CN111870487A - Lower limb rehabilitation mechanical exoskeleton device and control method thereof - Google Patents

Lower limb rehabilitation mechanical exoskeleton device and control method thereof Download PDF

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CN111870487A
CN111870487A CN202010928495.XA CN202010928495A CN111870487A CN 111870487 A CN111870487 A CN 111870487A CN 202010928495 A CN202010928495 A CN 202010928495A CN 111870487 A CN111870487 A CN 111870487A
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pneumatic muscle
connecting rod
lower limb
thigh
hip
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付强
潘春鹏
彭友湘
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Chongqing University of Arts and Sciences
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024Knee
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244Hip
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262Walking movement; Appliances for aiding disabled persons to walk
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266Foot
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165Wearable interfaces
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5056Control means thereof pneumatically controlled
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • A61H2201/5069Angle sensors

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  • Health & Medical Sciences (AREA)
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  • Pain & Pain Management (AREA)
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  • Rehabilitation Therapy (AREA)
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Abstract

本发明提供一种下肢康复机械外骨骼装置及其控制方法,包括安装框架、设置在安装框架内的上身固定装置,以及设置在上身固定装置下端的穿戴式下肢外骨骼,其中:穿戴式下肢外骨骼包括相对布置的一对髋部骨骼架,在每个髋部骨骼架外侧铰接有大腿连杆,大腿连杆与髋部骨骼架间设置有第一气动肌肉,在大腿骨骼的下端还铰接有小腿连杆,小腿连杆与大腿连杆间还设置有用于第二气动肌肉,在小腿骨骼的下端还铰接有脚踏板,脚踏板与小腿连杆间设置有柔性驱动组件,在脚踏板上还设置有用于检测用户前脚掌与后脚掌屈曲角度的检测装置,对应检测装置还设置有控制箱。其效果是:柔性运动,与常规人体动作更为接近,并且动作范围更大。

Figure 202010928495

The present invention provides a lower extremity rehabilitation mechanical exoskeleton device and a control method thereof, comprising an installation frame, an upper body fixing device arranged in the installation frame, and a wearable lower extremity exoskeleton arranged at the lower end of the upper body fixing device, wherein: the wearable lower extremity exoskeleton The skeleton includes a pair of hip skeletons arranged oppositely, thigh links are hinged on the outside of each hip skeleton, a first pneumatic muscle is arranged between the thigh links and the hip skeleton, and a lower end of the thigh bones is also hinged A calf link, a second pneumatic muscle is also arranged between the calf link and the thigh link, a foot pedal is hinged at the lower end of the calf bone, and a flexible drive component is arranged between the foot pedal and the calf link, and the foot pedal A detection device for detecting the flexion angle of the user's forefoot and rear sole is also provided on the board, and a control box is also provided corresponding to the detection device. The effect is: a flexible movement that is closer to normal human movements and has a wider range of motion.

Figure 202010928495

Description

下肢康复机械外骨骼装置及其控制方法Lower limb rehabilitation mechanical exoskeleton device and control method thereof

技术领域technical field

本发明涉及机械外骨骼的技术领域,尤其涉及一下肢康复机械外骨骼及其控制方法。The invention relates to the technical field of mechanical exoskeletons, in particular to a lower limb rehabilitation mechanical exoskeleton and a control method thereof.

背景技术Background technique

康复医学研究表明,脑瘫或下肢体损伤患者长期未进行下肢训练,会导致肌肉“废用性”萎缩,因此,在术后重症加强护理病房(ICUD患者身体体征平稳后,应尽早进行肢体康复训练,有助于其恢复肢体正常功能;然而,由于脑瘫或下肢损伤患者的下肢运动障碍,不能独立完成肢体康复训练,一般需要具有一定护理知识的医护人员帮助患者反复完成运动训练,这给ICU病房医护人员造成了极大的工作负担,更重要的局限是训练时间和强度不能精准把控,导致ICU患者训练难以取得最佳治疗效果。Rehabilitation medicine research shows that patients with cerebral palsy or lower extremity injury do not have lower extremity training for a long time, which will lead to muscle "disuse" atrophy. Therefore, in the intensive care unit (ICUD) after the physical signs are stable, limb rehabilitation training should be carried out as soon as possible. However, due to the lower extremity movement disorder of patients with cerebral palsy or lower extremity injury, they cannot complete the limb rehabilitation training independently. Generally, medical staff with certain nursing knowledge are required to help the patient to complete the exercise training repeatedly, which is beneficial to the ICU ward. Medical staff have caused a huge workload, and the more important limitation is that the training time and intensity cannot be precisely controlled, which makes it difficult for ICU patients to achieve the best therapeutic effect.

有鉴于此,市面上出现了一些专门针对下肢损伤患者设计的康复理疗装置,如申请号为201810899312.9的中国发明专利申请公开的一种可收缩移动的ICU病房卧式下肢康复机器人包括人体体征采集模块、底座模块、下肢外骨骼、控制模块及康复评测系统;基于模块化设计,针对不同患者特点,可实现人体下肢不同关节的康复评测及训练。In view of this, some rehabilitation physiotherapy devices specially designed for patients with lower extremity injuries have appeared on the market, such as a retractable and movable ICU ward horizontal lower extremity rehabilitation robot disclosed in the Chinese invention patent application with the application number of 201810899312.9, including a human body sign collection module. , base module, lower limb exoskeleton, control module and rehabilitation evaluation system; based on the modular design, according to the characteristics of different patients, the rehabilitation evaluation and training of different joints of the lower limbs of the human body can be realized.

然而,由于上述下肢康复机器人采用刚性驱动器,而刚性驱动器对控制人机交互力存在一定难度,在使用过程中,存在失去稳定性的隐患,容易对人体造成伤害。However, because the above-mentioned lower limb rehabilitation robot adopts rigid drives, and the rigid drives have certain difficulties in controlling the human-computer interaction force, there is a hidden danger of losing stability during use, which is easy to cause harm to the human body.

