES control strategy based on strong/mutual reference of affected limb, when adjustment stimulates
Sequence and intensity eliminate the gait difference of patient's bilateral lower limb.
Further, following processes are executed, the stimulation timing and intensity of muscle electric stimulation instrument are adjusted:
Patient, which is acquired, by electromyographic signal acquisition device is good for pleural muscle electric signal；
Electromyography signal analysis and processing module is analyzed and processed above-mentioned strong pleural muscle electric signal, obtains in complete gait cycle
The contraction timing of difference muscle when strong side lower limb walking, and Ipsilateral lower limb are carried out using the contraction timing as muscle electric stimulation instrument
The time series pattern of stimulation；
According to the kinematic data of bilateral lower limb, using the strong side kinematics parameters before Time constant as template, compares and suffer from
The kinematics parameters of side lower limb change, and obtain the intensity mode that muscle electric stimulation instrument stimulates Ipsilateral lower limb；
Muscle electric stimulation instrument adjusts stimulation according to the above-mentioned time series pattern and intensity mode stimulated Ipsilateral lower limb
Timing and intensity.
Further, lower limb exoskeleton receives the lower extremity movement state of the electromyography signal system Real-time Feedback, and is sentenced
It is disconnected, when judging motion state exception, suffering limb movement is intervened.
Further, the lower extremity movement system, further includes: dynamic loss of weight equipment, mitigate patient's lower extremity movement during by
The influence of gravity.
It in the present invention, can also be combined with each other between above-mentioned each technical solution, to realize more preferred assembled schemes.This
Other feature and advantage of invention will illustrate in the following description, also, certain advantages can become from specification it is aobvious and
It is clear to, or understand through the implementation of the invention.The objectives and other advantages of the invention can by specification, claims with
And it is achieved and obtained in specifically noted content in attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is lower limb rehabilitation robot structural schematic diagram in the embodiment of the present invention；
Fig. 2 is the human-computer interactive control schematic diagram of lower limb rehabilitation robot in the embodiment of the present invention；
Fig. 3 is the EEG signals system for directly controlling lower limb rehabilitation robot in the embodiment of the present invention based on brain-computer interface
Block diagram；
Fig. 4 is FES dynamic regulation method schematic diagram in the embodiment of the present invention.
Attached drawing mark:
1- EEG signals system, 2- electromyography signal system, 3- muscle electric stimulation instrument, the medical treadmill of 4-, 5- lower limb exoskeleton,
6- handrail, 7- dynamic loss of weight equipment.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention, it is not intended to limit the scope of the present invention.
A specific embodiment of the invention discloses a kind of lower limb rehabilitation robot machine based on two-way neural interface
People, as depicted in figs. 1 and 2, comprising: EEG signals system (1), electromyography signal system (2), lower extremity movement system；
EEG signals system recognizes the motion intention and rehabilitation training demand of patient for acquiring the EEG signals of patient,
And it EEG signals is converted into movement instruction exports and give lower extremity movement system；
Electromyography signal system for acquiring the lower limb electromyography signal of patient, and is analyzed and processed, by the movement shape of lower limb
State feeds back to lower extremity movement system and EEG signals system；
Lower extremity movement system carries out gait generation according to the movement instruction received, guides patient's lower extremity movement；Meanwhile
According to the lower extremity movement state of the electromyography signal system feedback, appropriate intervention is carried out to patient's lower extremity movement.
When implementation, patient has dressed lower limb exoskeleton, and hand steered handrail is stood on medical treadmill at a slow speed, and wears on head
Wear brain wave acquisition device.By EEG signals system, acquisition, processing, feature extraction the identification wearer for carrying out EEG signals are subjective
Walking wish, and the instruction of lower extremity movement system motion is passed to, ectoskeleton motion mode is controlled, guidance is completed rehabilitation exercise and controlled
It treats；By each system organic assembling, patient is made to realize the remodeling of motor function and neural circuit by long-term rehabilitation training.
