CN111888187B

CN111888187B - Active type knee hyperextension lower limb rehabilitation exoskeleton device

Info

Publication number: CN111888187B
Application number: CN202010724312.2A
Authority: CN
Inventors: 韩斌; 张自全; 杜子豪; 陈学东
Original assignee: Huazhong University of Science and Technology
Current assignee: Huazhong University of Science and Technology
Priority date: 2020-07-24
Filing date: 2020-07-24
Publication date: 2021-06-11
Anticipated expiration: 2040-07-24
Also published as: CN111888187A

Abstract

The invention belongs to the technical field related to a rehabilitation orthosis, and discloses an active knee hyperextension lower limb rehabilitation exoskeleton device which comprises a back component, a right waist control component, a left waist control component, a right knee joint movement execution component and a left knee joint movement execution component, wherein the right waist control component and the left waist control component are respectively arranged on the back component and are symmetrically arranged; the right side waist control component and the left side waist control component are respectively connected with the right side knee joint movement executing component and the left side knee joint movement executing component. The exoskeleton device has the characteristics of comfort in wearing, compact structure, reliability in positioning, long endurance time and high bearing capacity, and can effectively enhance the autonomous control of a patient with hyperextension knee, reduce the weight of a motion execution assembly at the knee joint of the patient and the local pressure of the lower limb in the wearing process, and simultaneously does not influence the functional activity of the patient.

Description

Active type knee hyperextension lower limb rehabilitation exoskeleton device

Technical Field

The invention belongs to the technical field of rehabilitation orthotics, and particularly relates to an active knee hyperextension lower limb rehabilitation exoskeleton device.

Background

Stroke is one of the diseases with high morbidity and disability rate, about 80% of patients have dysfunction of limbs, speech, consciousness and the like, and 40% -68% of the patients have the phenomenon of knee hyperextension. Researches show that the knee hyperextension patient has poor control capability on the body balance condition, especially lacks the knee extension control capability of 0-15 degrees, and the patient often cannot realize normal alignment of the femur and the tibia in the walking process, so that the normal alignment of the body in the standing period is interfered, and the knee bending behavior of the patient before the swing period is hindered.

Conventional rehabilitation exoskeletons for knee hyperextension are passive orthotics, typically, a classical knee hyperextension orthosis, AFO, KAFO, etc., which are each deficient for an individual. The classic knee hyperextension orthosis is prone to over-stressing the patient's knees, resulting in poor blood circulation throughout the patient's lower limbs or with significant pain and other side effects. Meanwhile, the knee joint is not arranged, and the functional activities of standing up, sitting down, going upstairs and downstairs and the like of the patient can be influenced to a certain extent. Because of poor knee control in stroke patients, correction of AFO in patients with more severe knee hyperextension may not be ideal. The weight of KAFO is heavy for hemiplegia patients, which affects the walking ability of patients, increases energy consumption, and is easy to cause fatigue. In general, most of the traditional passive orthotics lack relevant settings for enhancing the active motion control capability of the patient, cannot effectively enhance the knee extension control capability of the patient in a specific angle, and the patient needs one-to-one external force assistance of a doctor in the rehabilitation process, so that the social pressure is greatly increased.

Disclosure of Invention

Aiming at the defects or improvement requirements of the prior art, the invention provides an active lower limb knee hyperextension rehabilitation exoskeleton device which can greatly relieve hospital and social pressure, enhance wearing comfort of patients with knee hyperextension and autonomous control capability of motion of exoskeleton, and accordingly has the characteristics of comfortable wearing, compact structure, reliable positioning, long endurance time and large bearing capacity, and can effectively enhance the autonomous control capability of patients with knee hyperextension, reduce the weight of motion execution components at knee joints of patients, reduce local compression of lower limbs of patients in the wearing process, and simultaneously does not influence functional activities of standing, sitting, going upstairs and going downstairs and the like of the patients.

In order to achieve the above object, according to one aspect of the present invention, there is provided an active knee hyperextension lower limb rehabilitation exoskeleton device, including a back component, a right waist control component, a left waist control component, a right knee movement execution component and a left knee movement execution component, wherein the right waist control component and the left waist control component are respectively disposed on the back component and are symmetrically disposed; the right waist control component and the left waist control component are respectively connected with the right knee joint movement execution component and the left knee joint movement execution component;

the right knee joint movement executing assembly and the left knee joint movement executing assembly are identical in structure and comprise at least one thigh strap, at least one shank strap, a thigh connecting piece, a shank connecting piece, a first thigh rotating piece, a shank rotating piece, a tension spring, a third rope, a thigh supporting positioning pin shaft and a shank supporting positioning pin shaft, the thigh strap is connected to one end of the thigh connecting piece, the shank strap is connected to one end of the shank connecting piece, and the other end of the thigh connecting piece is rotatably connected with the other end of the shank connecting piece; one end of the first thigh rotating part is rotatably connected with the middle part of the thigh connecting part through the thigh supporting and positioning pin shaft, the other end of the first thigh rotating part is rotatably connected with one end of the shank rotating part, and the other end of the shank rotating part is rotatably connected with the middle part of the shank connecting part through the shank supporting and positioning pin shaft; two ends of the extension spring are respectively connected with one end of the thigh support positioning pin shaft and one end of the shank support positioning pin shaft; one end of the third rope is connected to the part, close to the crus supporting and positioning pin shaft, of the crus connecting piece, and the other end of the third rope is connected to the right waist control assembly; the right waist control component transmits external force to the right knee joint movement execution component through the third rope so as to control the rotation between the thigh connecting piece and the shank connecting piece.

Furthermore, the right knee joint movement executing assembly comprises a sixth internal thread positioning connecting shaft, and the first thigh rotating part is rotatably connected with the shank rotating part through the sixth internal thread positioning connecting shaft; an arc-shaped groove is formed in one side, facing the first thigh rotating piece, of the shank rotating piece; one side of the first thigh rotating part, which faces the shank rotating part, is provided with a first limiting cylindrical boss, the first limiting cylindrical boss is inserted into the arc-shaped groove, and sliding connection is formed between the first limiting cylindrical boss and the arc-shaped groove.