发明内容SUMMARY OF THE INVENTION

针对现有技术中的缺陷,本发明的其中一个目的在于提供一种柔性运动,与常规人体动作更为接近,并且动作范围更大,训练效果更好的下肢康复机械外骨骼装置,本发明的另一个目的在于提供一种基于前述下肢康复机械外骨骼装置的控制方法,旨在解决背景技术中所阐述的技术问题。Aiming at the defects in the prior art, one of the purposes of the present invention is to provide a lower limb rehabilitation mechanical exoskeleton device that is closer to conventional human movements, has a wider range of motion, and has better training effects. Another object is to provide a control method based on the aforementioned lower limb rehabilitation mechanical exoskeleton device, which aims to solve the technical problems described in the background art.

为了达到上述目的,本发明公开了一种下肢康复机械外骨骼装置,其关键在于,包括安装框架、设置在所述安装框架内的上身固定装置,以及设置在所述上身固定装置下端的穿戴式下肢外骨骼,其中:所述穿戴式下肢外骨骼包括对应人体髋骨相对布置的一对髋部骨骼架,在每个所述髋部骨骼架外侧铰接有对应人体大腿的大腿连杆,所述大腿连杆与所述髋部骨骼架间设置有用于调节二者间屈曲角度的第一气动肌肉,在所述大腿骨骼的下端还铰接有对应人体小腿的小腿连杆,所述小腿连杆与大腿连杆间还设置有用于调节二者间屈曲角度的第二气动肌肉,在所述小腿骨骼的下端还铰接有对应人体脚掌的脚踏板,所述脚踏板与小腿连杆间设置有用于调节二者间屈曲角度的柔性驱动组件,在所述脚踏板上还设置有用于检测用户前脚掌与后脚掌屈曲角度的检测装置,对应所述检测装置还设置有用于控制所述第一气动肌肉、所述第二气动肌肉、以及所述柔性驱动组件动作的控制箱。In order to achieve the above purpose, the present invention discloses a lower limb rehabilitation mechanical exoskeleton device, the key of which is that it includes an installation frame, an upper body fixing device arranged in the installation frame, and a wearable device arranged at the lower end of the upper body fixing device. A lower extremity exoskeleton, wherein: the wearable lower extremity exoskeleton includes a pair of hip skeleton frames arranged oppositely corresponding to the hip bones of a human body, and a thigh link corresponding to a human thigh is hinged on the outside of each of the hip skeleton frames, and the A first pneumatic muscle for adjusting the flexion angle between the thigh link and the hip skeleton is arranged, and the lower end of the thigh bone is also hinged with a calf link corresponding to the human calf, and the calf link is connected to the lower end of the thigh bone. A second pneumatic muscle for adjusting the flexion angle between the thigh links is also provided, and a foot pedal corresponding to the sole of the human body is also hinged at the lower end of the calf bone, and a useful function is provided between the pedal and the calf link. For the flexible drive assembly for adjusting the flexion angle between the two, a detection device for detecting the flexion angle of the user's forefoot and rear sole is also provided on the footboard, and corresponding to the detection device is also provided with a detection device for controlling the first The pneumatic muscle, the second pneumatic muscle, and the control box for the action of the flexible drive assembly.

更进一步地,所述柔性驱动组件包括相对安装在所述小腿连杆两侧的第一扭转电机和第二扭转电机,设置在所述第一扭转电机与所述第二扭转电机间的扭转管,以及固定连接在所述脚踏板上的弧形管件,所述扭转管的一端与所述第一扭转电机的输出轴连接,另一端通过所述弧形管件连接在所述第二扭转电机的输出轴上。Further, the flexible drive assembly includes a first torsion motor and a second torsion motor installed on both sides of the lower leg link, and a torsion tube disposed between the first torsion motor and the second torsion motor. , and an arc-shaped tube fixedly connected to the footboard, one end of the torsion tube is connected to the output shaft of the first torsion motor, and the other end is connected to the second torsion motor through the arc-shaped tube on the output shaft.

更进一步地,所述穿戴式下肢外骨骼还包括对应人体骶骨设置的骶骨支架,所述髋部骨骼架与所述骶骨支架的下端铰接,且所述骶骨支架与髋部骨骼架之间还设置有用于调节二者间屈曲角度的第三气动肌肉。Further, the wearable lower extremity exoskeleton also includes a sacral support corresponding to the sacrum of the human body, the hip skeleton is hinged with the lower end of the sacral support, and the sacral support and the hip skeleton are also provided between. There is a third aerodynamic muscle for adjusting the flexion angle between the two.

更进一步地,所述大腿连杆上设置有大腿束缚带,所述小腿连杆上设置有小腿束缚带,所述脚踏板上设置有脚掌束缚带。Further, the thigh link is provided with a thigh restraint, the calf link is provided with a calf restraint, and the foot plate is provided with a sole restraint.

更进一步地,所述上身固定装置包括固定连接在所述骶骨支架上端的上身固定马甲,所述上身固定马甲的门襟两侧设置多个有用于调节其间隙的卡接结构。Further, the upper body fixing device includes an upper body fixing vest fixedly connected to the upper end of the sacral support, and two sides of the placket of the upper body fixing vest are provided with a plurality of clamping structures for adjusting the gap.

更进一步地,所述安装框架的底部还设置有与所述脚踏板配合的行走带。Further, the bottom of the installation frame is also provided with a walking belt matched with the foot pedal.

更进一步地,所述脚踏板包括前掌区和后掌区,所述前掌区通过带扭簧的转轴与所述后掌区铰接,所述检测装置为角度传感器,所述角度传感器设置在所述转轴上。Further, the foot pedal includes a forefoot area and a rear palm area, the forefoot area is hinged with the rear palm area through a rotating shaft with a torsion spring, the detection device is an angle sensor, and the angle sensor is set. on the shaft.

