CN114797007A - Wearable underwater exoskeleton robot for rehabilitation and use method thereof - Google Patents
Wearable underwater exoskeleton robot for rehabilitation and use method thereof Download PDFInfo
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- CN114797007A CN114797007A CN202210343826.2A CN202210343826A CN114797007A CN 114797007 A CN114797007 A CN 114797007A CN 202210343826 A CN202210343826 A CN 202210343826A CN 114797007 A CN114797007 A CN 114797007A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/25—Bioelectric electrodes therefor
- A61B5/251—Means for maintaining electrode contact with the body
- A61B5/256—Wearable electrodes, e.g. having straps or bands
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/25—Bioelectric electrodes therefor
- A61B5/279—Bioelectric electrodes therefor specially adapted for particular uses
- A61B5/296—Bioelectric electrodes therefor specially adapted for particular uses for electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
- A61B5/397—Analysis of electromyograms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
- A61B2505/09—Rehabilitation or training
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention provides a wearable underwater exoskeleton robot for rehabilitation and a use method thereof, belonging to the technical field of artificial intelligence, and comprising a basic device, wherein the basic device is provided with a sensing mechanism, a control mechanism, a driving mechanism and an execution mechanism; the sensing mechanism is in electrical signal connection with the control mechanism, the control mechanism receives and processes the motion data sent by the sensing mechanism and sends the motion data to the driving mechanism, the control mechanism is in electrical signal connection with the driving mechanism, the driving mechanism is in electrical signal connection with the executing mechanism, and the driving mechanism drives the executing mechanism to move; the basic device comprises a waist fastening piece and a leg fastening piece, and the waist fastening piece and the lower limb fastening piece are respectively attached to the human body; the executing mechanism comprises a waist exoskeleton, a leg exoskeleton and an underwater propeller, wherein the waist exoskeleton is arranged on a waist fastener, the leg exoskeleton is arranged on a leg fastener, and the underwater propeller propels towards the advancing direction of a human body. The invention is beneficial to the rehabilitation training of patients and improves the rehabilitation efficiency of patients.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a wearable underwater exoskeleton robot for rehabilitation and a using method thereof.
Background
Rehabilitation physiotherapy is also called rehabilitation physiotherapy and is a comprehensive treatment mode integrating motion treatment, operation treatment, speech treatment, physiotherapy, acupuncture, cupping and massage. Exercise therapy is a special therapy for preventing, improving and recovering the dysfunction and hypofunction of the patient's body through passive exercise therapy, active exercise therapy and resistance and exercise therapy.
Patients often have dysfunction in which one or more parts cannot move autonomously, so that underwater rehabilitation is rarely visible when the patients are subjected to exercise therapy, particularly passive physical rehabilitation therapy, and the aquatic environment has a wide range of rehabilitation potential from treating acute injuries to keeping health in the face of chronic diseases. Definition of rehabilitation therapy in water: it is a special physical therapy operation method using water as the treatment medium to treat diseases or help the body regain functions, the aquatic rehabilitation therapy mainly carries out the treatment by the aquatic physical exercise therapy, the aquatic physical exercise therapy mainly comprises: balance training, strength and stability training, cardiovascular regulation, swimming optimization, range of motion of joints or flexibility exercises. Water therapy is a very useful tool in the rehabilitation kit due to its wide therapeutic safety and clinical adaptability, but it remains an underutilized modality.