Further, the back assembly comprises a back lithium battery support, a back lithium battery support cover plate, a second strap, a first strap, two waist width adjusting pieces, two flexible substrates and two flexible load-bearing connecting pieces, wherein the back lithium battery support cover plate is arranged at one end of the back lithium battery support, and the second strap is connected to the back lithium battery support cover plate; one end of each waist width adjusting piece is connected with the other end of the back lithium battery supporting piece, and the two waist width adjusting pieces are symmetrically arranged relative to the central axis of the back lithium battery supporting piece; two ends of the first binding band are respectively connected to the other ends of the two waist width adjusting pieces; the two flexible substrates are respectively arranged at the inner sides of the two waist width adjusting pieces; one end of each of the two flexible bearing connecting pieces is connected to the two flexible substrates, and the other end of each of the two flexible bearing connecting pieces is connected to the thigh connecting piece of the right knee joint movement executing assembly and the thigh connecting piece of the left knee joint movement executing assembly.

Furthermore, the back assembly further comprises two lithium batteries, and the two lithium batteries are respectively arranged in the back lithium battery support; when the waist width adjusting piece is used, the second bandage is bound on the upper body of a user, the first bandage and the waist width adjusting piece are bound on the waist of the user together, and the thigh bandage and the shank bandage are bound on the thigh and the shank of the user respectively.

Furthermore, the back component further comprises two waist component positioning support frames, the two waist component positioning support frames are respectively arranged on the outer sides of the two waist width adjusting pieces, and the right side waist control component and the left side waist control component are respectively arranged on the two waist component positioning support frames.

Further, the rehabilitation exoskeleton device further comprises an angle sensor and a controller which are connected; the right knee joint movement executing assembly and the left knee joint movement executing assembly are respectively provided with the angle sensor, the angle sensors are used for detecting knee joint flexion and extension angles of thighs and shanks in the walking process and transmitting detected knee joint flexion and extension angle data to the controller, and the controller respectively controls the right waist control assembly and the left waist control assembly according to the received data so as to control the right knee joint movement executing assembly and the left knee joint movement executing assembly.

Furthermore, the knee joint flexion and extension angle range of the patient in the walking process is set to be 0-150 degrees, and the patient does not influence standing, sitting, going upstairs and going downstairs in the knee joint flexion and extension angle range; the motor of the right side waist control assembly and the motor of the left side waist control assembly respectively provide tension for ropes in the right side waist control assembly and the left side waist control assembly; when the knee joint flexion and extension angle is 15-150 degrees, the patient can freely do flexion and extension movement within the knee joint flexion and extension angle range, and at the moment, the motor is only used for balancing the tension of the extension spring within the knee joint flexion and extension angle range, so that the corresponding rope is always in a tensioned state in the whole movement process, and the rope skipping phenomenon of the corresponding rope is prevented in the walking process of the patient; when the knee joint flexion and extension angle is between 0 and 15 degrees, the active knee hyperextension lower limb rehabilitation exoskeleton device starts to control the flexion and extension of a patient, and the patient performs flexion and extension movement under the combined action of the tension of the extension spring, the tension applied by the motor and the acting force applied by the patient to the active knee hyperextension lower limb rehabilitation exoskeleton device in the knee joint flexion and extension angle range, so that the normal alignment of the femur and the tibia of the patient in the walking process is realized.

Further, right side waist control assembly includes the box, sets up motor, reduction gear, first rotating pulley, second rotating pulley and first rope in the box, the output shaft of motor connect in the reduction gear, the output shaft fixed connection of reduction gear in first rotating pulley, the one end fixed connection of first rope in first rotating pulley, and its winding is in on the second rotating pulley, the center pin of first rotating pulley with the center pin of second rotating pulley is perpendicular, makes first rope take place to turn to.

Further, the right side waist control assembly with left side waist control assembly still includes motor frame, slider and second rope, the motor frame is formed with first spout, the slider sets up with sliding in the first spout, the other end of first rope pass connect in behind a cell wall of first spout in the one end of slider, the one end of second rope pass connect in behind another cell wall of first spout in the other end of slider, the other end of second rope connect in the third rope, the motor loops through the reduction gear, first rope, the second rope and the third rope is for shank connecting piece reaches thigh connecting piece's rotation provides power.

Furthermore, a positioning groove is formed in the motor frame, and the positioning groove and the first sliding groove are arranged at intervals; the right side waist control assembly and the left side waist control assembly further comprise a fixing plate, a guide rod, a guide block, a compression spring and a cam handle, the fixing plate is provided with a first through groove, and the first through groove is communicated with the first through groove; one side, facing the cam handle, of the fixing block is provided with U-shaped grooves which are arranged at intervals, the U-shaped grooves are communicated with the first through grooves, and the length directions of the U-shaped grooves and the first through grooves are perpendicular; a square guide boss is arranged in the middle of the guide rod, one end of the guide rod penetrates through the first through groove, enters the first sliding groove and is connected with the sliding block, the other end of the guide rod penetrates through the compression spring and the guide block in sequence and is connected to the middle of a pin shaft at the cam handle, and two ends of the pin shaft at the cam handle are rotatably connected with the cam handle; u-shaped fixture blocks are arranged on the front side and the rear side of the guide block, the shape of each fixture block is consistent with that of the U-shaped groove, and the fixture blocks are matched with the U-shaped groove; the distance between the guide block and the U-shaped groove is adjusted by rotating the cam handle, so that the clamping block is clamped in the U-shaped groove or separated from the U-shaped groove, and the exoskeleton device is in a locked state or a movable state.

Generally, compared with the prior art, the active knee hyperextension lower limb rehabilitation exoskeleton device provided by the invention has the following beneficial effects:

1. the right side waist control assembly and the left side waist control assembly are respectively arranged on the back assembly and are symmetrically arranged; right side waist control assembly reaches left side waist control assembly connect respectively in right side knee joint motion executive component reaches left side knee joint motion executive component, so with power take off subassembly and joint motion executive component separation setting, not only have and dress comfortable, compact structure, the location is reliable, the time of endurance is long, the characteristic that bearing capacity is big, can effectively strengthen the knee hyperextension patient autonomic motion control ability moreover, alleviate patient knee joint department motion execution device's weight, reduce the local pressurized of patient's low limbs in the wearing process, do not influence the patient simultaneously and stand up, sit down and go up, functional activities such as down stairs.

2. And two ends of the extension spring are respectively connected to one end of the thigh supporting and positioning pin shaft and one end of the shank supporting and positioning pin shaft, so that restoring force is provided for the shank connecting piece and the thigh connecting piece.

3. The first limiting cylindrical boss is inserted into the arc-shaped groove, and the first limiting cylindrical boss is connected with the arc-shaped groove in a sliding mode, so that the rotation of the thigh rotating part is limited.