基于上述下肢康复机械外骨骼装置,本发明还提供了一种下肢康复机械外骨骼装置的控制方法,包括以下步骤:Based on the above lower limb rehabilitation mechanical exoskeleton device, the present invention also provides a control method for the lower limb rehabilitation mechanical exoskeleton device, comprising the following steps:

待机状态;standby mode;

控制箱获取足底检测装置采集的用户前脚掌与后脚掌实时屈曲角度数据α1;对屈曲角度α1与预设屈曲角度阀值α进行比对,如α1≥α,则将其作为一次触发信号,根据在预设时间t内触发信号的数量进入对应模式;The control box obtains the real-time flexion angle data α 1 of the user's forefoot and rear sole collected by the plantar detection device; compares the flexion angle α 1 with the preset flexion angle threshold α, if α 1 ≥α, it is regarded as a primary Trigger signal, enter the corresponding mode according to the number of trigger signals within the preset time t;

当t时间内触发信号的数量仅为一次时,进入A模式,发送控制信号至A 模式对应气泵,通过依次控制左右第三气动肌肉的充气量,使大腿连杆在预设的时间阀值t1内完成左右交替的侧抬腿动作;When the number of trigger signals is only once within t time, enter A mode, send control signals to the corresponding air pump in A mode, and control the inflation volume of the left and right third pneumatic muscles in turn, so that the thigh link is at the preset time threshold t 1. Complete left and right alternating side leg lifts within 1;

当t1时间到达时,通过气泵控制第三气动肌肉的充气量,使其返回待机状态;When the time t1 arrives, control the inflation volume of the third pneumatic muscle through the air pump to make it return to the standby state;

当t时间内触发信号的数量为两次时,进入B模式,发送控制信号至B 模式对应气泵及柔性驱动组件,依次控制左侧下肢第一气动肌肉、第二气动肌肉和柔性驱动组件的动作,以及右侧下肢第一气动肌肉、第二气动肌肉和柔性驱动组件的动作,使大腿连杆、小腿连杆与脚踏板仿照人体的行走状态,在预设时间阀值t2内完成行走时左右脚交替的过渡动作。When the number of trigger signals is twice within t time, enter B mode, send control signals to the corresponding air pump and flexible drive component in B mode, and sequentially control the actions of the first pneumatic muscle, second pneumatic muscle and flexible drive component of the left lower limb , and the actions of the first pneumatic muscle, the second pneumatic muscle and the flexible drive assembly of the right lower limb, so that the thigh link, the calf link and the foot pedal follow the walking state of the human body and complete the walking within the preset time threshold t 2 Alternate transitional movements of the left and right feet.

当t2时间到达时,通过气泵控制第一气动肌肉、第二气动肌肉和柔性组件的动作,使其返回待机状态;When the time t 2 arrives, the actions of the first pneumatic muscle, the second pneumatic muscle and the flexible component are controlled by the air pump to make it return to the standby state;

当t时间内触发信号的数量为三次时,进入C模式,发送控制信号至C 模式对应气泵,同时控制左右侧下肢第一气动肌肉、第二气动肌肉的充气量,使大腿连杆、小腿连杆在预设的时间阀值t3内完成左右脚同时抬起的高抬腿动作。When the number of trigger signals in the time t is three times, enter the C mode, send the control signal to the corresponding air pump in the C mode, and control the inflation volume of the first and second pneumatic muscles of the left and right lower limbs, so that the thigh link and the calf are connected. The rod completes the high leg raising action of raising the left and right feet at the same time within the preset time threshold t3 .

当t3时间到达时,通过气泵控制第一气动肌肉、第二气动肌肉的充气量,使其返回待机状态。When the time t 3 arrives, the inflatable volume of the first pneumatic muscle and the second pneumatic muscle is controlled by the air pump to make it return to the standby state.

本发明的有益效果是:The beneficial effects of the present invention are:

上述下肢康复训练机械外骨骼装置通过设置第一气动肌肉、第二气动肌肉以及柔性驱动组件实现外骨骼髋关节、膝关节和踝关节动作,与人体下肢常规动作更加相似,满足柔性驱动的需要,增加了运转的稳定性,避免对人体造成伤害,达到了更佳的理疗康复效果。The above-mentioned lower limb rehabilitation training mechanical exoskeleton device realizes the movements of the exoskeleton hip joint, knee joint and ankle joint by arranging the first pneumatic muscle, the second pneumatic muscle and the flexible driving component, which is more similar to the conventional movement of the lower limbs of the human body and meets the needs of flexible driving. It increases the stability of operation, avoids harm to the human body, and achieves a better physiotherapy and rehabilitation effect.

附图说明Description of drawings

为了更清楚地说明本发明具体实施方式或现有技术中的技术方案,下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍。在所有附图中,类似的元件或部分一般由类似的附图标记标识。附图中,各元件或部分并不一定按照实际的比例绘制。In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required to be used in the description of the specific embodiments or the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. In the drawings, each element or section is not necessarily drawn to actual scale.