Compared with prior art, the lower limb rehabilitation robot provided in this embodiment based on two-way neural interface；Using brain
Electricity, the two-way neural interface technology of myoelectricity, using the brain-computer interface of high communication speed, realize lower limb exoskeleton it is quick, convenient,
Self-service control；Based on people-machine retroregulation channel of myoneural stimulation, realize lower limb rehabilitation robot to the prison of body state
Control and appropriateness are intervened；The control loop of aircraft-pilot coupling is constructed, realizes personalized loss of weight gait training.Establish biology-robot
It is man-machine that the intelligent rehabilitation lower limb exoskeleton brain man-controlled mobile robot of nerve perception access can make patient be actively engaged in training process progress
Integrated rehabilitation training, patient carry out autonomous control, reach neural feedback physical training condition and effect, greatly improve the mind of patient
Through plasticity recovering process.
Specifically, patient is by EEG signals system, using SSVEP (Steady State Visual Evoked
Potential, Steady State Visual Evoked Potential) " the directly controlling " of brain-machine interaction instruction completion to lower extremity movement system, lower limb fortune
Dynamic system completes brain-machine interaction and instructs corresponding behavior, and subject is presented in the form of visual feedback, to realize utilization
Brain-machine interaction instruction directly controls lower limb rehabilitation robot.For complex task, layering can be used and adapt to menu, realize to lower limb
Ectoskeleton directly controls.
Fig. 3 is the EEG signals system block diagram that the present embodiment directly controls lower limb exoskeleton based on brain-computer interface, comprising:
Eeg signal acquisition device, visual stimulator, electroencephalogramsignal signal analyzing processing module, instruction sending module, visual feedback module.Its
In,
Visual stimulator is for showing the flashing lamp for representing different control instructions, so that patient passes through SSVEP brain-machine interaction
Instruction controls robot, or according to oneself instruction demand or motion intention, watches corresponding flashing lamp attentively, and then produce
Raw corresponding EEG signals；
Brain wave acquisition device is used to acquire the EEG signals (can use dry-type electrode) of patient, and passes to the brain telecommunications
Number analysis and processing module, it is preferred that can be in a manner of wireless transmission；
Electroencephalogramsignal signal analyzing processing module is analyzed and processed the EEG signals of acquisition, will by brain electricity decoding algorithm
EEG signals are converted into movement instruction, and are sent to lower extremity movement system by instruction sending module；
Visual feedback module receives the lower extremity movement status feedback signal of lower extremity movement system or electromyography signal system, and
Patient is showed by visual stimulator.
There is the lamp of different frequency on visual stimulator while flashing and (representing multiple alternative visual stimulus targets),
Different flicker frequencies represents different control instructions (preferably, brain-machine interaction instruction set size > 8), and patient wants to execute certain
The lamp for representing this control instruction is just watched in kind instruction attentively, starts or speaks without patient, as long as the EEG signals of detection patient,
The SSVEP induced by it can judge that the control of user is intended to, and then realize the control to lower limb exoskeleton.
Preferably, visual stimulator, which can be shown, represents flashing lamp to give an order, as training starts, terminates, speed of advancing
Degree (on the basis of initial setting up+,-fine tuning), stride (on the basis of initial setting up+,-fine tuning), loss of weight amount (are initially being set
On the basis of setting+,-finely tune) etc..
The characteristics of according to SSVEP and spontaneous brain electricity, distinguishes the rest and working condition of EEG signals system, in robot control
Automatic checkout system state during system switches corresponding brain-computer interface interface and visual stimulus.Under resting state, brain telecommunications
Startup function is only arranged in number system, and after detecting the SSVEP signal for opening brain-computer interface, visual stimulator is automatically switched to
Robot control interface, EEG signals system starts.