4. The angle sensor is used for detecting the knee joint flexion and extension angles of the thighs and the shanks in the walking process, detected knee joint flexion and extension angle data are transmitted to the controller, the controller respectively controls the right side waist control assembly and the left side waist control assembly according to the received data, and then controls the right side knee joint movement executing assembly and the left side knee joint movement executing assembly, automatic control is achieved, and the applicability is high.

5. The distance between the guide block and the U-shaped groove is adjusted by rotating the cam handle, so that the clamping block is clamped in the U-shaped groove or separated from the U-shaped groove, the exoskeleton device is in a locked state or a movable state, the motor is prevented from being in a locked-rotor working state for a long time, and the service life is prolonged.

Drawings

Fig. 1 is a schematic diagram illustrating a use state of an active knee hyperextension lower limb rehabilitation exoskeleton device provided by the present invention;

FIG. 2 is a schematic view of another use state of the active knee hyperextension lower limb rehabilitation exoskeleton device shown in the figure;

FIG. 3 is a schematic structural diagram of a back assembly of the active knee hyperextension lower limb rehabilitation exoskeleton device of FIG. 1;

FIG. 4 is a partial exploded view of the back region of the back assembly of the active knee hyperextension lower limb rehabilitation exoskeleton device of FIG. 3;

FIG. 5 is a partial exploded view of the lumbar region of the back assembly of the active knee hyperextension lower limb rehabilitation exoskeleton device of FIG. 3;

FIG. 6 is a perspective view of a right side lumbar control assembly of the active knee hyperextension lower limb rehabilitation exoskeleton device of FIG. 1;

FIG. 7 is an exploded schematic view of the right lumbar control assembly of FIG. 6;

FIG. 8 is an exploded schematic view of the manually deadlocked portion of the right side lumbar control assembly of FIG. 6;

FIG. 9 is a perspective view of a left side lumbar control assembly of the active knee hyperextension lower limb rehabilitation exoskeleton device of FIG. 1;

FIG. 10 is a schematic partially exploded view of the left lumbar control assembly of FIG. 9;

FIG. 11 is an exploded schematic view of the manual deadlock control section of the left lumbar control assembly of FIG. 9;

fig. 12 is a schematic diagram of a right knee movement actuation assembly of the active knee hyperextension lower extremity rehabilitation exoskeleton device of fig. 1;

FIG. 13 is a partial exploded view of the knee joint steering portion of the right knee motion actuation assembly of FIG. 12;

FIG. 14 is a partially exploded view of the rotating portion of the right knee motion actuation assembly of FIG. 12:

fig. 15 is a schematic view of a modified example of the knee joint movement performing assembly.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-user, 2-back component, 201-lithium battery, 202-back lithium battery support cover plate, 203-back lithium battery support, 204-lumbar width adjustment, 205-flexible gasket, 206-lumbar component positioning support frame, 207-flexible load-bearing connecting band, 208-first strap, 209-second strap, 210-perforated pin shaft, 211-R type pin, 212-first internal thread positioning connecting shaft, 213-second internal thread positioning connecting shaft, 214-third internal thread positioning connecting shaft, 3-right side lumbar control component, 301-left cover plate, 302-motor supporting positioning piece, 303-encoder, 304-motor, 305-reducer, 306-upper cover plate, 307-first rotating pulley, 308-right cover plate, 309-a first rope, 310-a steel ball with holes, 311-a second rotating pulley, 312-an oilless bushing, 313-a bearing cover, 314-a lower base, 315-a motor frame, 316-a second rope, 317-a fastening nut, 318-a Bowden cable tube, 319-a Bowden cable tube fixed joint, 320-a slider cover plate, 321-a slider, 322-a first elastic retainer ring, 323-a slider end pin shaft, 324-a fixed plate, 325-a guide rod, 326-a compression spring, 327-a guide block, 328-a second elastic retainer ring, 329-a cam handle position pin shaft, 330-a cam handle, 4-a left side waist control component, 401-a left side waist control component lower base, 402-a left side waist control component motor frame, 403-a left side waist control component upper cover plate, 5-right knee joint movement execution component, 501-thigh strap, 502-thigh link, 503-third rope, 504-shank link, 505-shank strap, 506-shank strap holder, 507-under thigh strap holder, 508-upper thigh strap holder, 509-countersunk screw, 510-first bearing positioning piece, 511-countersunk screw cap, 512-overshoot prevention stepped shaft, 513-bushing cover plate, 514-second oilless bushing, 515-linear optical axis, 516-bearing, 517-fourth internal thread positioning connecting shaft, 518-second bearing positioning piece, 519-shank support positioning pin, 520-thigh support positioning pin, 521-fifth internal thread positioning connecting shaft, 522-first sleeve, 523-first thigh rotating piece, 524-sixth internal thread positioning connecting shaft, 525-second sleeve, 526-lower leg rotating piece, 527-third sleeve, 528-extension spring, 529-second thigh rotating piece and 6-left knee joint movement executing component.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 and 2, the active knee hyperextension lower limb rehabilitation exoskeleton device provided by the present invention includes a back component 2, a right waist control component 3, a left waist control component 4, a right knee movement execution component 5 and a left knee movement execution component 6, wherein the right waist control component 3 and the left waist control component 4 are respectively disposed on the back component 2 and are symmetrically disposed. The right waist control component 3 and the left waist control component 4 are respectively connected with the right knee joint movement executing component 5 and the left knee joint movement executing component 6.

Referring to fig. 3, 4 and 5, the back assembly 2 includes two lithium batteries 201, a back lithium battery support cover plate 202, a back lithium battery support 203, two arc waist width adjusting members 204, two flexible pads 205, two waist positioning support frames 206, two flexible load-bearing connecting bands 207, a first strap 208, a second strap 209, four pin shafts with holes 210, four R-shaped pins 211, four first internal thread positioning connecting shafts 212, four second internal thread positioning connecting shafts 213 and four third internal thread positioning connecting shafts 214.

Two first draw-in grooves, two are seted up to back lithium cell support piece 203 keeps away from the one end of right side waist control assembly 3 lithium cell 201 sets up two respectively in the first draw-in groove.

The back lithium battery support cover plate 202 is connected to one end of the back support 203, where the first slot is formed, by a screw, and the lithium battery 201 is fixed in the first slot.

One end of the back lithium battery support cover plate 202 forms a connecting plate located on one side of the back lithium battery support 203, which is provided with a bar-shaped notch. The second strap 209 is connected to the back lithium battery support cover plate 202 through the bar slot, which is attached to the upper body of the user 1 when in use.