图1为本发明的整体结构示意图;Fig. 1 is the overall structure schematic diagram of the present invention;

图2为本发明的背部结构示意图;2 is a schematic diagram of a back structure of the present invention;

图3为本发明的立体图;Fig. 3 is the perspective view of the present invention;

图4为图1中A部的局部放大图;Fig. 4 is a partial enlarged view of part A in Fig. 1;

图5为图3中B部的局部放大图;Fig. 5 is a partial enlarged view of part B in Fig. 3;

其中:1-安装框架、2-上身固定装置、3-穿戴式下肢外骨骼、301-髋部骨骼架、302-大腿连杆、303-第一气动肌肉、304-小腿连杆、305-第二气动肌肉、 306-脚踏板、307-柔性驱动组件、308-检测装置、309-控制箱、310-第一扭转电机、311-第二扭转电机、312-扭转管、313-弧形管件、314-骶骨支架、315- 第三气动肌肉、316-大腿束缚带、317-小腿束缚带、318-脚掌束缚带、201- 上身固定马甲、202-卡接结构、203-安装腔、204-调节带、205-卡齿、206- 按钮、4-行走带、319-前掌区、320-后掌区。Among them: 1-installation frame, 2-upper body fixation device, 3-wearable lower limb exoskeleton, 301-hip skeleton, 302-thigh link, 303-first pneumatic muscle, 304-calf link, 305-th Two pneumatic muscles, 306-foot pedal, 307-flexible drive assembly, 308-detection device, 309-control box, 310-first torsion motor, 311-second torsion motor, 312-torsion tube, 313-arc pipe , 314-sacral support, 315- third pneumatic muscle, 316-thigh restraint belt, 317-calf restraint belt, 318-foot restraint belt, 201- upper body fixed vest, 202- snap structure, 203- installation cavity, 204- Adjustment belt, 205-clip, 206-button, 4-walking belt, 319-forefoot area, 320-backfoot area.

具体实施方式Detailed ways

下面将结合附图对本发明技术方案的实施例进行详细的描述。以下实施例仅用于更加清楚地说明本发明的技术方案,因此只作为示例,而不能以此来限制本发明的保护范围。Embodiments of the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only used to more clearly illustrate the technical solutions of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

需要注意的是,除非另有说明,本申请使用的技术术语或者科学术语应当为本发明所属领域技术人员所理解的通常意义。It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the usual meanings understood by those skilled in the art to which the present invention belongs.

如图1至图3所示,本实施例公开一种下肢康复机械外骨骼装置,其关键在于,包括安装框架1、设置在所述安装框架1内的上身固定装置2,以及设置在所述上身固定装置2下端的穿戴式下肢外骨骼3,其中:所述穿戴式下肢外骨骼3包括对应人体髋骨相对布置的一对髋部骨骼架301,在每个所述髋部骨骼架301外侧铰接有对应人体大腿的大腿连杆302,所述大腿连杆302与所述髋部骨骼架301间设置有用于调节二者间屈曲角度的第一气动肌肉303,在所述大腿骨骼的下端还铰接有对应人体小腿的小腿连杆304,所述小腿连杆 304与大腿连杆302间还设置有用于调节二者间屈曲角度的第二气动肌肉305,在所述小腿骨骼的下端还铰接有对应人体脚掌的脚踏板306,所述脚踏板306 与小腿连杆304间设置有用于调节二者间屈曲角度的柔性驱动组件307,在所述脚踏板306上还设置有用于检测用户前脚掌与后脚掌屈曲角度的检测装置 308,对应所述检测装置308还设置有用于控制所述第一气动肌肉303、所述第二气动肌肉305、以及所述柔性驱动组件307动作的控制箱309。As shown in FIG. 1 to FIG. 3 , the present embodiment discloses a lower limb rehabilitation mechanical exoskeleton device, the key of which is that it includes an installation frame 1 , an upper body fixing device 2 arranged in the installation frame 1 , and an upper body fixing device 2 arranged in the installation frame 1 . The wearable lower extremity exoskeleton 3 at the lower end of the upper body fixing device 2, wherein: the wearable lower extremity exoskeleton 3 includes a pair of hip skeleton frames 301 arranged oppositely corresponding to the human hip bones, and outside each of the hip skeleton frames 301 A thigh link 302 corresponding to the human thigh is hinged, and a first pneumatic muscle 303 for adjusting the flexion angle between the thigh link 302 and the hip skeleton 301 is provided. A calf link 304 corresponding to a human calf is hinged, and a second pneumatic muscle 305 for adjusting the flexion angle between the calf link 304 and the thigh link 302 is also provided, and the lower end of the calf bone is also hinged. A foot pedal 306 corresponding to the sole of the human body, a flexible drive assembly 307 for adjusting the flexion angle between the foot pedal 306 and the lower leg link 304 is provided, and a flexible drive assembly 307 for detecting the user is also provided on the foot pedal 306 The detection device 308 for the flexion angle of the forefoot and the rear foot, corresponding to the detection device 308 is also provided with a control box for controlling the actions of the first pneumatic muscle 303 , the second pneumatic muscle 305 , and the flexible drive assembly 307 309.

在本实施方式中,上述下肢康复训练机械外骨骼装置通过设置第一气动肌肉303、第二气动肌肉305以及柔性驱动组件307实现外骨骼髋关节、膝关节和踝关节动作,与人体下肢常规动作更加相似,满足柔性驱动的需要,增加了运转的稳定性,避免对人体造成伤害,达到了更佳的理疗康复效果。In this embodiment, the above-mentioned lower limb rehabilitation training mechanical exoskeleton device realizes the movements of the exoskeleton hip joint, knee joint and ankle joint by setting the first pneumatic muscle 303, the second pneumatic muscle 305 and the flexible driving component 307, which is consistent with the normal movements of the lower limbs of the human body. It is more similar, meets the needs of flexible drive, increases the stability of operation, avoids damage to the human body, and achieves better physical therapy and rehabilitation effects.

如图4所示,具体地,所述柔性驱动组件307包括相对安装在所述小腿连杆304两侧的第一扭转电机310和第二扭转电机311,设置在所述第一扭转电机310与所述第二扭转电机311间的扭转管312,以及固定连接在所述脚踏板 306上的弧形管件313,所述扭转管312的一端与所述第一扭转电机310的输出轴连接,另一端通过所述弧形管件313连接在所述第二扭转电机311的输出轴上。As shown in FIG. 4 , specifically, the flexible drive assembly 307 includes a first torsion motor 310 and a second torsion motor 311 that are installed on both sides of the lower leg link 304 opposite to each other. The torsion tube 312 between the second torsion motors 311 and the arc tube 313 fixedly connected to the footboard 306, one end of the torsion tube 312 is connected to the output shaft of the first torsion motor 310, The other end is connected to the output shaft of the second torsion motor 311 through the arc tube 313 .

