WO2022110111A1

WO2022110111A1 - Foot drop rehabilitation exoskeleton robot and adaptive gait assistance control method

Info

Publication number: WO2022110111A1
Application number: PCT/CN2020/132670
Authority: WO
Inventors: 王卫群; 侯增广; 胡旭超; 石伟国; 焦雨泽; 方志杰
Original assignee: 中国科学院自动化研究所
Priority date: 2020-11-27
Filing date: 2020-11-30
Publication date: 2022-06-02
Also published as: CN112494272A; CN112494272B

Abstract

A foot drop rehabilitation exoskeleton robot and an adaptive gait assistance control method, relating to the technical field of medical instruments. The present invention aims to solve the problem in the prior art of the inability to provide effective rehabilitation training for foot drop patients. According to the foot drop rehabilitation exoskeleton robot, kinematics and dynamics data of a patient is recorded by using a sensing module and a main control module, a traction driving device is controlled to rotate by recognizing a human movement intention in real time so as to simulate the normal gait of a healthy person, thereby achieving active rehabilitation training of the foot on an affected side. Compared with an electrical stimulation method, using a frameless motor (12) to assist the patient in moving can enable the foot on the affected side to reach a finer angle position, and is also safer. Moreover, the foot drop rehabilitation exoskeleton robot is simple in structure, low in weight, and convenient to wear flexibly, and can effectively provide walking assistance for foot drop patients to assist the foot drop patients in foot rehabilitation training.

Description

Foot drop rehabilitation exoskeleton robot and adaptive gait assisted control method

technical field

The invention belongs to the technical field of medical devices, and in particular relates to a foot drop rehabilitation exoskeleton robot and an adaptive gait auxiliary control method.

Background technique

In recent years, the incidence of stroke in my country has been increasing year by year, and it has now become the disease with the highest fatality rate among Chinese people, accounting for 40% of the global stroke deaths. At the same time, the disability rate of stroke is as high as 70%, of which more than 40% are severely disabled. Among them, foot drop is a typical sequelae. Foot drop refers to the phenomenon of incomplete or inability to lift the toes caused by diseases such as stroke, and abnormal walking gait due to difficulty in lifting the toes. Therefore, there is a need for a foot drop rehabilitation training device to solve or at least alleviate the above problems.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that effective rehabilitation training cannot be provided for patients with foot drop in the prior art. A first aspect of the present invention provides a foot drop rehabilitation exoskeleton robot, including a foot fixing assembly for fixing a foot, a leg fixing assembly for fixing a leg, and a foot fixing assembly for traction on the foot and the leg The traction drive device between the fixed components further includes a main control module and an induction module, the control end of the traction drive device and the induction module are respectively connected in communication with the main control module; the traction drive device comprising a traction driving mechanism and a traction driven mechanism respectively arranged on both sides of the foot fixing assembly;

The traction drive mechanism includes a power device, a driving wheel, a driven shaft, a driven wheel and a traction connector, the power device is fixed with the leg fixing assembly, and the driving wheel is sleeved on the output shaft of the power device ; the driven shaft is fixed with the foot fixing component and is coaxially arranged with the rotating shaft corresponding to the ankle joint, the driven wheel is sleeved on the driven shaft, and the driven wheel is close to the driving wheel. The end is provided with a first traction fixing part and a second traction fixing part for fixing the traction connecting piece. One end of the traction connecting piece passes through the first traction fixing part and then rotates around the driving wheel once and then follows a tangent line. The direction extends through the second traction fixing part and is fixed;

The sensing module is used for acquiring and sending a first data packet to the main control module, where the first data packet includes the height data of the user's center of gravity and the sole pressure data during use;

Based on the data signal of the first data packet, the main control module controls the power device to drive the driven wheel to rotate around the driven shaft axially through the traction connection, so that the traction driven mechanism follows Rotating, and then driving the foot fixing component to rotate around the rotation axis corresponding to the ankle joint, so that the foot drop rehabilitation exoskeleton robot provides assistance for the user.

A second aspect of the present invention provides a foot drop rehabilitation exoskeleton robot, including foot drop rehabilitation equipment, the foot drop rehabilitation equipment includes a foot fixing component, a leg fixing component, and traction on the foot fixing component and the leg The traction drive device between the fixed components is characterized in that it further includes a main control module and an induction module, and the control end of the traction drive device and the induction module are respectively connected in communication with the main control module;

The traction driving device includes two traction driving mechanisms respectively disposed on both sides of the foot fixing assembly;

Based on the data signal of the first data packet, the main control module controls the power device to drive the driven wheel to rotate around the driven shaft axially through the traction connector, thereby driving the foot fixing assembly to rotate around the driven shaft. The rotation axis corresponding to the ankle joint rotates, so that the foot drop rehabilitation exoskeleton robot provides assistance to the user.

In some preferred technical solutions, the radius of the driven wheel is larger than the radius of the driving wheel, and the positions of the centers of the first traction fixing portion, the driving wheel, and the second traction fixing portion can be connected end-to-end in sequence. Isosceles triangle.

In some preferred technical solutions, the traction drive mechanism is further provided with a limit mechanism, and the limit mechanism includes a first limit piece and a second limit piece that are rotatably matched, the first limit piece and the first limit piece Two limiting members are coaxially arranged with the driven wheel, the first limiting member is fixed with the casing of the power device, and the second limiting member is fixed with the driven shaft;

The first limiting member includes a first limiting portion and a second limiting portion arranged at an acute angle, the second limiting member includes a third limiting portion, and the third limiting portion can The moving shaft moves between the first limiting portion and the second limiting portion under the driving of the moving shaft.