The existing underwater rehabilitation mode is generally walking rehabilitation with lower underwater protection, and has common effect on the rehabilitation of patients. The prior art searches and discovers that the Chinese invention patent publication No. CN111297634A discloses a bucket gate type wet lower limb rehabilitation training device, which comprises a base, a water tank is arranged on the base, a circulating water pump is arranged on the water tank and is connected to the controller, a circulating water spray opening is arranged on the rear wall of the water tank, the front end of the water tank is provided with a barrel-shaped water storage cabin gate, the barrel-shaped sealing cabin gate comprises a left arc gate frame and a right arc gate frame, a barrel-shaped gate is rotatably arranged in the radial gate frame, a U-shaped opening is arranged on the peripheral surface of the barrel-shaped gate, a radial gate is hermetically hinged on the U-shaped opening, a round revolving rail is arranged under the barrel-shaped brake, the outer ring of the round revolving rail is fixedly arranged, the barrel-shaped brake is fixedly connected with the inner ring, the lower part of the barrel-shaped brake is fixedly connected with a central shaft, a rotation driving device is arranged in match with the central shaft, and a drainage pump is arranged in the rehabilitation training device. The patented technology suffers from the problems associated with it as described above.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a wearable underwater exoskeleton robot for rehabilitation and a use method thereof.
The invention provides a wearable underwater exoskeleton robot for rehabilitation, which comprises a base device, wherein a sensing mechanism, a control mechanism, a driving mechanism and an execution mechanism for assisting the human body in moving are arranged on the base device;
the sensing mechanism is in electrical signal connection with the control mechanism, the control mechanism is used for receiving and processing motion data sent by the sensing mechanism and sending the motion data to the driving mechanism, the control mechanism is in electrical signal connection with the driving mechanism, the driving mechanism is in electrical signal connection with the executing mechanism, and the driving mechanism drives the executing mechanism to move;
the basic device comprises a waist fastening piece and a leg fastening piece, and the waist fastening piece and the lower limb fastening piece are respectively attached to the human body; the actuating mechanism comprises a waist exoskeleton, a leg exoskeleton and an underwater propeller, wherein the waist exoskeleton is arranged on the waist fastener, the leg exoskeleton is arranged on the leg fastener, and the underwater propeller propels towards the advancing direction of the human body.
In some embodiments, the sensing mechanism includes an electromyography sensor, a plurality of physiological detectors, and a wireless transmitter, the electromyography sensor is used for acquiring an electromyography signal to detect a motion state of a human body, the physiological detection device is used for detecting a body index condition of the human body when the human body moves underwater, the plurality of electromyography sensors are respectively arranged on a lower leg and a thigh of the human body, the physiological detectors are arranged at a chest of the human body, the plurality of wireless receivers are arranged, and the plurality of wireless transmitters are respectively arranged corresponding to the plurality of electromyography sensors and the physiological detectors.
In some embodiments, the leg fastening member includes a left leg fastening member and a right leg fastening member, the electromyographic sensor includes a thigh sensor and a shank sensor, the thigh sensor is disposed at a thigh of the human body, the two thigh sensors are disposed above the left leg fastening member and the right leg fastening member respectively, the shank sensor is disposed at a shank of the human body, the two shank sensors are disposed below the left leg fastening member and the right leg fastening member respectively.
In some embodiments, the control mechanism is disposed on the waist fastening member, the control mechanism includes a microprocessor and a wireless receiver, the microprocessor is in electrical signal connection with the wireless receiver, the wireless receiver is used for receiving information sent by the wireless transmitter, the microprocessor is used for processing the motion information acquired by the electromyographic sensor and the physiological detection device, and the microprocessor controls the execution mechanism to work correspondingly according to the motion information and the rehabilitation status of the patient.
In some embodiments, the storage mechanism includes a memory for organizing and storing different rehabilitation regimens for different stages of rehabilitation of a patient, the memory being in electrical signal communication with the microprocessor.
In some embodiments, a propeller driving motor and a propeller storage battery are connected to the underwater propeller, and the underwater propeller is arranged on the back of a human body.
In some embodiments, the driving mechanism comprises a driver, and the driver receives the instruction of the control mechanism and controls the operation of the executing mechanism.
In some embodiments, a battery pack is disposed on the waist fastener, and the battery pack provides electrical energy to the entire electrical system of the exoskeleton robot.
In some embodiments, the waterproof mechanism includes a waterproof housing disposed over the lumbar fastener, and the waterproof housing protects the control mechanism, the drive mechanism, and the battery pack arrangement.