A plurality of first through holes are opened at one side of the back lithium battery support member 203 facing the back of the user 1, the first through holes are arranged in two rows along the width direction of the back lithium battery support member 203, and the two rows of the first through holes are symmetrically arranged relative to the central axis of the back lithium battery support member 203. First shoulder hole that two intervals set up is seted up to waist location support frame 206's one end, two first shoulder hole is followed waist location support frame 206's width direction's interval and adjacent two first through-hole is followed back lithium cell support piece 203's interval equals, and the position corresponds respectively. One end of each of the four pin shafts 210 with holes sequentially passes through the corresponding first stepped hole and the corresponding first through hole and then is connected to the R-shaped pin 211, so that the waist width adjusting member 204 is connected to the back lithium battery support member 203, and the two waist width adjusting members 204 are symmetrically distributed with respect to the central axis of the back lithium battery support member 203.

Two flexible pads 205 are respectively arranged on the inner sides of the two waist width adjusting pieces 204, and specifically, the flexible pads 205 are sewn together with the inner sides of the corresponding waist width adjusting pieces 204 by means of stitching. The two lumbar positioning support frames 206 are respectively connected to the outer sides of the two lumbar width adjusting members 204 through the two second internal thread positioning connecting shafts 213 and the two third internal thread positioning connecting shafts 214. Two ends of the first binding band 208 are respectively connected with one ends of the two flexible gaskets 205 far away from the back lithium battery support 203, and when the back lithium battery support is used, the flexible gaskets 205 and the first binding band 208 work together to bind with the waist of a human body. In this embodiment, the waist positioning support frame 206 is provided with a plurality of second mounting positioning holes 206-1.

One end of each of the two flexible load-bearing connectors 207 is connected to one side of each of the two flexible pads 205, and the length direction of each of the flexible load-bearing connectors 207 is perpendicular to the length direction of each of the flexible pads 205. In particular, the flexible load-bearing connector 207 is sewn to the flexible pad 205 by means of stitches. The other ends of the two flexible load-bearing connecting pieces 207 are respectively connected to the right knee joint movement executing component 5 and the left knee joint movement executing component 6, so that the local compression of the lower limb is relieved.

Referring to fig. 6, 7 and 8, the right lumbar control assembly 3 is substantially L-shaped, and includes a left cover plate 301, a motor supporting and positioning member 302, an encoder 303, a motor 304, a speed reducer 305, an upper cover plate 306, a first rotating pulley 307, a right cover plate 308, a first rope 309, a steel ball with hole 310, a second rotating pulley 311, an oilless bushing 312, a bearing cover 313, a lower base 314, a motor frame 315, a second rope 316, a fastening nut 317, a bowden cable tube 318, a bowden cable tube fixed joint 319, a slider cover plate 320, a slider 321, a first elastic collar 322, a slider end pin shaft 323, a fixing plate 324, a guide rod 325, a compression spring 326, a guide block 327, a second elastic collar 328, a cam handle position pin shaft 329 and a cam handle 330.

The left cover plate 301 is L-shaped and is fixedly connected to the lower base 314 through screws. The lower bottom plate 314 is shaped like a Chinese character 'ao', the L-shaped right cover plate 308 is also fixedly connected to the lower base 314, the left cover plate 301 and the right cover plate 308 are respectively located at two opposite ends of the lower base 314, and the L-shaped upper cover plate 306 is also connected to the lower base 314, so that the left cover plate 301, the right cover plate 308, the lower base 314 and the upper cover plate 306 are connected together to form a box structure. The lower base 314 is formed with a first groove.

The left side of the motor 304 is connected with the encoder 303, the right side of the motor is connected with the speed reducer 305, and the output end of the motor 304 is connected with the input end of the speed reducer 305. The encoder 303 is connected to the lithium battery 201 through a wire. The motor supporting and positioning member 302 is disposed on the bottom surface of the first groove, and a second through hole is formed at the upper portion thereof. In this embodiment, a first positioning hole is formed at the bottom of the motor supporting and positioning member 302, and a bolt and a nut are used to match with the first positioning hole to fixedly connect the motor supporting and positioning member 302 with the lower base 314.

The connection portion of the motor 304 and the speed reducer 305 is accommodated in the second through hole, and the central axis of the second through hole and the central axis of the speed reducer 305 coincide with the central axis of the motor 304. The motor supporting and positioning member 302 is used for supporting the motor 304 and the speed reducer 305, and preventing the motor 304 and the speed reducer 305 from shaking during operation.

The motor frame 315 is substantially L-shaped, and a boss 315-2 is disposed at one end of the motor frame, and a first step through hole 315-3 is disposed on the boss 315-2. The speed reducer 305 is connected to the boss 315-2 by a screw, and an output shaft of the speed reducer 305 passes through the first stepped through hole 315-3. In the present embodiment, the center axis of the first stepped through hole 315-3 coincides with the center axis of the output shaft of the speed reducer 305.

The first rotating pulley 307 is fixedly connected with the output shaft of the speed reducer 305 in a form-locking manner, and the rotating pulley 307 is provided with a first wire clamping groove along the thickness direction and a first rope groove along the circumferential direction. The steel ball 310 with the hole is arranged in the first wire clamping groove, and the first rope groove is used for accommodating the first rope 309. One end of the first rope 309 is fixedly connected to the steel ball 310 with a hole, so that one end of the first rope 309 is fixed with respect to the first rotating pulley 307, and one end of the first rope 309 is fixed in the first clamping groove.

The motor frame 315 is further provided with a stepped cylindrical boss 315-1 spaced from the boss 315-2, and a first internal threaded hole is formed in one end of the stepped cylindrical boss 315-1 facing the upper cover plate 306 along the length direction of the stepped cylindrical boss. The oilless bushing 312 is sleeved on the stepped cylindrical boss 315-1, and a sliding connection is formed between the two. In this embodiment, the center axis of the oilless bushing 312 coincides with the center axis of the stepped cylindrical boss 315-1. The second rotating pulley 311 has a first central hole along the thickness direction, and a second rope groove along the circumferential direction, wherein the second rope groove is used for accommodating the first rope 309. The oilless bush 312 is accommodated in the first central hole, the oilless bush 312 and the second rotating pulley 311 are in interference fit, and the second rotating pulley 311 and the oilless bush 312 can rotate around the stepped cylindrical boss 315-1. After passing through the bearing cover 313, a screw is screwed into the first internal thread hole, so that the bearing cover 313 is fixedly connected to the stepped cylindrical boss 315-1, and the bearing cover 313 is used for axially positioning the oilless bushing 312. The first rope 309 is wound in the first rope groove and the second rope groove respectively, and the winding manner is the same.