具体的,所述扭力管312通过弧形管件313连接呈U型,所述脚踏板306 通过轴套与所述小腿连杆304铰接,所述弧形管件313固定在所述轴套上,通过第一扭转电机310和第二扭转电机311扭转所述扭转管312,使得所述弧形管件313往复运动,从而调节脚踏板306与小腿连杆304间的屈曲角度。Specifically, the torsion tube 312 is connected in a U-shape by an arc-shaped pipe member 313, the foot pedal 306 is hinged with the lower leg link 304 through a shaft sleeve, and the arc-shaped pipe member 313 is fixed on the shaft sleeve, The torsion tube 312 is twisted by the first torsion motor 310 and the second torsion motor 311 , so that the arc-shaped tube 313 reciprocates, thereby adjusting the flexion angle between the foot pedal 306 and the lower leg link 304 .

在本实施方式中,扭转管312选用乳胶弹性管,利用持续扭转充满空气的细长乳胶弹性管,同步输出气压和沿着管的收缩力,从而实现了不受束缚的多模式流体驱动。该驱动方式成本极低,具备本体柔性,通过弧形管件313配合分别设置在扭转管312两头的第一扭转电机310和第二扭转电机311,能够控制脚踏板306在小腿连杆304末端仿造人体踝关节运动轨迹进行运动。In this embodiment, the torsion tube 312 is a latex elastic tube, and the long and thin latex elastic tube filled with air is continuously twisted to synchronize the output air pressure and the contraction force along the tube, thereby realizing an unconstrained multi-mode fluid drive. This driving method has extremely low cost and has body flexibility. By cooperating with the first torsion motor 310 and the second torsion motor 311 respectively disposed on the two ends of the torsion tube 312 through the arc-shaped tube 313, the foot pedal 306 can be controlled to be imitated at the end of the calf link 304. The motion trajectory of the human ankle joint is in motion.

如图2所示,具体地,所述穿戴式下肢外骨骼3还包括对应人体骶骨设置的骶骨支架314,所述髋部骨骼架301与所述骶骨支架314的下端铰接,且所述骶骨支架314与髋部骨骼架301之间还设置有用于调节二者间屈曲角度的第三气动肌肉315。As shown in FIG. 2 , specifically, the wearable lower extremity exoskeleton 3 further includes a sacral support 314 corresponding to the human sacrum, the hip skeleton 301 is hinged with the lower end of the sacral support 314 , and the sacral support A third pneumatic muscle 315 is also provided between 314 and the hip skeleton 301 for adjusting the flexion angle therebetween.

在本实施方式中,通过控制第三肌肉的充气量可实现左右侧抬腿训练,因此扩展了穿戴式下肢外骨骼3的运动范围,具有更好的康复理疗效果。In this embodiment, the left and right leg lift training can be realized by controlling the inflation amount of the third muscle, thus expanding the range of motion of the wearable lower limb exoskeleton 3 and having better rehabilitation physiotherapy effect.

具体地,所述大腿连杆302上设置有大腿束缚带316,所述小腿连杆304 上设置有小腿束缚带317,所述脚踏板306上设置有脚掌束缚带318。Specifically, the thigh link 302 is provided with a thigh restraint 316 , the calf link 304 is provided with a calf restraint 317 , and the foot pedal 306 is provided with a sole restraint 318 .

在本实施方式中,大腿束缚带316、小腿束缚带317和脚掌束缚带318可分别约束用户的大腿、小腿和脚掌,使其随着下肢外骨骼的动作而动作。In this embodiment, the thigh restraint belt 316 , the calf restraint belt 317 and the sole restraint belt 318 can respectively restrain the user's thigh, calf and sole of the foot, so that they move with the movement of the lower limb exoskeleton.

如图3和图5所示,具体地,所述上身固定装置2包括固定连接在所述骶骨支架314上端的上身固定马甲201,所述上身固定马甲201的门襟两侧设置多个有用于调节其间隙的卡接结构202。As shown in FIG. 3 and FIG. 5 , specifically, the upper body fixing device 2 includes an upper body fixing vest 201 fixedly connected to the upper end of the sacral bracket 314 , and two sides of the placket of the upper body fixing vest 201 are provided with a plurality of The snap-fit structure 202 for adjusting its clearance.

具体地,所述卡紧结构包括分别设置在所述门襟两侧的安装腔203和调节带204,所述调节带204的带面上设置有卡齿205,所述安装腔203中设置有与所述卡齿205配合的卡块,该卡块的中部通过转轴铰接在所述安装腔203 的腔壁上,且所述卡块的一端通过弹性件抵接在所述卡齿205上,卡块的另一端连接有按钮206,所述按钮206向外延伸出所述安装腔203外表面,当按压所述按钮206时,所述卡块脱离所述卡齿205,使得所述调节带204可沿所述安装腔203的长度方向滑动。Specifically, the clamping structure includes an installation cavity 203 and an adjustment belt 204 respectively disposed on both sides of the placket, the belt surface of the adjustment belt 204 is provided with a clamping tooth 205, and the installation cavity 203 is provided with The clamping block matched with the clamping teeth 205, the middle part of the clamping block is hinged on the cavity wall of the installation cavity 203 through a rotating shaft, and one end of the clamping block is abutted on the clamping teeth 205 through an elastic member, The other end of the clamping block is connected with a button 206, and the button 206 extends outward from the outer surface of the installation cavity 203. When the button 206 is pressed, the clamping block is separated from the clamping teeth 205, so that the adjustment belt 204 can slide along the length direction of the mounting cavity 203 .