In some preferred technical solutions, the foot fixing assembly includes a main pedal which is respectively arranged on the front foot and an auxiliary pedal which is arranged on the rear foot, and the main pedal is hinged with the auxiliary pedal.

In some preferred technical solutions, the main pedal includes two first connecting rods and second connecting rods respectively used for connecting with the leg fixing assembly;

The first connecting rod is hinged with the leg fixing assembly through the traction drive mechanism, and the first connecting rod is fixed with the driven shaft;

The second connecting rod and the leg fixing assembly are hinged through the traction driven mechanism, and the height of the hinge portion of the second connecting rod, the first connecting rod and the leg fixing assembly is adjustable.

In some preferred technical solutions, the traction driven mechanism includes a pin shaft, the pin shaft is set at a position equal to the height of the ankle joint from the sole of the foot, and the second connecting rod is connected to the leg through the pin shaft The hinged part of the fixing assembly.

In some preferred technical solutions, the traction drive device includes an encoder, the encoder is disposed on a side of the power device away from the driving wheel, and the encoder is connected to the main control module through a communication link , the encoder is used to collect the rotation angle of the ankle joint.

In some preferred technical solutions, the first data packet includes the user's plantar pressure, joint angle, and velocity/acceleration; wherein, the joint angle is the angles of three joints of hip, knee, and ankle, and the velocity/acceleration Acceleration is the velocity/acceleration of the calf, thigh and upper torso;

The main control module controls the traction drive device to drive the foot fixing assembly to rotate relative to the leg fixing assembly based on the data signal of the first data packet, so that the foot drop rehabilitation exoskeleton robot is ready for use provide assistance.

In some preferred technical solutions, the main control module can determine the next gait phase based on the data signal of the first data packet and perform position control or torque on the foot drop rehabilitation exoskeleton robot based on a preset control rule The preset control rule is the mapping relationship between the gait phase and the rehabilitation training method.

In some preferred technical solutions, the first data package further includes heart rate data of the user during use, and the main control module controls the rotational speed of the output shaft of the power device based on the heart rate data to adjust the user's heart rate data. pace.

A third aspect of the present invention provides an adaptive gait assisted control method for a foot drop rehabilitation exoskeleton robot, comprising the following steps:

Step S100, obtaining gait phase trajectory parameters under the standard gait of the foot drop rehabilitation exoskeleton robot user based on the standard gait prediction model, where the gait phase trajectory parameters include ankle joint angle trajectory, ankle joint torque trajectory and standard center of gravity height track;

Step S200, acquiring the height data of the center of gravity and the plantar pressure data of the user during use, and calculating the height data of the user's center of gravity at the current moment based on the data of the center of gravity and the plantar pressure data;

Step S300, obtaining the gait phase of the user at the current moment according to the height data of the center of gravity of the user at the current moment, and obtaining the gait phase trajectory parameters at the next moment according to the gait phase at the current moment, and based on a preset control rule generating a control signal of the foot drop rehabilitation exoskeleton robot, and adjusting the foot drop rehabilitation exoskeleton robot according to the signal to control the user's ankle joint torque and/or ankle joint rotation angle;

The preset control rule is the mapping relationship between the gait phase and the rehabilitation training method.

In some preferred technical solutions, the standard gait prediction model is constructed based on the sample's age, weight, gender, thigh length, calf length, double thigh width, double skeletal width, and anterior superior iliac spine width.

Beneficial effects of the present invention:

The foot drop rehabilitation exoskeleton robot of the present invention has a simple structure, can be flexibly worn, provides walking assistance for foot drop patients, and assists in foot rehabilitation training. The rotation speed and angle of the foot fixing component relative to the leg fixing component are controllable, so that a personalized rehabilitation training plan can be formulated according to the different conditions of each patient's foot drop to ensure the effect of rehabilitation training.

The foot drop rehabilitation exoskeleton robot of the present invention can record the patient's kinematics and dynamics data through the induction module, recognize the human body motion intention in real time in the main control module, and imitate the normal gait of a healthy person under the transmission of the frameless motor of the power device. Achieve active foot rehabilitation training on the affected side. Compared with the electrical stimulation method, the use of motor-assisted patient movement can achieve a more precise angular position of the affected foot, and it is also safer.

Description of drawings

Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

1 is a schematic diagram of the overall structure of a foot drop rehabilitation exoskeleton robot according to an embodiment of the present invention;

2 is a schematic diagram 1 of the internal structure of the traction drive device in an embodiment of the present invention;

3 is a second schematic diagram of the internal structure of the traction drive device in an embodiment of the present invention;

4 is a schematic cross-sectional view of a traction driven mechanism in an embodiment of the present invention;

5 is a schematic cross-sectional view of a traction drive mechanism in an embodiment of the present invention;

6 is a schematic diagram of a frame of a foot drop rehabilitation exoskeleton robot according to an embodiment of the present invention;

7 is a schematic diagram of a mapping relationship between a gait phase and a control method in an embodiment of the present invention;

8 is a schematic diagram of a mapping relationship between the height of the center of gravity and the gait phase in an embodiment of the present invention;

9 is a schematic diagram of torque control and/or rotation angle control of an ankle joint in an embodiment of the present invention;

FIG. 10 is a frame diagram of an auxiliary center rate adjustment according to an embodiment of the present invention.