In order to realize that the monitoring to body state is intervened with appropriateness, lower limb rehabilitation robot is additionally provided with electromyography signal system
System constructs the people-machine retroregulation channel stimulated based on myoneural；The electromyography signal system includes: electromyographic signal acquisition device,
Electromyography signal analysis and processing module, motion information feedback module；Wherein,
Electromyographic signal acquisition device, for acquiring the electromyography signal of patient's lower limb；
Electromyography signal analysis and processing module, for being analyzed and processed to collected lower limb electromyography signal；Preferably, it wraps
The processing such as filtering, rectification and normalization is included, obtain pure electromyography signal, and then obtain lower extremity movement intention and motion state etc.
Motion information；
Motion information feedback module, the lower extremity movement state that above-mentioned electromyography signal analysis and processing module is obtained and movement are anticipated
The information such as figure are sent to lower limb exoskeleton and EEG signals system；Lower limb exoskeleton and EEG signals system pass through to feedback information
It is analyzed, and based on the analysis results, EEG signals system retransmits movement instruction or lower limb exoskeleton adjusts movement step
State realizes that the monitoring and appropriateness to body state are intervened.
Lower extremity movement system, comprising: medical treadmill (4), lower limb exoskeleton (5), handrail (6), dynamic loss of weight equipment (7)；
According to the movement instruction that the EEG signals system received issues, it is based on the true loss of weight mechanical environment of human body, generates and guides trouble
The personalized natural gait training (preferably, gait training velocity interval: 1km/h~4km/h) of person, while acceptable and myoelectricity
Signal system cooperation carries out rehabilitation training to suffering limb.Specifically,
Lower limb exoskeleton mainly provides the generation and control of loss of weight personalization gait；
Patient can be kept one's balance by handrail, and as support, realize autonomous stand；
Medical treadmill mainly cooperates lower limb exoskeleton real-time adjustment speed in the training process,
For patient's lower limb support force deficiency problem, patient's lower extremity movement is mitigated in the process by weight by movement loss of weight equipment
The influence of power makes patient more easily complete ideal gait motion in the case where lower limb exoskeleton actively guides driving effect.
It is emphasized that lower limb exoskeleton generates movement gait, lower extremity movement is guided, it can be according to EEG signals system
The movement instruction of sending directly guides suffering limb to move；Simultaneously as lower limb rehabilitation robot is the suffering limb being damaged with motor function
Interaction, and patient be have autokinetic movement consciousness object, therefore the interactive controlling between robot and patient can not or
It lacks.Interactive controlling can create a safety, comfortable, nature and the training environment for having active compliance for patient, avoid suffering from
Limb due to spasm, the abnormal muscle activity such as tremble and create antagonism with robot；Specifically, electromyography signal system can be passed through
The electromyography signal of acquisition suffering limb in real time, and be analyzed and processed, the motion state of suffering limb is obtained, Real-time Feedback gives lower limb dermoskeleton
Bone is intervened when lower limb exoskeleton judges the motion state exception of suffering limb, patient is protected not will receive secondary damage.
In view of relying on lower limb exoskeleton control suffering limb activity merely, it will lead to Ipsilateral muscle active undershrinking, influence
Suffering limb rehabilitation, the present embodiment are provided with muscle electric stimulation instrument (3) in lower extremity movement system, by stimulating the muscle of suffering limb, lure
Muscular movement or the normal autokinetic movement of simulation are sent out, to achieve the purpose that improvement or recovery are stimulated muscle function.In reality
In rehabilitation training, EEG signals system can match " the brain control " of Ipsilateral lower limb with muscle electric stimulation, muscle electric stimulation
The movement instruction that instrument is issued according to EEG signals system, in conjunction with the kinematics parameters of limbs of patient, parsing generate stimulation timing and
Intensity stimulates corresponding Ipsilateral muscle, to reach better rehabilitation efficacy；Furthermore it is also possible to cooperate with electromyography signal system, jointly
Suffering limb movement is guided, excessively causes to tumble for example, limitation patient can be cooperated to act in resuming training with lower limb exoskeleton；Also
Common guidance suffering limb movement can be cooperated with lower limb exoskeleton.