在本实施方式中,卡块与卡齿205配合,可以限定调节带204与安装腔 203的相对位置,当用户上身穿上上身固定马甲201后,可以根据用户的体型推动调节带204调节门襟开口大小,此时卡块的一端沿卡齿205的齿背滑动,因此调节更加方便,当调节带204调节到适应位置后,在弹性件的作用下,卡块的一端抵持在相应的两个卡齿205之间,因此此时调节带204无法从安装腔 203抽出,在训练结束后,按压按钮206使卡块的一端转动,此时弹性件压缩,卡块的另一端离开卡齿205,调节带204即可从安装腔203中抽出。In this embodiment, the clamping block cooperates with the clamping teeth 205 to limit the relative position of the adjustment belt 204 and the installation cavity 203. After the user puts on the upper body fixing vest 201, he can push the adjustment belt 204 to adjust the door according to the user's body shape. The size of the opening of the placket is different. At this time, one end of the clamping block slides along the tooth back of the clamping teeth 205, so the adjustment is more convenient. Between the two clamping teeth 205, the adjusting belt 204 cannot be pulled out from the installation cavity 203 at this time. After the training, press the button 206 to make one end of the clamping block rotate. At this time, the elastic member is compressed, and the other end of the clamping block leaves the clamping teeth. 205 , the adjustment belt 204 can be pulled out from the installation cavity 203 .

如图1至图3所示,为了在行走模式下配合下肢外骨骼动作,具体地,所述安装框架1的底部还设置有与所述脚踏板306配合的行走带4。As shown in FIGS. 1 to 3 , in order to cooperate with the action of the lower limb exoskeleton in the walking mode, specifically, the bottom of the mounting frame 1 is further provided with a walking belt 4 matched with the foot pedal 306 .

如图4所示,具体地,所述脚踏板306包括前掌区319和后掌区320,所述前掌区319通过带扭簧的转轴与所述后掌区320铰接,所述检测装置308 为角度传感器,所述角度传感器设置在所述转轴上。As shown in FIG. 4 , specifically, the foot pedal 306 includes a fore palm area 319 and a rear palm area 320 , the fore palm area 319 is hinged with the rear palm area 320 through a rotating shaft with a torsion spring, and the detection The device 308 is an angle sensor, and the angle sensor is arranged on the rotating shaft.

在本实施方式中,角度传感器检测到脚踏板306前掌区319和后掌区320 相对角度大于预设阀值时,可触发控制箱309控制个气动肌肉和柔性驱动组件307执行相应动作。In this embodiment, when the angle sensor detects that the relative angle between the forefoot region 319 and the rear palm region 320 of the foot pedal 306 is greater than a preset threshold, the control box 309 can be triggered to control the pneumatic muscles and the flexible drive assembly 307 to perform corresponding actions.

基于上述下肢康复机械外骨骼装置,本发明还提供了一种下肢康复机械外骨骼装置的控制方法,包括以下步骤:Based on the above lower limb rehabilitation mechanical exoskeleton device, the present invention also provides a control method for the lower limb rehabilitation mechanical exoskeleton device, comprising the following steps:

S1:待机状态;S1: Standby state;

S2:控制箱309获取足底检测装置308采集的用户前脚掌与后脚掌实时屈曲角度数据α1;对屈曲角度α1与预设屈曲角度阀值α进行比对,如α1≥α,则进入步骤S3;S2: the control box 309 obtains the real-time flexion angle data α1 of the user's forefoot and rear sole collected by the sole detection device 308; compares the flexion angle α1 with the preset flexion angle threshold α, if α1≥α, then go to step S3 ;

S3:进入A模式,发送控制信号至A模式对应气泵,气泵驱动对应气动肌肉完成动作;S3: Enter A mode, send a control signal to the corresponding air pump in A mode, and the air pump drives the corresponding pneumatic muscle to complete the action;

S4:判断A模式运行时间是否达到预设时间阀值t1,如是,返回待机状态后进入步骤S5;S4: determine whether the running time of the A mode reaches the preset time threshold t1, if so, return to the standby state and then enter step S5;

S5:进入B模式,发送控制信号至B模式对应气泵,气泵驱动对应气动肌肉完成动作;S5: Enter B mode, send a control signal to the corresponding air pump in B mode, and the air pump drives the corresponding pneumatic muscle to complete the action;

S6:判断B模式运行时间是否达到预设时间阀值t2,如是,返回待机状态后进入步骤S7;S6: Determine whether the running time of the B mode reaches the preset time threshold t2, if so, return to the standby state and then enter step S7;

S7:进入C模式,发送控制信号至C模式对应气泵,气泵驱动对应气动肌肉完成动作;S7: Enter C mode, send a control signal to the corresponding air pump in C mode, and the air pump drives the corresponding pneumatic muscle to complete the action;

S8:判断C模式运行时间是否达到预设时间阀值t3,如是,则返回步骤 S1。S8: Determine whether the C-mode running time reaches the preset time threshold t3, and if so, return to step S1.

具体地,所述A模式为热身模式,通过控制第三气动肌肉315的充气量实现左右侧抬腿的热身动作;所述B模式为跳跃模式,通过控制两侧下肢的第一气动肌肉303、第二气动肌肉305和柔性驱动组件307完成脚掌同时抬起的跳跃动作;所述C模式为行走模式,通过先后控制左侧下肢的第一气动肌肉303、第二气动肌肉305和柔性驱动组件307以及控制右侧下肢的第一气动肌肉 303、第二气动肌肉305和柔性驱动组件307完成左侧下肢与右侧下肢配合走路时的交替过渡动作。Specifically, the A mode is a warm-up mode, and the warm-up action of raising the left and right legs is realized by controlling the inflation amount of the third pneumatic muscles 315; the B mode is a jumping mode, by controlling the first pneumatic muscles 303, The second pneumatic muscle 305 and the flexible driving component 307 complete the jumping action of lifting the soles of the feet at the same time; the C mode is the walking mode, by controlling the first pneumatic muscle 303, the second pneumatic muscle 305 and the flexible driving component 307 of the left lower limb successively And control the first pneumatic muscle 303 , the second pneumatic muscle 305 and the flexible drive component 307 of the right lower limb to complete the alternating transition action when the left lower limb and the right lower limb cooperate to walk.