As shown in fig. 8, a bar-shaped protrusion is disposed at the other end of the motor frame 315, a first sliding groove 315-4 and a positioning groove 315-5 are disposed at one end of the bar-shaped protrusion facing the upper cover plate 306, the sliding block 321 is slidably disposed in the first sliding groove 315-4, a lifting lug is disposed at each of the left and right ends of the sliding block, and a second through hole is disposed in each of the lifting lugs along the thickness direction. The sliding block cover plate 320 is connected to the front end surface of the sliding block 321, which is located outside the first sliding groove 315-4, by screws. When the sliding block 321 slides in the first sliding groove 315-4, the rear end surface of the sliding block 321 is in sliding contact with the bottom surface of the first sliding groove 315-4, and the front end surface of the sliding block 321 is in sliding contact with the strip-shaped protrusion through the sliding block cover plate 320 to limit the sliding block 321.

One end of the slider end pin shaft 323 passes through the second through hole and then is connected to the first elastic retainer ring 322, one end of the slider end pin shaft 323 is provided with a flange, the flange is in contact with the outer end face of the lifting lug so as to axially position one side of the slider end pin shaft 323, and the two first retainer rings 322 respectively axially position the other ends of the two slider end pin shafts 323. The other end of the first rope 309 passes through the groove wall of the first sliding groove 315-4 and then is connected to the corresponding sliding block end pin 323, so as to provide tension for the left and right movement of the sliding block 321. One end of the second rope 316 passes through the bowden cable 318 and then is connected to the other end pin 323 of the sliding block, and the sliding block 321 moves and drives the second rope 316 to move. One end of the bowden cable 318 is fixedly connected to one end of the bowden cable fixed joint 319, the other end of the bowden cable fixed joint 319 sequentially penetrates through the left cover plate 310 and the groove wall of the first sliding groove 315-4 and is formed with an external thread, two the fastening nuts 317 are in threaded connection with the external thread and two the fastening nuts 317 are respectively abutted against the two sides of the left cover plate 310 opposite to each other, so that the left cover plate 310, the bowden cable fixed joint 319, the motor frame 315 and the fastening nuts 317 are fixedly connected together.

The fixing block 324 is fixed in the positioning groove 315-5 by a screw, and the fixing block 324 is provided with a first through groove, which is communicated with the first through groove and is used for the guide rod 325 to pass through and provide guidance for the sliding of the guide rod 325. The fixed block 324 is towards one side of cam handle 330 is seted up the U type groove that the interval set up, U type groove with first logical groove is linked together, and the length direction of both is perpendicular.

One end of the guide rod 325 passes through the first through slot and then enters the first sliding slot 315-4 and is connected with the sliding block 321 through a thread. The middle part of the guide rod 325 is provided with a square guide boss 325-1, the other end of the guide rod is provided with an external thread, and a crescent-shaped notch is formed on a cylinder of the guide rod 325 between the external thread and the square guide boss 325-1. The compression spring 326 is sleeved on the guide rod 325, the guide block 327 is sleeved on the guide rod 325 in a sliding manner, the compression spring 326 is located between the guide block 327 and the square guide boss 325-1, and the guide block 327 and the square guide boss 325-1 limit the compression spring 326 together. In this embodiment, U-shaped blocks are disposed on the front and rear sides of the guide block 327, and the shapes of the U-shaped blocks are the same as those of the U-shaped grooves, and the U-shaped grooves are matched with each other.

The bottom end of the cam handle 330 is provided with a groove, and is further provided with a second stepped through hole communicated with the groove along the thickness direction, one end of a pin 329 at the cam handle is connected with the second elastic retainer ring 328 after penetrating through the second stepped through hole, and a flange of the pin 329 at the cam handle and the second elastic retainer ring 322 are jointly used for axially limiting the pin 329 at the cam handle. One end of the guide rod 325, which is formed with an external thread, extends into the slot and is in threaded connection with the pin 329 at the cam handle. The distance between the guide block 327 and the U-shaped groove is adjusted by rotating the cam handle 329, so that the fixture block is clamped in the U-shaped groove or separated from the U-shaped groove, and the right lumbar control assembly 3 is in a locked state or a movable state; at the same time, the guide rod 325 can move along the first through groove to adjust the bending angle of the right knee joint movement performing assembly 5.

The right side waist control assembly 3 is partially or completely accommodated in the box body except for other parts outside the box body, and the box body plays a role in dust prevention, water prevention, supporting and positioning of the parts inside the box body.

The bottom surface of the first groove is provided with a plurality of first mounting positioning holes 314-1, the motor frame 315 is provided with a plurality of countersunk holes corresponding to the plurality of first mounting positioning holes 314-1, the plurality of countersunk holes correspond to the plurality of second mounting positioning holes 206-1, and the second internal thread positioning connecting shaft 213 and the third internal thread positioning connecting shaft 214 sequentially penetrate through the waist width adjusting member 204, the second positioning mounting holes 206-1, the countersunk holes and the first mounting positioning holes 314-1 and then are connected with screws, so that the waist width adjusting member 204, the waist assembly supporting and positioning frame 206, the lower base 314 and the motor frame 315 are connected together.

In order to ensure the reliable connection of the lower base 314, the lumbar component supporting and positioning frame 206 and the lumbar width adjusting member 204, the lower base 314, the lumbar component supporting and positioning frame 206 and the lumbar width adjusting member 204 are further connected together by the first internal thread positioning connecting shaft 212, and the first internal thread positioning connecting shaft 212 is axially positioned by using the boss end and the internal thread end on the first internal thread positioning connecting shaft 212, so as to ensure the connection reliability in the working process.

Referring to fig. 9, 10 and 11, the right lumbar control element 3 and the left lumbar control element 4 are arranged in mirror symmetry with respect to the sagittal plane of the user 1, and due to the symmetry, the left lumbar control element 4 is compared with the right lumbar control element 3, except that the internal structural arrangements of the components of the left lumbar control element lower base 401, the left lumbar control element motor frame 402, the left lumbar control element upper cover 403 and the like of the left lumbar control element 4 are not completely the same as those of the components of the right lumbar control element 3 such as the lower base 314, the motor frame 315 and the upper cover 306, the other components and the right corresponding components are completely the same, and the mounting and fixing sequence and manner are the same as those of the right lumbar control element.