List of reference numbers:

1-calf guard; 2-strap; 3-first leg fixing link; 4-second leg fixing link; 5-shell; 6-cover; 7-main pedal; 8-rubber pad; 9- Auxiliary pedal; 10- Motor shell end cover; 11- Motor shell; 12- Frameless motor; 13- First motor inner ring bracket; 14- Second motor inner ring bracket; 15- Encoder bracket; 16 - large bearing; 17- motor output shaft; 18- motor shell connecting block; 19- driving wheel; 20- traction connection; 21- driven shaft; 22- driven wheel; 23- small bearing; 24- small bearing seat ; 25-limit block; 26-pin shaft; 27-first pressing block; 28-second pressing block; 29-absolute encoder.

Detailed ways

In order to make the embodiments, technical solutions and advantages of the present invention more obvious, the technical solutions of the present invention will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are a part of the embodiments of the present invention, not all of them. Example. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principle of the present invention, and are not intended to limit the protection scope of the present invention.

In order to enable stroke patients to walk normally, this patent designs a portable exoskeleton rehabilitation robot for foot drop rehabilitation, which uses sensors to record patient kinematics and dynamics data, and recognizes human motion intentions in real time in the main control module , Under the drive of the motor, it imitates the normal gait of a healthy person, and realizes the active rehabilitation training of the affected foot. Compared with the electrical stimulation method, the use of motor-assisted patient movement can achieve a more precise angular position of the affected foot, and it is also safer.

A foot drop rehabilitation exoskeleton robot of the present invention includes foot drop rehabilitation equipment, wherein the foot drop rehabilitation equipment includes a foot fixing component, a leg fixing component, a traction drive device, a sensing module and a main control module, wherein,

The foot fixing assembly is used to fix the foot, preferably, the foot fixing assembly includes a main pedal and an auxiliary pedal, and a rubber pad connected between the main pedal and the auxiliary pedal, and the main pedal and the auxiliary pedal are hinged, so as to meet the Flexion of the forefoot and toes.

The leg fixing assembly is used for fixing the leg, preferably it is used for fixing the lower leg.

The traction drive device is used to connect and pull the foot fixing assembly and the leg fixing assembly. The control end and the sensing module of the traction drive device are respectively connected to the main control module through a communication link. The active module can control the traction drive device, so that the The foot securing assembly rotates relative to the leg securing assembly. The present invention can automatically adjust the switching between the dorsiflexion state and the toe flexion state of the foot through the main control module and the traction drive device according to the walking state of the person.

In the first embodiment of the present invention, the traction driving device includes a traction driving mechanism and a traction driven mechanism respectively disposed on both sides of the foot fixing assembly. In the second embodiment of the present invention, the traction driving device includes two traction driving mechanisms respectively disposed on both sides of the foot fixing assembly. Preferably, in order to reduce the weight of the foot drop rehabilitation exoskeleton robot, make it more portable and reduce the burden on patients, the preferred traction drive device of the present invention includes a traction drive mechanism and a traction driven mechanism, that is, the traction drive mechanism is an active movement, which The traction driven mechanism can be driven to follow the movement passively, so that the foot fixing assembly rotates relative to the leg fixing assembly under the driving of the traction driving device. Those skilled in the art can also provide two traction drive members, so that the two traction drive members drive the foot fixation assembly at the same time, so as to provide a more effective auxiliary force for the patient.

In some preferred embodiments, the traction drive mechanism includes a power device, a driving wheel, a driven wheel, a driven shaft, and a traction connector, the power device is communicatively connected to the main control module, the power device is fixed to the leg fixing assembly, and the driving wheel is sleeved the output shaft of the power device; the driven shaft is fixed with the foot fixing component and is coaxially arranged with the rotating shaft corresponding to the ankle joint; the driven wheel is sleeved on the driven shaft, and the driven wheel is connected with the driving wheel through the traction connector. Specifically, in the preferred embodiment of the present application, the driven shaft is fixedly installed below the output shaft of the power device, that is, the driven wheel is arranged below the driving wheel, and the driven wheel is provided with a fixed traction wheel near the lower end of the driving wheel. the first traction fixing part and the second traction fixing part of the connecting piece, one end of the traction connecting piece passes through the first traction fixing part and then rotates around the driving wheel once and then extends through the second traction fixing part along the tangential direction and is fixed;

The power device drives the driving wheel to rotate around its own axis, thereby causing the traction connecting piece to pull the driven wheel to rotate axially around the driven shaft, so that the traction-driven mechanism passively follows and rotates, thereby driving the foot fixing assembly to rotate around the corresponding ankle joint rotation of the axis of rotation.

Further, the sensing module is used to acquire and send a first data packet to the main control module, where the first data packet includes the height data of the user's center of gravity and the pressure data of the sole of the foot during use;

The main control module controls the power device based on the data signal of the first data packet, so that the power device drives the driven wheel to axially rotate around the driven shaft through the traction connector, so that the traction driven mechanism follows the rotation, thereby driving the foot to be fixed. The assembly rotates around a rotation axis corresponding to the ankle joint.