The invention also provides a using method of the wearable underwater exoskeleton robot for rehabilitation, which comprises the following steps of 1, detecting the motion states of two thighs and two shanks of a patient respectively by the electromyographic sensors in the sensing mechanism, and detecting physiological indexes of the patient by a physiological detection device in the sensing mechanism;
and 4, driving the exoskeleton and the small propeller which are attached to the human body to work by the driving mechanism respectively, so as to assist the patient in underwater rehabilitation training.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the sensing mechanism is arranged, the sensing mechanism detects the motion state and the physiological index condition of the patient, and the control mechanism analyzes and processes the information detected by the sensing mechanism, so that the execution module is controlled to work and assist the patient in rehabilitation training, the energy consumption of the patient is reduced, and the training duration of the patient in underwater rehabilitation is prolonged;
2. the invention is provided with a control mechanism, a storage mechanism and a sensing mechanism, wherein the control mechanism gives out different rehabilitation schemes of patients in different rehabilitation stages through information transmitted by the storage mechanism and the sensing mechanism, controls the execution mechanism to give out real-time effective assistance, is more beneficial to rehabilitation training of the patients and improves the rehabilitation efficiency of the patients.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic front view of a wearable underwater exoskeleton robot for rehabilitation according to the present invention;
FIG. 2 is a schematic side view of the wearable underwater exoskeleton robot for rehabilitation of the present invention;
FIG. 3 is a partial enlarged view of the waist of the wearable underwater exoskeleton robot for rehabilitation according to the invention;
FIG. 4 is a system schematic diagram of the wearable underwater exoskeleton robot for rehabilitation of the present invention;
reference numerals:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Fig. 1 is a schematic front view of a wearable underwater exoskeleton robot for rehabilitation, fig. 2 is a schematic side view of the wearable underwater exoskeleton robot for rehabilitation, and the wearable underwater exoskeleton robot for rehabilitation comprises a base device 1, wherein a sensing mechanism, a control mechanism, a driving mechanism and an executing mechanism for assisting a human body in moving are arranged on the base device 1.
As shown in fig. 4, which is a schematic diagram of a system of a wearable underwater exoskeleton robot for rehabilitation, a sensing mechanism is in electrical signal connection with a control mechanism, the control mechanism is used for receiving and processing motion data sent by the sensing mechanism and sending the motion data to a driving mechanism, the control mechanism is in electrical signal connection with the driving mechanism, the driving mechanism is in electrical signal connection with an actuating mechanism, and the actuating mechanism drives the actuating mechanism to move.
The basic device 1 comprises a waist fastening piece 12 and a leg fastening piece 11, wherein the waist fastening piece 12 and the lower limb fastening piece are respectively attached to a human body; the actuating mechanism comprises a waist exoskeleton, a leg exoskeleton and an underwater propeller 8, wherein the waist exoskeleton is arranged on a waist fastener 12, the leg exoskeleton is arranged on a leg fastener 11, and the underwater propeller 8 propels towards the advancing direction of the human body.
The sensing mechanism comprises an electromyographic sensor 4, a physiological detector 6 and a wireless transmitter 3, the electromyographic sensor 4 is used for collecting an electromyographic signal to detect the motion state of a human body, the physiological detection device is used for detecting the body index condition of the human body when moving underwater, the electromyographic sensor 4 is provided with a plurality of electromyographic sensors 4, the electromyographic sensors 4 are respectively arranged on the shank and the thigh of the human body, the physiological detector 6 is arranged at the chest of the human body, the wireless receiver 16 is provided with a plurality of wireless transmitters 3, and the wireless transmitters 3 are respectively arranged corresponding to the electromyographic sensors 4 and the physiological detector 6.
The leg fastening piece 11 comprises a left leg fastening piece 2 and a right leg fastening piece 5, the myoelectric sensor 4 comprises a thigh sensor 13 and a shank sensor 14, the thigh sensor 13 is arranged at the position of a thigh of a human body, the number of the thigh sensors 13 is two, the two thigh sensors 13 are respectively arranged above the left leg fastening piece 2 and the right leg fastening piece 5, the shank sensor 14 is arranged at the position of a shank of the human body, the number of the shank sensors 14 is two, and the two shank sensors 14 are respectively arranged below the left leg fastening piece 2 and the right leg fastening piece 5.