Referring to fig. 12, 13 and 14, the right knee motion performing assembly 5 includes a thigh strap 501, a thigh link 502, a third rope 503, a shank link 504, a shank strap frame 505, a shank strap 506, a lower thigh strap frame 507, an upper thigh strap frame 508, a countersunk screw 509, a first bearing positioning member 510, a countersunk screw cap 511, an anti-overshoot stepped shaft 512, a bushing cover plate 513, a second oilless bushing 514, a linear optical axis 515, a bearing 516, a fourth internal thread positioning connection shaft 517, a second bearing positioning member 518, a shank support positioning pin 519, a thigh support positioning pin 520, a fifth internal thread positioning connection shaft 521, a first sleeve 522, a first thigh rotating member 523, a sixth internal thread positioning connection shaft 524, a second sleeve 525, a shank rotating member 526, a third sleeve 527, a tension spring 528 and a second thigh rotating member 529.

The two thigh straps 501 are sewn together with the upper thigh strap holder 508 and the lower thigh strap holder 509, respectively, by stitches. The upper thigh strap bracket 508 and the lower thigh strap bracket 509 are respectively connected to the thigh link 502 by screws, and are spaced apart from each other. In use, the thigh strap 501 and the lower leg strap 505 are respectively tied to the thigh and the lower leg of the user. The two lower leg straps 506 are respectively sewn with the two lower leg strap frames 505 through stitches. The upper thigh strap frame 508 is protruded towards one end of the back component 2, a square through groove is formed in the protruded direction along the thickness direction, one end, far away from the lithium battery 201, of the flexible bearing connecting belt 207 penetrates through the square through groove and then is connected with the upper thigh strap frame 508 in a needle and thread sewing mode, and therefore local pressure at the joint of the lower limb is relieved. A shoulder is formed at one end of the thigh connecting piece 502, and a threaded through hole is formed in the shoulder along the thickness direction; the end of the bowden cable tube fixed joint 319 with the external thread passes through the threaded through-hole and is in threaded connection with the bowden cable tube fixed joint 319 by means of two nuts and the two nuts are located on opposite sides of the shoulder respectively, so that the bowden cable tube fixed joint 319 is connected with the thigh connecting piece 502. One of the bowden cables 318 passes through the corresponding bowden cable fixing joint 319, and the other end of the second rope 316 passes through the corresponding bowden cable 318.

As shown in FIG. 13, the thigh link 502 and shank link 504 form a rotational connection therebetween. The thigh connecting piece 502 is L-shaped, one end of the thigh connecting piece, which is far away from the shoulder, is rotatably connected with the shank connecting piece 504, the other end of the thigh connecting piece is provided with a first step groove, the groove wall of the first step groove is respectively provided with a second step hole, a third step hole, a second groove and a sixth through hole which are arranged at intervals, the second step hole, the third step hole and the sixth through hole penetrate through the groove wall of the second step groove, and the bottom surface of the second groove is provided with a third through hole communicated with the first step groove. The shank connecting piece 504 is L-shaped, a second stepped groove is formed in one end of the shank connecting piece, a fifth through hole, a third groove and a fourth stepped hole are sequentially formed in the wall of the second stepped groove, a fourth through hole is formed in the bottom surface of the third groove, and the fourth through hole, the fifth through hole and the fourth stepped hole are all communicated with the second stepped groove.

The thigh link 502 has one end partially received in the second stepped groove, the second oilless bushing 514 is inserted into the second stepped hole and the fourth stepped hole, and the linear optical axis 515 passes through the second oilless bushing 514. The two bushing cover plates 513 are respectively connected to one end of the second stepped hole and one end of the fourth stepped hole to axially position the linear optical axis 515, so that the thigh link 502 and the shank link 504 form a rotational connection. One end of the fourth internal thread positioning connecting shaft 517 passes through the two fifth through holes and then is fixedly connected with the countersunk head screw 509. The two bearings 516 are respectively disposed in the two fourth through holes, and the second bearing positioning element 518 and the first bearing positioning element 510 are respectively disposed in the two third grooves, so as to axially position the two bearings 516 and the shank positioning pin 519. One end of the shank positioning pin 519 is disposed in the other bearing 516 after passing through the second bearing positioning element 518 and the one bearing 516. The two fifth internal thread positioning connecting shafts respectively penetrate through the two sixth through holes, then respectively extend into the other two corresponding sixth through holes and are fixedly connected with the countersunk head screws 509. One second bearing positioning element 518 and one first positioning bearing element 510 are respectively disposed in the two second grooves, and the two bearings 516 are respectively disposed in the two third through holes. One end of the thigh supporting positioning pin 520 passes through the corresponding second bearing positioning part 518 and the corresponding bearing 516 and then is disposed in the corresponding other bearing 516, and the first bearing positioning part 510 and the second bearing positioning part 518 are used for axially positioning the thigh supporting positioning pin 520. Two ends of the over-adjustment preventing stepped shaft 512 are respectively arranged in the two third stepped holes, and the two countersunk head screw nuts 511 are also respectively arranged in the two third stepped holes and located at two sides of the over-adjustment preventing stepped shaft 512. The two countersunk head screws 509 respectively penetrate through the two countersunk head screw nuts 511 and then are connected to two ends of the anti-overshoot stepped shaft 512. One end of each of the two lower leg rotating pieces 526 and the third sleeve 527 are respectively sleeved on the lower leg supporting and positioning pin shaft 519, the third sleeve 527 is located between the two lower leg rotating pieces 526, and the lower leg rotating pieces 526 are located between the groove walls of the second stepped groove.

One end of the first thigh rotating element 523, one end of the second thigh rotating element 529, and the first sleeve 522 are respectively sleeved on the thigh supporting and positioning pin 520, the first sleeve 522 is located between the first thigh rotating element 523 and the second thigh rotating element 529, and the first thigh rotating element 523 and the second thigh rotating element 529 are located between two groove walls of the first step groove. The other end of the shank rotating part 526 is provided with a through hole and an arc-shaped groove for a bearing, and the other end of the first thigh rotating part 523 and the other end of the second thigh rotating part 529 are provided with a first limiting cylindrical boss and a second limiting cylindrical boss respectively. The two bearings 516 are respectively arranged in the two bearing through holes, one end of the sixth internal thread positioning connecting shaft 524 sequentially passes through the first thigh rotating element 523, the corresponding bearing 516, the second sleeve 525, the corresponding other bearing 516 and the second thigh rotating element 529 and then is connected with one countersunk screw 509, the first limiting cylindrical boss and the second limiting cylindrical boss are respectively inserted into the two arc-shaped grooves, to limit the rotation of the first and

second thigh rotors

523 and 529 relative to the lower leg rotor 526, the lower leg rotating members 526 are rotatably connected to the lower leg connecting member 504, the first thigh rotating member 523 and the second thigh rotating member 529 are respectively rotatably connected to the thigh connecting member 502, and the two lower leg rotating members 526 can rotate around the lower leg supporting positioning pin 519; the first and second

thigh rotating parts

523 and 529 are rotatable around the thigh support positioning pin 520. Two ends of the extension spring 528 are respectively fixed in the second slot of the thigh support positioning pin 520 and the third slot of the shank support positioning pin 519 to provide restoring force for the rotation motion of the thigh link 502 and the shank link 504.