It can be understood that the foot drop rehabilitation exoskeleton robot of the present invention is not only used for foot drop, the name of the invention cannot be used as a limitation of the application of the present invention, and the present invention can also be used for correction and rehabilitation training of other related foot diseases. In order to describe the foot drop rehabilitation exoskeleton robot of the present invention more clearly, a preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

As a preferred embodiment of the present invention, the foot drop rehabilitation exoskeleton robot of the present invention, as shown in FIG. 1, includes a leg fixing assembly, which includes a calf guard 1, a strap 2, a first leg fixing link 3, The second leg holds the link 4 . The first leg fixing link 3 and the second leg fixing link 4 are respectively installed on both sides of the calf guard 1 . There may be one or more straps 2 as long as the legs can be fixed. The first leg fixing link 3 and the second leg fixing link 4 are respectively connected with the traction driving mechanism and the traction driven mechanism. In another embodiment of the present application, the first leg fixing link 3 and the second leg fixing link 4 are respectively connected with traction drive mechanisms specially provided on both sides of the foot fixing assembly.

The foot fixing assembly includes the main pedal 7, the auxiliary pedal 9 and the rubber pad 8 connected with the two as shown in FIG. 1 . The main pedal 7 includes two first connecting rods and two second connecting rods, which are respectively used for connecting with the leg fixing components. Preferably, both the first connecting rod and the second connecting rod are iron plates. The first connecting rod is connected with the first leg fixing link 3 , and the second connecting rod is connected with the second leg fixing link 4 .

The main pedal 7 and the auxiliary pedal 9 are hinged through the rubber pad 8, which can satisfy the bending motion of the patient's forefoot and toes. Preferably, the auxiliary pedal 9 is arranged at a position corresponding to the front foot of the human body, preferably, the auxiliary pedal is also provided with a forefoot fixing belt for fixing the human foot; the main pedal 7 is arranged at a position corresponding to the rear foot of the human body, preferably, the main pedal The pedal is also provided with a rear foot fixing belt. Both the forefoot strap and the rear foot strap can be adjusted for tightness. In a preferred embodiment of the present invention, the specific adjustment between the main pedal and the auxiliary pedal is suitable for people with different foot lengths to wear. Specifically, it can be fixed by double-layer rubber pads, the outer side of the main pedal 7 and the auxiliary pedal 9 are connected by the first connecting rod, the inner side is connected by the second connecting rod, and the outer connecting rod 13 and the inner connecting rod 14 are connected with each other. The length is adjustable, and by adjusting the length of the two connecting rods, it can be adapted to be worn by different patients, so as to facilitate the correction and rehabilitation training of their foot drop or other related foot diseases.

When the present invention is in use, the main pedal 7, the auxiliary pedal 9 and the rubber pad 8 should be inserted into the shoe together with the foot, and the calf guard 1 should be tightly fitted with the calf, and the straps 2 should be wound and fixed.

Further, the traction driving device of the foot drop rehabilitation exoskeleton robot shown in the accompanying drawings of the present invention includes a traction driving mechanism and a traction driven mechanism respectively disposed on both sides of the foot fixing assembly; the first connecting rod and the first leg The fixed link 3 is hinged through the traction drive mechanism, the second connecting rod and the second leg fixing link 4 are hinged through the traction driven mechanism, and the height of the hinge part of the second connecting rod, the first connecting rod and the leg fixing assembly is adjustable . In order to adapt to different patients to wear.

Specifically, the traction drive mechanism includes a housing 5 , the lower end of the first leg fixing link 3 is fixed on the motor housing 11 , and the upper part and the second leg fixing link 4 are fixed on the calf guard 1 together. The traction driven mechanism includes a pin shaft 26 , the pin shaft 26 is set at a position equal to the height of the ankle joint from the sole of the foot, and the second connecting rod is hinged with the second leg fixing link 3 through the pin shaft 26 . In a preferred embodiment of the present invention, the distance between the center of the pin shaft 26 and the rubber pad 8 is about 80 mm, which can prevent the patient from spraining the foot during rehabilitation training. As shown in FIG. 4 , the inner side of the ankle joint uses screws to fix the pin shaft 26 on the inner bracket of the main pedal 7 , and the pin shaft 26 cooperates with the shaft hole at one end of the second leg fixing link 4 to follow the outer drive to rotate.

In some preferred embodiments, the traction drive mechanism includes a power unit, a driving wheel 19 , a driven wheel 22 , a driven shaft 21 and a traction link 20 . Preferably, the frameless motor 12 is selected for the power unit, the power unit is connected to the main control module in communication, the power unit is fixed to the leg fixing assembly, and the driving wheel 19 is sleeved on the output shaft of the power unit, that is, the motor output shaft 17 as shown in the figure. The driven shaft 21 is fixed with the foot fixing assembly and is arranged coaxially with the corresponding rotating shaft of the ankle joint; the driven wheel 22 is sleeved outside the driven shaft 21 and fixed with the driven shaft 21, and the driven wheel 22 is close to the A first traction fixing part and a second traction fixing part are provided at the position for fixing the traction connecting piece 20. One end of the traction connecting piece 20 passes through the first pulling fixing part and then rotates around the driving wheel 19 for a circle and then extends through the second traction fixing part in the tangential direction. Pull the fixing part and fix it; in the preferred embodiment of the present invention, the pulling connecting piece is made of steel wire rope to ensure the strength and safety. Those skilled in the art can also choose other materials, such as nylon rope.