As shown in fig. 3, which is a partial enlarged view of the waist of the wearable underwater exoskeleton robot for rehabilitation, a control mechanism is arranged on the waist fastening piece 12, the control mechanism comprises a microprocessor 15 and a wireless receiver 16, the microprocessor 15 is in electric signal connection with the wireless receiver 16, the wireless receiver 16 is used for receiving information sent by the wireless transmitter 3, and the wireless receiver 16 and the wireless transmitter 3 adopt a one-to-many working mode. The microprocessor 15 is used for processing the motion information acquired by the electromyographic sensor 4 and the physiological detection device, and the microprocessor 15 judges the rehabilitation status of the patient according to the motion information and the storage mechanism and correspondingly controls the execution mechanism to work.
The storage mechanism comprises a memory 17, the memory 17 is used for storing different rehabilitation schemes of the patient in different rehabilitation stages in a tidy mode, the memory 17 is in electric signal connection with the microprocessor 15, and the memory 17 is called by the microprocessor 15 at any time. The underwater propeller 8 is connected with a propeller driving motor 9 and a propeller storage battery 10, and the underwater propeller 8 is arranged on the back of a human body. The driving mechanism comprises a driver 19, and the driver 19 receives the instruction of the control mechanism and controls the operation of the actuating mechanism. The waist fastener 12 is provided with a battery pack 18, and the battery pack 18 provides electrical power for the entire electrical system of the exoskeleton robot. The waterproof mechanism includes a waterproof housing 20, the waterproof housing 20 is disposed on the waist fastener 12, and the waterproof housing 20 protects the control mechanism, the drive mechanism, and the battery pack 18 from being burned out.
The use method of the wearable underwater exoskeleton robot for rehabilitation comprises the following steps of 1, detecting the motion states of two thighs and two shanks of a patient by an electromyographic sensor 4 in a sensing mechanism respectively, and detecting physiological indexes of the patient by a physiological detection device in the sensing mechanism;
and 4, driving the exoskeleton and the small propeller which are attached to the human body to work by the driving mechanism respectively, so as to assist the patient in underwater rehabilitation training.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application. Apart from the implementation of the system, the device and the respective modules thereof provided by the present invention in the form of pure computer readable program code, the system, the device and the respective modules thereof provided by the present invention can be implemented with the same program in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like by logically programming the method steps. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The wearable underwater exoskeleton robot for rehabilitation is characterized by comprising a base device (1), wherein a sensing mechanism, a control mechanism, a driving mechanism and an execution mechanism for assisting the human body in moving are arranged on the base device (1);
the sensing mechanism is in electrical signal connection with the control mechanism, the control mechanism is used for receiving and processing motion data sent by the sensing mechanism and sending the motion data to the driving mechanism, the control mechanism is in electrical signal connection with the driving mechanism, the driving mechanism is in electrical signal connection with the executing mechanism, and the driving mechanism drives the executing mechanism to move;
the basic device (1) comprises a waist fastening piece (12) and leg fastening pieces (11), wherein the waist fastening piece (12) and the lower limb fastening pieces are respectively attached to a human body; the actuating mechanism comprises a waist exoskeleton, a leg exoskeleton and an underwater propeller (8), wherein the waist exoskeleton is arranged on the waist fastening piece (12), the leg exoskeleton is arranged on the leg fastening piece (11), and the underwater propeller (8) propels towards the advancing direction of the human body.
2. The wearable underwater exoskeleton robot for rehabilitation according to claim 1, wherein the sensing mechanism comprises a plurality of electromyographic sensors (4), a plurality of physiological detectors (6) and a plurality of wireless transmitters (3), the electromyographic sensors (4) are used for acquiring electromyographic signals to detect the motion states of the human body, the physiological detectors are used for detecting body index conditions of the human body during underwater motion, the plurality of electromyographic sensors (4) are respectively arranged on the lower legs and the upper legs of the human body, the physiological detectors (6) are arranged at the chest of the human body, the plurality of wireless receivers (16) are arranged, and the plurality of wireless transmitters (3) are respectively arranged corresponding to the plurality of electromyographic sensors (4) and the physiological detectors (6).