待机状态;standby mode;

控制箱309获取足底检测装置308采集的用户前脚掌与后脚掌实时屈曲角度数据α1;对屈曲角度α1与预设屈曲角度阀值α进行比对,如α1≥α,则将其作为一次触发信号,根据在预设时间t内触发信号的数量进入对应模式;The control box 309 acquires the real-time flexion angle data α 1 of the user's forefoot and rear sole collected by the sole detection device 308 ; compares the flexion angle α 1 with the preset flexion angle threshold α, and if α 1 ≥α, the As a trigger signal, enter the corresponding mode according to the number of trigger signals within the preset time t;

当t时间内触发信号的数量仅为一次时,进入A模式,发送控制信号至A 模式对应气泵,通过依次控制左右第三气动肌肉315的充气量,使大腿连杆 302在预设的时间阀值t1内完成左右交替的侧抬腿动作;When the number of trigger signals is only one time within the time t, enter the A mode, send the control signal to the corresponding air pump in the A mode, and control the inflation volume of the left and right third pneumatic muscles 315 in turn, so that the thigh link 302 is activated at the preset time valve. Complete the left and right alternating side leg lifts within the value t 1 ;

当t1时间到达时,通过气泵控制第三气动肌肉315的充气量,使其返回待机状态;When the time t1 arrives, the inflation volume of the third pneumatic muscle 315 is controlled by the air pump to make it return to the standby state;

当t时间内触发信号的数量为两次时,进入B模式,发送控制信号至B 模式对应气泵及柔性驱动组件307,依次控制左侧下肢第一气动肌肉303、第二气动肌肉305和柔性驱动组件307的动作,以及右侧下肢第一气动肌肉303、第二气动肌肉305和柔性驱动组件307的动作,使大腿连杆302、小腿连杆304 与脚踏板306仿照人体的行走状态,在预设时间阀值t2内完成行走时左右脚交替的过渡动作。When the number of trigger signals is twice within t time, enter B mode, send control signals to the corresponding air pump and flexible drive component 307 in B mode, and sequentially control the first pneumatic muscle 303, the second pneumatic muscle 305 and the flexible drive of the left lower limb The action of the assembly 307, as well as the actions of the first pneumatic muscle 303, the second pneumatic muscle 305 and the flexible drive assembly 307 of the right lower limb, make the thigh link 302, the calf link 304 and the foot pedal 306 imitate the walking state of the human body. The alternating transition action of the left and right feet during walking is completed within the preset time threshold t2 .

当t2时间到达时,通过气泵控制第一气动肌肉303、第二气动肌肉305和柔性组件307的动作,使其返回待机状态;When the time t2 arrives, the actions of the first pneumatic muscle 303, the second pneumatic muscle 305 and the flexible component 307 are controlled by the air pump to make it return to the standby state;

当t时间内触发信号的数量为三次时,进入C模式,发送控制信号至C 模式对应气泵,同时控制左右侧下肢第一气动肌肉303、第二气动肌肉305的充气量,使大腿连杆302、小腿连杆304在预设的时间阀值t3内完成左右脚同时抬起的高抬腿动作。When the number of trigger signals is three times within t time, enter the C mode, send the control signal to the corresponding air pump in the C mode, and control the inflation volume of the first pneumatic muscle 303 and the second pneumatic muscle 305 of the left and right lower limbs at the same time, so that the thigh link 302 . The lower leg link 304 completes the high leg raising action of raising the left and right feet simultaneously within the preset time threshold t3 .

当t3时间到达时,通过气泵控制第一气动肌肉303、第二气动肌肉305的充气量,使其返回待机状态。When the time t3 arrives, the inflatable volume of the first pneumatic muscle 303 and the second pneumatic muscle 305 is controlled by the air pump to return to the standby state.

具体地,对应每一个第一气动肌肉303、第二气动肌肉305和第三气动肌肉315均设置一气泵,所述气泵集成在所述控制箱309内。Specifically, an air pump is provided corresponding to each of the first pneumatic muscle 303 , the second pneumatic muscle 305 and the third pneumatic muscle 315 , and the air pump is integrated in the control box 309 .

最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述各实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围,其均应涵盖在本发明的权利要求和说明书的范围当中。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. The scope of the invention should be included in the scope of the claims and description of the present invention.

Claims (8)