The power device can drive the driven wheel 22 to rotate axially around the driven shaft 21 through the traction link 20, so that the traction driven mechanism rotates passively, thereby driving the foot fixing assembly to rotate around the rotation axis corresponding to the ankle joint. Specifically, when the output shaft of the power device rotates, it drives the driving wheel 19 to rotate around its own axis, and then the traction connector can pull the driven wheel 22 to rotate. Since the driven wheel 22 is sleeved on the driven shaft 21, the driven wheel 22 can drive The driven shaft 21 rotates, thereby driving the foot fixing assembly fixed to the driven shaft 21 to rotate around the driven shaft. Since the driven shaft is coaxial with the rotation axis of the ankle joint, the foot fixing assembly can be driven by the power device. Rotate around the axis of rotation of the ankle joint.

The casing 5 is equipped with a traction drive mechanism, and the present invention transmits power through the traction link 20 . 2-5, the traction drive device includes a motor housing end cover 10, a motor housing 11, a frameless motor 12, a first motor inner ring bracket 13, a second motor inner ring bracket 14, an encoder bracket 15, and a large bearing 16. Motor output shaft 17, motor housing connection block 18, driving wheel 19, traction connector 20, driven shaft 21, driven wheel 22, small bearing 23, small bearing seat 24, limit block 25, pin 26, The first pressing block 27 , the second pressing block 28 , and the encoder 29 .

Further referring to FIG. 5 , the motor housing end cover 10 is fixed on the motor housing 11 with countersunk screws, the outer ring of the frameless motor 12 is fixed on the motor housing 11 by set screws, and the motor housing 11 is equipped with a motor. The output shaft 17, the driving wheel is sleeved on the output shaft 17 of the motor. The motor housing 11 and the motor housing end cover 10 are respectively provided with large bearings 16 , which are used for the axial fixation of the motor output shaft 17 . The inner ring of the frameless motor 12 is fixed by the first motor inner ring bracket 13 and the second motor inner ring bracket 14, and the space between the first motor inner ring bracket 13 and the second motor inner ring 14 is fixed on the motor output shaft with screws 17 on. The first leg fixing link 3 is fixed on the motor casing connecting block 18 by screws, and the motor casing connecting block 18 is fixed on the motor casing 11 . It can be understood that, in the preferred embodiment of the present invention, the model of the frameless motor 12 is preferably TBM60, and its inner and outer rings are assembled separately. The use of frameless motors can improve the performance of the robot, reduce the maintenance frequency, and it is light in size, takes up less space, and is convenient for patients to wear and reduce the load.

Referring to FIG. 2 , the radius of the driven wheel 22 is larger than that of the driving wheel 19 . Preferably, the ratio of the radius of the driving wheel to the driven wheel is preferably 1:5, and the output torque can be increased by this setting. The driven wheel is provided with a first traction fixing part, namely a first pressing block 27, and a second traction fixing part, namely a second pressing block 28, at a position close to the driving wheel for fixing the traction connecting piece 20. The positions of the centers of the first traction fixing portion, the driving wheel, and the second traction fixing portion are connected end-to-end in sequence to form an isosceles triangle. That is, the first traction fixing portion and the second traction fixing portion are arranged radially symmetrically with respect to the driving wheel 19 .

The driving wheel 19 is fixed on the motor output shaft 17 of the frameless motor 12 , and the driven wheel 22 is fixed on the driven shaft 21 . In the embodiment of the present application, the driven shaft 21 is arranged below the motor output shaft 17 . The traction link 20 is connected between the driving wheel 19 and the driven wheel 22 . Specifically, one end of the traction connector 20 is fixed between the driving wheel 19 and the motor output shaft 17, and is pressed with a countersunk head screw. , and the driven wheel 22 is clamped and fixed with the first pressing block 27 and the second pressing block 28 and screws. In the preferred embodiment of the present application, the driven wheel is provided with an arc-shaped groove at the end near the driving wheel, one end of the traction connector 20 is fixed with the first pressing block 27, and the other end extends along the arc-shaped groove to the driving wheel After rotating around the driving wheel once, it extends back to the arc-shaped groove along the tangential direction until the end of the arc-shaped groove, and is finally fixed by the second pressing block 28 . Preferably, the first pressing block 27 and the second pressing block 28 are respectively arranged on both sides of the driven wheel. In the preferred embodiment of the present application, the first pressing block 27 is installed on a side of the driven wheel close to the user. The second pressing block 28 is installed on the side of the driven wheel facing away from the user. With this arrangement, the two ends of the traction connector are respectively fixed on both sides of the driven wheel, thereby separating the traction connector to prevent friction of the traction connector during rotation.

Referring to FIG. 2 , the driven wheel 22 adopts an irregular sector structure design, and the outer edge of the irregular sector, that is, the axis angle, is 60°. This arrangement makes the structure of the traction drive mechanism of the present invention more compact; at the same time, two through holes are arranged above the connecting portion with the main pedal 7, and this arrangement is used to reduce the weight of the whole robot.

Further, the first traction fixing portion and the second traction fixing portion are respectively provided with tensioning holes relative to the tangential direction of the traction connecting piece, and the tensioning holes are used to change the tension of the traction connecting piece 20 . Referring to Figure 2, two tensioning holes are symmetrically arranged at both ends of the connection between the first connecting rod and the driven wheel 22. One end of the traction connector 20 is fixed by the driving wheel 19, and the other end is tensioned by the special wrench of the present invention. The special wrench of the present invention is an L-shaped cylindrical rod, and the short side of the L-shaped cylindrical rod is provided with a round hole. The traction connector 20 is inserted into the round hole, and the short side of the wrench is put into the tensioning hole, and the traction connector 20 can be tensioned by rotating. Preferably, the center of the first pulling fixing part/the second pulling fixing part is collinear with the center of the tension hole, that is, both are on the radius of the driven shaft 22 .