3. A wearable underwater exoskeleton robot for rehabilitation according to claim 2, wherein the leg fasteners (11) comprise a left leg fastener (2) and a right leg fastener (5), the electromyographic sensors (4) comprise thigh sensors (13) and shank sensors (14), the thigh sensors (13) are disposed at thighs of a human body, the thigh sensors (13) are two, the thigh sensors (13) are disposed above the left leg fastener (2) and the right leg fastener (5), respectively, the shank sensors (14) are disposed at shanks of the human body, the shank sensors (14) are two, and the shank sensors (14) are disposed below the left leg fastener (2) and the right leg fastener (5), respectively.
4. A wearable underwater exoskeleton robot for rehabilitation according to claim 2, wherein the control mechanism is arranged on the waist fastening member (12), the control mechanism comprises a microprocessor (15) and a wireless receiver (16), the microprocessor (15) is in electric signal connection with the wireless receiver (16), the wireless receiver (16) is used for receiving information sent by the wireless transmitter (3), the microprocessor (15) is used for processing the motion information acquired by the electromyographic sensor (4) and the physiological detection device, and the microprocessor (15) controls the operation of the executing mechanism according to the motion information and the rehabilitation condition of the patient.
5. A wearable underwater exoskeleton robot for rehabilitation as claimed in claim 4, wherein the memory mechanism comprises a memory (17), the memory (17) being used for organizing and saving different rehabilitation protocols of the patient in different rehabilitation stages, the memory (17) being in electrical signal connection with the microprocessor (15).
6. The wearable underwater exoskeleton robot for rehabilitation according to claim 1, wherein a propeller driving motor (9) and a propeller storage battery (10) are connected to the underwater propeller (8), and the underwater propeller (8) is arranged on the back of a human body.
7. A wearable underwater exoskeleton robot as claimed in claim 1 wherein the drive mechanism comprises a driver (19), the driver (19) receiving instructions from the control mechanism and controlling the actuator to operate.
8. A wearable underwater exoskeleton robot for rehabilitation as claimed in claim 4 where a battery pack (18) is provided on the waist fastener (12), the battery pack (18) providing electrical power to the entire power system of the exoskeleton robot.
9. A wearable underwater exoskeleton robot for rehabilitation according to claim 8, wherein the waterproof mechanism includes a waterproof housing (20), the waterproof housing (20) is disposed on the lumbar fastener (12), and the waterproof housing (20) protects the control mechanism, the drive mechanism and the battery pack (18) arrangement.
10. A method for using a wearable underwater exoskeleton robot for rehabilitation according to any one of claims 1 to 9, wherein step 1. electromyographic sensors (4) in the sensing mechanism detect the motion states of two thighs and two shanks of a patient respectively, and physiological detection devices in the sensing mechanism detect physiological indexes of the patient;
step 2, detected motion state data and physiological index data are transmitted to the control mechanism through a plurality of wireless transmitters (3) connected with the electromyographic sensor (4) and the physiological detection device, and a wireless receiver (16) of the control mechanism transmits the motion state data and the physiological index data to a microprocessor (15) in the control mechanism;
step 3, the microprocessor (15) receives the dynamic state data and the physiological index data and calls the data in the memory (17) to analyze and compare to obtain the rehabilitation status of the patient, form a rehabilitation scheme and send a control instruction to the driving mechanism;
and 4, driving the exoskeleton and the small propeller which are attached to the human body to work by the driving mechanism respectively, so as to assist the patient in underwater rehabilitation training.
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| CN202210343826.2A CN114797007B (en) | 2022-04-02 | 2022-04-02 | Wearable underwater exoskeleton robot for rehabilitation and using method thereof |
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