1. The lower limb rehabilitation mechanical exoskeleton device is characterized by comprising a mounting frame, an upper body fixing device arranged in the mounting frame, and a wearable lower limb exoskeleton arranged at the lower end of the upper body fixing device, wherein: the wearable lower limb exoskeleton comprises a pair of hip skeletons which are oppositely arranged corresponding to the hip bones of a human body, a thigh connecting rod corresponding to the thighs of the human body is hinged to the outer side of each hip skeleton, a first pneumatic muscle used for adjusting the bending angle between the thigh connecting rod and the hip skeleton is arranged between the thigh connecting rod and the hip skeleton, a shank connecting rod corresponding to the shanks of the human body is hinged to the lower end of each thigh skeleton, a second pneumatic muscle used for adjusting the bending angle between the shank connecting rod and the thigh connecting rod is arranged between the shank connecting rod and the thigh skeleton, a pedal plate corresponding to the soles of the feet of the human body is hinged to the lower end of each shank skeleton, a flexible driving assembly used for adjusting the bending angle between the pedal plate and the shank connecting rod is arranged between the pedal plate and the shank connecting rod, a detection device used for detecting the bending angle between the front soles of the user and the rear, The second pneumatic muscle and a control box for the action of the flexible driving component.
2. The lower limb rehabilitation mechanical exoskeleton device as claimed in claim 2, wherein the flexible driving assembly comprises a first torsion motor and a second torsion motor which are oppositely arranged on two sides of the lower leg connecting rod, a torsion tube arranged between the first torsion motor and the second torsion motor, and an arc-shaped tube fixedly connected to the pedal plate, wherein one end of the torsion tube is connected with the output shaft of the first torsion motor, and the other end of the torsion tube is connected to the output shaft of the second torsion motor through the arc-shaped tube.
3. The lower extremity rehabilitation mechanical exoskeleton device of claim 3, wherein said wearable lower extremity exoskeleton further comprises a sacral frame disposed in correspondence with a sacrum of the human body, said hip frame is hinged to a lower end of said sacral frame, and a third pneumatic muscle is disposed between said sacral frame and said hip frame for adjusting a flexion angle therebetween.
4. The lower limb rehabilitation mechanical exoskeleton device according to any one of claims 4, wherein a thigh binding belt is arranged on the thigh connecting rod, a calf binding belt is arranged on the calf connecting rod, and a sole binding belt is arranged on the pedal plate.
5. The lower limb rehabilitation machine exoskeleton device of claim 4, wherein the upper body fixing device comprises an upper body fixing waistcoat fixedly connected to the upper end of the sacral support, and a plurality of clamping structures for adjusting the gap of the upper body fixing waistcoat are arranged on two sides of a front fly of the upper body fixing waistcoat.
6. The lower limb rehabilitation machine exoskeleton device of claim 5, wherein the bottom of the mounting frame is further provided with a walking belt matched with the pedal.
7. The lower limb rehabilitation machine exoskeleton device of claim 6, wherein the pedal comprises a front palm area and a rear palm area, the front palm area is hinged to the rear palm area through a rotating shaft with a torsion spring, the detection device is an angle sensor, and the angle sensor is arranged on the rotating shaft.
8. The method for controlling the exoskeleton device of the lower limb rehabilitation machine of any one of claims 3 to 7, comprising the steps of:
a standby state;
control box acquires user front sole and rear sole real-time buckling angle data alpha acquired by sole detection device1(ii) a To the bending angle alpha1Comparing with a preset buckling angle threshold value alpha, such as alpha1If the alpha is more than or equal to alpha, taking the alpha as a trigger signal, and entering a corresponding mode according to the number of the trigger signals in the preset time t;
when the number of the trigger signals in the time t is only one, the mode A is entered and the signals are sentSending a control signal to an air pump corresponding to the mode A, and sequentially controlling the air inflation quantity of the left and right third pneumatic muscles to enable the thigh connecting rod to have a preset time threshold value t1The left and right alternate leg lifting actions are completed;
when t is1When the time is up, the air pump controls the air inflation quantity of the third pneumatic muscle to return to the standby state;
when the number of the trigger signals is two times within t time, the mode B is entered, control signals are sent to the air pump and the flexible driving assembly corresponding to the mode B, the actions of the first pneumatic muscle, the second pneumatic muscle and the flexible driving assembly of the lower limb on the left side and the actions of the first pneumatic muscle, the second pneumatic muscle and the flexible driving assembly of the lower limb on the right side are sequentially controlled, so that the thigh connecting rod, the shank connecting rod and the pedal plate can imitate the walking state of a human body, and a threshold value t is set within a preset time2The alternating transition action of the left foot and the right foot is completed when the walking is completed.
When t is2When the time is up, the air pump controls the actions of the first pneumatic muscle, the second pneumatic muscle and the flexible assembly to return to the standby state;
when the number of the trigger signals is three within t time, the C mode is entered, a control signal is sent to the air pump corresponding to the C mode, and the air inflation amount of the first pneumatic muscle and the second pneumatic muscle of the left lower limb and the right lower limb is controlled simultaneously, so that the thigh connecting rod and the shank connecting rod are enabled to be at a preset time threshold value t3The leg raising action of simultaneously raising the left foot and the right foot is completed.
When t is3When the time is up, the air pump controls the air inflation quantity of the first pneumatic muscle and the second pneumatic muscle to return to the standby state.
CN202010928495.XA 2020-09-07 2020-09-07 Lower limb rehabilitation mechanical exoskeleton device and control method thereof Withdrawn CN111870487A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112891857A (en) * 2021-01-25 2021-06-04 卢宪基 Equipment is tempered to orthopedics patient's postoperative shank
CN112999019A (en) * 2021-04-13 2021-06-22 长春工业大学 Wearable rehabilitation robot with rigid-flexible coupling lower limb exoskeleton
CN117718943A (en) * 2022-12-30 2024-03-19 爱布(上海)人工智能科技有限公司 Muscle movement detection system
CN119115911A (en) * 2024-11-14 2024-12-13 山东大学 A hybrid drive power-assisted exoskeleton device and method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112891857A (en) * 2021-01-25 2021-06-04 卢宪基 Equipment is tempered to orthopedics patient's postoperative shank
CN112999019A (en) * 2021-04-13 2021-06-22 长春工业大学 Wearable rehabilitation robot with rigid-flexible coupling lower limb exoskeleton
CN117718943A (en) * 2022-12-30 2024-03-19 爱布(上海)人工智能科技有限公司 Muscle movement detection system
CN119115911A (en) * 2024-11-14 2024-12-13 山东大学 A hybrid drive power-assisted exoskeleton device and method

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Application publication date: 20201103