On this basis, it is contemplated that the difference of the exercise datas such as gait of patient's bilateral lower limb, can also using based on it is strong/
FES (functional electrieal stimulation, functional electrical stimulation) control strategy of the mutual reference of affected limb；Such as
Shown in Fig. 4, for the neural perception demand of Ipsilateral lower extremity movement state, pass through the kinematic data of bilateral lower limb and strong pleural muscle electricity
Signal extraction is completed the regulation of FES dynamic self-adapting, by the positive neuromuscular stimulation to Ipsilateral leg dynamic time sequence, is made
Both legs complete rehabilitation exercise training according to the gait rule that patient is accustomed to, and facilitate the sports coordination instruction of patient's bilateral leg
Practice, so as to form ascending nerve feedback network, and patient's Ipsilateral is established and the movement of strong side contacts, to greatest extent with patient
Rehabilitation course is controlled centered on itself.
Specifically, in rehabilitation training, electromyography signal system acquires the kinematic data of patient's bilateral lower limb in real time
With strong pleural muscle electric signal.Electromyography signal analysis and processing module is filtered collected surface electromyogram signal, rectifies pretreatment,
And muscle activation degree is calculated by second-order auto-regressive filtering and exponential transform.By the muscle activation threshold value of setting, by gait week
The activity curve binaryzation of muti-piece muscle in phase, the contraction of difference muscle when obtaining being good for lower limb walking in side in complete gait cycle
Timing, in this, as the stimulation time series pattern of Ipsilateral lower limb muscles electric stimulating instrument.
According to the kinematics information of bilateral lower limb, the kinematics such as strong, Ipsilateral lower limb joint angles, angular speed are calculated separately
Parameter compares the kinematics parameters variation of Ipsilateral lower limb, adjusts flesh using the strong side kinematics parameters before Time constant as template
The stimulus intensity of meat electric stimulating instrument special modality (corresponding to stimulate timing on, and channel relevant to the kinematic parameter), is completed
The natural mode activation of Ipsilateral lower limb muscles is realized in the regulation of FES dynamic self-adapting.
Through this embodiment, for stroke hemiplegia lower extremity motor function rehabilitation demands, closed loop people-machine nerve is utilized
Information Perception bi-directional ring realizes the high efficiency interactive between patient and healing robot, improves sufferer and participates in initiative, lifting motion
Rehabilitation efficiency.
It will be understood by those skilled in the art that realizing all or part of the process of above-described embodiment method, meter can be passed through
Calculation machine program instruction relevant hardware is completed, and the program can be stored in computer readable storage medium.Wherein, described
Computer readable storage medium is disk, CD, read-only memory or random access memory etc..
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of lower limb rehabilitation robot based on two-way neural interface characterized by comprising EEG signals system, myoelectricity
Signal system, lower extremity movement system；
The EEG signals system recognizes the motion intention and rehabilitation training demand of patient for acquiring the EEG signals of patient,
And it EEG signals is converted into movement instruction exports and give lower extremity movement system；
The electromyography signal system for acquiring the lower limb electromyography signal of patient, and is analyzed and processed, by the movement shape of lower limb
State feeds back to lower extremity movement system and EEG signals system；
The lower extremity movement system carries out gait generation according to the movement instruction received, guides patient's lower extremity movement；Meanwhile
According to the lower extremity movement state of the electromyography signal system feedback, appropriate intervention is carried out to patient's lower extremity movement.