The traction drive mechanism is also provided with a limiting mechanism. The limiting mechanism includes a first limiting member and a second limiting member that are rotatably matched. The first limiting member and the second limiting member are coaxially arranged with the driven wheel 22. The position piece is fixed with the casing of the power device, that is, fixed with the motor casing 11 . The second limiting member is fixed with the driven shaft 21, and can move with the driven shaft 21;

The first limiting member includes a first limiting portion and a second limiting portion arranged at an acute angle, the second limiting member includes a third limiting portion, and the third limiting portion can be driven by the driven shaft 21 on the first limiting portion. The movement is between a limiting portion and a second limiting portion.

In a preferred embodiment of the present invention, the first limiting member is a small bearing seat 24 , and the second limiting member is a limiting block 25 . The lower end of the motor shell 11 is equipped with a small bearing seat 24, and the small bearing seat 24 is equipped with two small bearings 23 and a driven shaft 21, that is, the driven shaft 21 is fixedly installed in the lower part of the motor shell 11, and it only has its own axis. degrees of freedom of rotation. Both ends of the driven shaft 21 are limited by small bearings 23, and are axially fixed by holes and retaining springs. Driven shaft 21 The driven shaft 21 is fixed on the bracket of the main pedal 7 with screws, and the driven wheel 22 is sleeved on the driven shaft 21 and fixed by a shaft circlip. Further, the other end of the driven shaft 21 is provided with a limit block 25, which functions to cooperate with the small bearing seat 24 and limit the rotation angle of the ankle joint within a safe angle range. The two limiting parts of the first limiting member are arranged at an acute angle to limit the rotation angle of the third limiting part of the limiting block within 0° to 50°, that is, it is used to limit the rotation angle of the foot fixing assembly Within 0°～50°.

The traction drive device further includes an encoder 29 , and the encoder is arranged on the side of the power device that is away from the driving wheel 19 , that is, the other side of the motor housing 11 . The encoder 29 is connected with the main control module through a communication link, and the encoder 29 is used to collect the rotation angle of the ankle joint. Specifically, one end of the motor output shaft 17 is provided with a driving wheel 19 , and the other end is provided with an encoder bracket 15 . The encoder 29 is preferably an absolute value encoder, the magnetic ring of the encoder 29 is fixed on the encoder bracket 15 , and the reading head is fixed on the motor casing end cover 10 . The invention can detect the dorsiflexion and toe flexion angles of the foot through the encoder or the angle sensor, so as to ensure that the foot moves within the normal and safe range. Preferably, the ankle joint specifically has a dorsiflexion rotation angle of 0° to 20°, and a toe flexion rotation angle of 0° to 30°.

The main control module of the foot drop rehabilitation exoskeleton robot of the present invention can control the rotation of the frameless motor 12, so that the driving wheel 19 on the motor output shaft rotates around its own axis, and then drives the driven wheel 22 to rotate through the traction connector 20. The motor output shaft 17 is coaxially arranged with the rotating shaft corresponding to the ankle joint, so the driven wheel 22 can drive the foot fixing component to rotate around the rotating shaft corresponding to the ankle joint, so as to realize automatic exercise of the ankle joint and achieve physical rehabilitation therapy For the purpose of foot drop, patients can control the data of the main control module by themselves, so that they can carry out rehabilitation training by themselves at any time and accelerate the rehabilitation of foot drop. The invention has a simple structure and is easy to operate, and can effectively reduce the difficulty of rehabilitation and nursing.

Preferably, the main control module of the present invention further includes a main control base plate, WIFI, Bluetooth, TF card, motor driver, encoder, acceleration detection mechanism, heart rate detection mechanism and a foot pressure sensor. Among them, the main control board is connected to the power supply, communication and data acquisition modules; the acceleration detection mechanism, the foot pressure sensor and the heart rate detection mechanism are mainly used to collect human kinematics and dynamics data and the user's heart rate data during exercise. The collected data is transmitted through WIFI or Bluetooth and stored in the TF card. After data processing in the main control module, the motor and encoder are controlled by the internal design algorithm to realize the exoskeleton-assisted movement. Specifically, the present application realizes the control feedback between the encoder and the motor through a single chip microcomputer, and the encoder communicates and connects with the motor driver through the RS485 protocol. The motor driver controls the motor, and the encoder obtains the motor data and feeds it back to the motor driver to form a closed loop. It can be understood that the second embodiment of the present invention, that is, when there are two traction drive mechanisms, also has the above advantages and functions, which will not be described again.

Further, the induction module of the present application is connected with the main control module through a communication link, the induction module is used to obtain the first data packet and send it to the main control module, and the active module controls the traction drive device based on the data of the induction module, that is, controls the traction drive. The rotation of the power unit in the mechanism.

In the first preferred embodiment of the present application, the first data packet includes the user's plantar pressure data signal, joint angle data signal and speed/acceleration data signal; wherein the plantar pressure data signal is detected by a plantar pressure sensor The obtained pressure data; the joint angle data signal is the angle data of the hip, knee, and ankle joints detected by the joint rotation angle sensor; the speed/acceleration is the speed of the calf, thigh and upper torso detected by the speed/acceleration sensor /acceleration data.