One end of the third rope 503 is connected to the second rope 316, and the other end of the third rope is wound around the fourth internal thread positioning connecting shaft 517 and is fixedly connected to the fourth internal thread positioning connecting shaft 517. The third rope 503 is sequentially wound around the fifth internal thread positioning connection shaft 521, the first sleeve 522, the second sleeve 525 and the third sleeve 527 from top to bottom, and is respectively tangent to the outer surfaces of the fifth internal thread positioning connection shaft 521, the first sleeve 522, the second sleeve 525 and the third sleeve 527, and the tension of the third rope 503 provides power for the rotation motion of the thigh connecting piece 502 and the shank connecting piece 504.

The left knee joint motion executing component 6 and the right knee joint motion executing component 5 are symmetrically distributed relative to the sagittal plane of the body of the patient, and the installation and positioning modes of all parts and all parts are the same as those of the right knee joint motion executing component 5.

The left knee joint movement executing component 6 and the right knee joint movement executing component 5 are respectively provided with an angle sensor connected to a controller at the knee joint, and the angle sensors are used for detecting the knee joint flexion and extension angles of the thigh and the shank in the walking process; setting the knee joint flexion and extension angle range of 0-150 degrees in the walking process of the patient, wherein the knee joint flexion and extension angle range does not influence the functional activities of the patient such as standing, sitting, going upstairs and going downstairs and the like; meanwhile, when the flexion-extension angle of the extension spring 528, the two ends of which are respectively fixed on the calf support positioning pin 519 and the thigh support positioning pin 520, is 15-150 degrees, the patient can freely do flexion-extension movement within the knee joint flexion-extension angle range, the motor 304 only acts to balance the tension of the extension spring 528 within the knee joint flexion-extension angle range, so that the first rope 309 and the third rope 503 are always in a tensioned state in the whole movement process, and rope skipping of the first rope 309 and the third rope 503 in the walking process of the patient is prevented; when the knee joint flexion and extension angle is between 0 and 15 degrees, the active knee hyperextension lower limb rehabilitation exoskeleton device starts to accurately control the flexion and extension process of a patient, and in the knee joint flexion and extension angle range, the patient performs accurate flexion and extension movement under the combined action of the tension spring 528, the tension indirectly applied to the third rope 503 by the motor 304 and the acting force applied to the active knee hyperextension lower limb rehabilitation exoskeleton device by the patient, so that the normal alignment of the femur and the tibia is realized in the walking process of the patient.

In addition, in order to enhance the knee extension control capability of a patient to 0-15 degrees in the walking process, realize normal alignment of the femur and the tibia and ensure normal alignment of the body in the standing period, in one gait cycle, when the lower limb is in the knee bending mode, the controller controls the motor to rotate reversely, and when the lower limb is in the knee extension mode, the motor rotates forwardly; when the knee bending (knee extension) angle is between 0 and 15 degrees, the lower limbs regularly do the knee bending (knee extension) movement under the combined action of the motor torque and the extension spring 528. When the knee bending (knee extension) angle is 15-150 degrees, the lower limbs mainly do the knee bending (knee extension) movement under the control capability of the patient, and the reverse rotation (positive rotation) of the motor mainly plays a role in ensuring that the rope is always in the extension state; when the femur and the tibia are aligned normally, that is, the knee extension angle reaches 0 °, the thigh link 502 and the shank link 504 cannot rotate further to the hyperextension state under the combined action of the anti-overshoot stepped shaft 512 and the arc-shaped groove, that is, the hyperextension symptom of the knee of the patient is prevented; when the patient is in a stationary standing state for a long time, the cam handle 330 can be pressed down at the moment, so that the device is in a locked state, the motor is prevented from being in a locked-rotor working state for a long time, and the service life of the motor is prolonged.

Fig. 15 illustrates a variation of the knee motion actuator assembly of the present invention and still fall within the scope of the present invention.

Generally, the power device is introduced, and the power output assembly and the joint movement execution assembly are separately arranged, so that the knee hyperextension device has the characteristics of comfort in wearing, compact structure, reliable positioning, long endurance time and high bearing capacity, can effectively enhance the autonomous movement control capacity of a patient with knee hyperextension, lightens the weight of the movement execution device at the knee joint of the patient, reduces the local compression of the lower limb of the patient in the wearing process, and does not influence the functional activities of standing, sitting, going upstairs and going downstairs of the patient.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. An active knee hyperextension lower limb rehabilitation exoskeleton device is characterized in that:

the rehabilitation exoskeleton device comprises a back component, a right waist control component, a left waist control component, a right knee joint movement execution component and a left knee joint movement execution component, wherein the right waist control component and the left waist control component are respectively arranged on the back component and are symmetrically arranged; the right waist control component and the left waist control component are respectively connected with the right knee joint movement execution component and the left knee joint movement execution component;

the right knee joint movement executing assembly and the left knee joint movement executing assembly are identical in structure and comprise at least one thigh strap, at least one shank strap, a thigh connecting piece, a shank connecting piece, a first thigh rotating piece, a shank rotating piece, a tension spring, a third rope, a thigh supporting positioning pin shaft and a shank supporting positioning pin shaft, the thigh strap is connected to one end of the thigh connecting piece, the shank strap is connected to one end of the shank connecting piece, and the other end of the thigh connecting piece is rotatably connected with the other end of the shank connecting piece; one end of the first thigh rotating part is rotatably connected with the middle part of the thigh connecting part through the thigh supporting and positioning pin shaft, the other end of the first thigh rotating part is rotatably connected with one end of the shank rotating part, and the other end of the shank rotating part is rotatably connected with the middle part of the shank connecting part through the shank supporting and positioning pin shaft; two ends of the extension spring are respectively connected with one end of the thigh support positioning pin shaft and one end of the shank support positioning pin shaft; one end of the third rope is connected to the part, close to the crus supporting and positioning pin shaft, of the crus connecting piece, and the other end of the third rope is connected to the right waist control assembly; the right waist control component transmits external force to the right knee joint movement execution component through the third rope so as to control the rotation between the thigh connecting piece and the shank connecting piece;