2. the lower limb rehabilitation robot according to claim 1 based on two-way neural interface, which is characterized in that the brain electricity
Signal system includes: eeg signal acquisition device, visual stimulator, electroencephalogramsignal signal analyzing processing module, instruction sending module, vision
Feedback module；
For showing the flashing lamp for representing different control instructions, patient is generated not the visual stimulator by watching flashing lamp attentively
Same EEG signals；
The brain wave acquisition device is used to acquire the EEG signals of patient, and passes to the electroencephalogramsignal signal analyzing processing module；
The electroencephalogramsignal signal analyzing processing module, the EEG signals that will acquire are converted into movement instruction, and by instruction sending module
It is sent to lower extremity movement system；
The visual feedback module receives lower extremity movement status feedback signal, and shows patient by visual stimulator.
3. the lower limb rehabilitation robot according to claim 2 based on two-way neural interface, which is characterized in that the myoelectricity
Signal system, comprising: electromyographic signal acquisition device, electromyography signal analysis and processing module, motion information feedback module；
The electromyographic signal acquisition device is used to acquire the electromyography signal of patient's lower limb；
The electromyography signal analysis and processing module obtains lower limb for being analyzed and processed to collected lower limb electromyography signal
Movement state information；
Above-mentioned movement state information is fed back to lower extremity movement system and EEG signals system by the motion information feedback module.
4. the lower limb rehabilitation robot according to claim 3 based on two-way neural interface, which is characterized in that the lower limb
Kinematic system, comprising: medical treadmill, lower limb exoskeleton, handrail；
The lower limb exoskeleton is generated according to the movement state information of the movement instruction and electromyography signal system feedback that receive
Personalized gait controls lower extremity movement；
The handrail is for assisting patient stand；
The medical treadmill, for cooperating lower limb exoskeleton real-time adjustment speed in the training process.
5. the lower limb rehabilitation robot based on two-way neural interface described in one of -4 according to claim 1, which is characterized in that institute
Lower extremity movement system, including muscle electric stimulation instrument are stated, according to the movement instruction that EEG signals system issues, stimulates Ipsilateral lower limb
Muscle guides the lower extremity movement.
6. the lower limb rehabilitation robot according to claim 5 based on two-way neural interface, which is characterized in that the muscle
Electric stimulating instrument cooperates with lower limb exoskeleton, common to guide Ipsilateral lower extremity movement.
7. the lower limb rehabilitation robot according to claim 6 based on two-way neural interface, which is characterized in that muscle electricity thorn
Instrument is swashed by the FES control strategy based on strong/mutual reference of affected limb, adjustment stimulation timing and intensity, is eliminated under patient's bilateral
The gait difference of limb.
8. the lower limb rehabilitation robot according to claim 7 based on two-way neural interface, which is characterized in that execute following
Process adjusts the stimulation timing and intensity of muscle electric stimulation instrument:
Patient, which is acquired, by electromyographic signal acquisition device is good for pleural muscle electric signal；
Electromyography signal analysis and processing module is analyzed and processed above-mentioned strong pleural muscle electric signal, obtains being good for side in complete gait cycle
The contraction timing of difference muscle when lower limb are walked, and Ipsilateral lower limb are stimulated using the contraction timing as muscle electric stimulation instrument
Time series pattern；
According to the kinematic data of bilateral lower limb, using the strong side kinematics parameters before Time constant as template, compare under Ipsilateral
The kinematics parameters of limb change, and obtain the intensity mode that muscle electric stimulation instrument stimulates Ipsilateral lower limb；
Muscle electric stimulation instrument adjusts the timing of stimulation according to the above-mentioned time series pattern and intensity mode stimulated Ipsilateral lower limb
And intensity.
9. the lower limb rehabilitation robot according to claim 8 based on two-way neural interface, which is characterized in that lower limb dermoskeleton
Bone receives the lower extremity movement state of the electromyography signal system Real-time Feedback, and is judged, when judging motion state exception,
Suffering limb movement is intervened.
10. the lower limb rehabilitation robot according to claim 9 based on two-way neural interface, which is characterized in that under described
Limb kinematic system, further includes: dynamic loss of weight equipment, mitigate patient's lower extremity movement is influenced by gravity in the process.
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