In some other preferred embodiments, the first data package of the foot drop rehabilitation exoskeleton robot of the present application includes the height data of the center of gravity and the plantar pressure data of the user during use; The center of gravity data and the plantar pressure data can obtain the user's next gait phase. It can be understood that the sensing module can also acquire ankle joint force/torque data signals and the like. As long as it can be used to obtain the next gait phase of the human body.

The main control module controls the traction drive device to drive the foot fixing assembly to rotate relative to the leg fixing assembly based on the data signal of the first data packet, so that the foot drop rehabilitation exoskeleton robot provides assistance for the user. Specifically, the main control module can determine the next gait phase of the user based on the data signal of the first data packet and perform torque (torque) control or angle (position) control on the foot drop rehabilitation exoskeleton robot based on a preset control rule, The preset control rule is the mapping relationship between gait phase and rehabilitation training method.

Referring to FIG. 7 , according to the data signal of the first data packet, the present invention can divide the gait phase based on the difference in kinematics and dynamic parameters of the human body at different stages of walking. The gait phase of the human body is divided into 8 phases in total, which are: 1. Initial contact phase; 2. Load response phase; 3. Intermediate stance phase; 4. Final stance phase; 5. Pre-swing phase; 6. Initial swing Phase; 7. Intermediate swing phase; 8. Final swing phase.

In order to precisely control the foot drop rehabilitation exoskeleton robot and provide patients with safe and effective rehabilitation training, the foot drop rehabilitation exoskeleton robot of the present invention adopts different control strategies at different stages, that is, the present invention adopts the preset control rules as gait The mapping relationship between the phase and the rehabilitation training method selects the preferred control method to control the foot drop exoskeleton robot. Preferably, (torque) torque control is used in stages 1-4, so that the patient can get reliable assistance in the support phase; stage 5-8 uses (angle) position control, which can set appropriate training goals for patients and achieve optimal training. Effect. It can be understood that (torque) torque control is used in stages 1-4, and (angle) position control is used in stages 5-8 to help patients complete dorsiflexion of the affected foot and achieve normal walking function. The above embodiment is only a preferred mapping relationship between the gait phase and the rehabilitation training method, and different patients have different rehabilitation training methods. Therefore, those skilled in the art can adjust the mapping relationship or the magnitude of the moment and the rotation angle of the ankle joint according to the actual situation of the patient. Wait.

Furthermore, the first data package also includes the user's heart rate data during use, and the main control module controls the rotational speed of the output shaft of the power device based on the heart rate data to adjust the user's pace. Preferably, referring to FIG. 10 , in order to ensure that the user can walk at the optimal speed when wearing the ankle joint exoskeleton robot, the exoskeleton robot assisted pace is adjusted by means of heart rate monitoring. Before wearing the exoskeleton robot, first quantitatively predict the heart rate corresponding to the user's optimal pace; during the assistance period of the exoskeleton robot, the user wears a heart rate monitor to monitor the heart rate in real time. When the user's heart rate is lower than (best pace heart rate - 20) beats/min, close to the resting state, it reflects that the pace is slow, and the motor speed of the exoskeleton robot can be appropriately increased, thereby increasing the pace; When the heart rate is higher than (best pace heart rate + 20) times/min, it reflects that its pace is fast, and the exoskeleton robot motor speed can be appropriately reduced to reduce the pace to prevent the user's muscle fatigue and the possible risk of falling. .

It can be understood that the main control module of the present invention can adjust the dynamic model and the human-computer interaction model in real time according to the state of the robot, and estimate the interference and eliminate the influence of the interference, thereby further improving the coordination between the human and the machine and realizing the smooth motion control. Assist the human body to carry out rehabilitation training movements more naturally and easily.

More preferably, the present application provides an adaptive gait assistance control method for a foot drop rehabilitation exoskeleton robot, comprising the following steps:

Step S100, obtaining gait phase trajectory parameters under the standard gait of the foot drop rehabilitation exoskeleton robot user based on the standard gait prediction model, where the gait phase trajectory parameters include ankle joint angle trajectory, ankle joint torque trajectory and standard center of gravity height Trajectories; specifically, a standard gait prediction model was constructed based on the sample's age, weight, gender, thigh length, calf length, double thigh width, double skeletal width, and anterior superior iliac spine width.

Step S200, acquiring the height data of the center of gravity and the plantar pressure data of the user during use, and calculating the height data of the user's center of gravity at the current moment based on the center of gravity data and the plantar pressure data;

Step S300, obtaining the gait phase of the user at the current moment according to the height data of the center of gravity of the user at the current moment, and obtaining the gait phase trajectory parameters of the next moment according to the gait phase at the current moment. Specifically, the gait phase trajectory parameters include: The height of the user's center of gravity, the torque trajectory of the ankle joint, and the angle trajectory of the ankle joint.

Further, according to the above data, that is, the torque trajectory of the ankle joint and the angular trajectory of the ankle joint, a control signal of the foot drop rehabilitation exoskeleton robot is generated based on a preset control rule, and the foot drop rehabilitation exoskeleton robot is adjusted according to the signal to control the use of the robot. The ankle joint torque and/or the ankle joint rotation angle of the person; the preset control rule is the mapping relationship between the gait phase and the rehabilitation training method. Specifically, according to the user's simulated healthy gait phase trajectory parameters, the exoskeleton rehabilitation robot is controlled, and the plantar pressure sensor and the ankle joint angle detection sensor provided by the exoskeleton rehabilitation robot are used as a feedback loop. It should be noted that the adaptive gait assistance control method for a foot drop rehabilitation exoskeleton robot of the present application is mainly applicable to an exoskeleton wearable foot drop rehabilitation exoskeleton robot.