the right waist control assembly and the left waist control assembly have the same structure and comprise a motor, a speed reducer, a first rotating pulley, a second rotating pulley and a first rope, wherein an output shaft of the motor is connected to the speed reducer, an output shaft of the speed reducer is fixedly connected to the first rotating pulley, one end of the first rope is fixedly connected to the first rotating pulley and wound on the second rotating pulley, and a central shaft of the first rotating pulley is perpendicular to a central shaft of the second rotating pulley, so that the first rope is turned;

the right side waist control assembly and the left side waist control assembly further comprise a motor frame, a sliding block and a second rope, the motor frame is provided with a first sliding groove, the sliding block is slidably arranged in the first sliding groove, the other end of the first rope penetrates through one groove wall of the first sliding groove and then is connected to one end of the sliding block, one end of the second rope penetrates through the other groove wall of the first sliding groove and then is connected to the other end of the sliding block, the other end of the second rope is connected to the third rope, and the motor sequentially passes through the speed reducer, the first rope, the second rope and the third rope to provide power for rotation of the shank connecting piece and the thigh connecting piece;

setting the knee joint flexion and extension angle range of 0-150 degrees in the walking process of the patient, wherein when the knee joint flexion and extension angle is 15-150 degrees, the motor is only used for balancing the tension of the extension spring in the knee joint flexion and extension angle range so as to ensure that the corresponding rope is always in a tensioned state in the whole movement process; when the knee joint flexion and extension angle is between 0 and 15 degrees, the patient makes flexion and extension movements under the combined action of the tension of the extension spring, the tension applied by the motor and the acting force applied by the patient to the active knee hyperextension lower limb rehabilitation exoskeleton device, so that the normal alignment of the femur and the tibia in the walking process of the patient is realized.

2. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 1, wherein: the right knee joint movement executing assembly comprises a sixth internal thread positioning connecting shaft, and the first thigh rotating part is rotatably connected with the shank rotating part through the sixth internal thread positioning connecting shaft; an arc-shaped groove is formed in one side, facing the first thigh rotating piece, of the shank rotating piece; one side of the first thigh rotating part, which faces the shank rotating part, is provided with a first limiting cylindrical boss, the first limiting cylindrical boss is inserted into the arc-shaped groove, and sliding connection is formed between the first limiting cylindrical boss and the arc-shaped groove.

3. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 2, wherein: the back assembly comprises a back lithium battery support piece, a back lithium battery support piece cover plate, a second binding band, a first binding band, two waist width adjusting pieces, two flexible substrates and two flexible load-bearing connecting pieces, wherein the back lithium battery support piece cover plate is arranged at one end of the back lithium battery support piece, and the second binding band is connected to the back lithium battery support piece cover plate; one end of each waist width adjusting piece is connected with the other end of the back lithium battery supporting piece, and the two waist width adjusting pieces are symmetrically arranged relative to the central axis of the back lithium battery supporting piece; two ends of the first binding band are respectively connected to the other ends of the two waist width adjusting pieces; the two flexible substrates are respectively arranged at the inner sides of the two waist width adjusting pieces; one end of each of the two flexible bearing connecting pieces is connected to the two flexible substrates, and the other end of each of the two flexible bearing connecting pieces is connected to the thigh connecting piece of the right knee joint movement executing assembly and the thigh connecting piece of the left knee joint movement executing assembly.

4. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 3, wherein: the back assembly further comprises two lithium batteries, and the two lithium batteries are respectively arranged in the back lithium battery support piece; when the waist width adjusting piece is used, the second bandage is bound on the upper body of a user, the first bandage and the waist width adjusting piece are bound on the waist of the user together, and the thigh bandage and the shank bandage are bound on the thigh and the shank of the user respectively.

5. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 3, wherein: the back subassembly still includes two waist subassembly location support frames, two waist subassembly location support frames set up respectively two on the outside of waist width adjustment piece, just right side waist control assembly reaches left side waist control assembly sets up respectively in two waist subassembly location support frames.

6. The active knee hyperextension lower limb rehabilitation exoskeleton device of any one of claims 1 to 5, wherein: the rehabilitation exoskeleton device further comprises an angle sensor and a controller which are connected; the right knee joint movement executing assembly and the left knee joint movement executing assembly are respectively provided with the angle sensor, the angle sensors are used for detecting knee joint flexion and extension angles of thighs and shanks in the walking process and transmitting detected knee joint flexion and extension angle data to the controller, and the controller respectively controls the right waist control assembly and the left waist control assembly according to the received data so as to control the right knee joint movement executing assembly and the left knee joint movement executing assembly.

7. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 6, wherein: the knee joint flexion and extension angle range set in the range of 0-150 degrees does not affect the standing, sitting, going upstairs and going downstairs of the patient; the motor of the right side waist control assembly and the motor of the left side waist control assembly respectively provide tension for ropes in the right side waist control assembly and the left side waist control assembly.

8. The active knee hyperextension lower limb rehabilitation exoskeleton device of any one of claims 1 to 5, wherein: the right waist control assembly comprises a box body, and the motor is arranged in the box body.

9. The active knee hyperextension lower limb rehabilitation exoskeleton device of claim 8, wherein: the motor frame is also provided with a positioning groove, and the positioning groove and the first sliding groove are arranged at intervals; the right side waist control assembly and the left side waist control assembly further comprise a fixing plate, a guide rod, a guide block, a compression spring and a cam handle, the fixing plate is provided with a first through groove, and the first through groove is communicated with the first through groove; one side, facing the cam handle, of the fixing block is provided with U-shaped grooves which are arranged at intervals, the U-shaped grooves are communicated with the first through grooves, and the length directions of the U-shaped grooves and the first through grooves are perpendicular; a square guide boss is arranged in the middle of the guide rod, one end of the guide rod penetrates through the first through groove, enters the first sliding groove and is connected with the sliding block, the other end of the guide rod penetrates through the compression spring and the guide block in sequence and is connected to the middle of a pin shaft at the cam handle, and two ends of the pin shaft at the cam handle are rotatably connected with the cam handle; u-shaped fixture blocks are arranged on the front side and the rear side of the guide block, the shape of each fixture block is consistent with that of the U-shaped groove, and the fixture blocks are matched with the U-shaped groove; the distance between the guide block and the U-shaped groove is adjusted by rotating the cam handle, so that the clamping block is clamped in the U-shaped groove or separated from the U-shaped groove, and the exoskeleton device is in a locked state or a movable state.