Specifically, the control method of the present application needs to establish a personalized standard gait prediction model. The following factual manners are taken as examples, which do not limit the whole content of the present invention. In practical application: through pre-collected gait motion data of healthy subjects (angles of three joints of hip, knee and ankle, changes in plantar pressure, and changes in height of center of gravity) and 8 human bodies with strong correlation with individual gait Parameters (age, weight, gender, thigh length, calf length, double thigh width, double skeletal width, and anterior superior iliac spine width) were used to construct a personalized standard gait prediction model. The specific method is as follows: each subject walks at a constant speed on the same treadmill for the same time, and records the exercise data while walking. After the data is filtered, segmented, normalized and averaged, the personalized standard gait is obtained and the standard gait features are further extracted. Further, a Gaussian process regression model with 8 human parameters as input was designed to predict the gait characteristics respectively. The trained model can accurately predict the gait characteristics of the new subjects only by relying on the human parameters of the new subjects, and then restore the corresponding standard gait. It can be understood that the personalized standard gait prediction model of the present application can be constructed based on any method among time series models, support vector machines, artificial neural networks, decision trees, and random forests.

Further, before a foot drop patient wears the foot drop rehabilitation exoskeleton robot of the present application, it is necessary to measure the above-mentioned 8 human body parameters first, input the wearer's 8 human body parameters into the personalized standard gait prediction model, and output the obtained wearer. Corresponding parameters of standard gait. Specifically, the gait-related parameters marked by the wearer include a standard ankle joint angle trajectory, a standard ankle joint torque trajectory, and a standard center of gravity height trajectory, wherein the ankle joint angle trajectory and the ankle joint torque trajectory are used to control the foot drop rehabilitation exoskeleton robot, and the center of gravity Height trajectories are used for one-to-one correspondence with gait phases. In the actual detection, the wearer's actual ankle joint torque trajectory is calculated from the plantar pressure change trajectory, which can be obtained through the plantar pressure sensor of the foot drop exoskeleton robot; the wearer's actual ankle joint angle trajectory is obtained through inertial sensors or acceleration. Sensor acquisition; the actual height trajectory of the wearer's center of gravity can be acquired by a sensor arranged on the wearer's waist. It can be understood that, the method for acquiring the actual height of the center of gravity of the wearer can be acquired through a motion capture system, or can be performed by using a known technology. Due to the strong periodic stability of the height of the center of gravity of the human body during walking, the error is small. Therefore, the present application preferably establishes a corresponding relationship between the standard center of gravity height trajectory and the gait phase, that is, the gait phase at the current moment can be obtained through the user's current center height trajectory, and then the gait phase at the next moment can be obtained. Specifically, during the exoskeleton assisting process, the user’s real-time center of gravity height and plantar pressure sensor data recorded by sensors placed at the waist are used to select a range to determine the position of the user at the standard center of gravity height trajectory at the current moment, and further infer the specific height of the center of gravity. gait phase, and then determine the corresponding ankle torque and angle. As shown in Figure 8. For the gait phases of different stages, the corresponding control targets can be set according to the standard ankle joint torque trajectory and angle trajectory. Further, in the corresponding phase stage, the actual torque value or actual angle value measured by the ankle joint torque sensor or accelerometer As feedback, together with the control target, it forms a closed control loop (as shown in Figure 9), and realizes the control method of the ankle joint exoskeleton in different phases, making the user's assisted walking process more safe and comfortable.

It should be noted that the human gait phase trajectory parameters also include motion parameters of joints such as hip joints and knee joints. Since the patient's hip joints and knee joints have relatively large errors as calculated data, the present application maps the gait through the height of the human body's center of gravity. The phase is then controlled by the ankle joint torque trajectory and the ankle joint angle trajectory as control targets.

Specifically, the control methods of the ankle joint exoskeleton are different in different phase stages. Preferably, (torque) moment control is used in stages 1-4, and the user can obtain reliable assistance in the support phase; stage 5-8 uses (angle) position control , which can set appropriate training goals for users to achieve the best training effect. It can be understood that (torque) torque control is used in stages 1-4, and (angle) position control is used in stages 5-8 to help the user complete dorsiflexion of the affected foot and achieve normal walking function. The specific method of torque (torque) control is as follows: the gait phase is determined by the user's actual center of gravity height and plantar pressure, and the ankle joint torque under the current phase is further determined and input to the main control module of the foot drop rehabilitation exoskeleton robot as the control target. At the same time, the real-time data collected by the plantar pressure sensor is converted into real-time ankle torque through calculation, which is used as a feedback input controller to form a closed loop. The specific method of position (angle) control is as follows: the gait phase is determined by the user's actual center of gravity height and plantar pressure, and the ankle joint angle under the current phase is further determined and input to the main control module of the foot drop rehabilitation exoskeleton robot as the control target. At the same time, the accelerometer placed at the ankle joint collects the patient's ankle joint angle in real time, and forms a closed loop as a feedback input controller.

The technical solutions in the above embodiments of the present application have at least the following technical effects and advantages:

It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. Terms indicating a direction or positional relationship are based on the direction or positional relationship shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a particular orientation, be constructed and operate in a particular orientation, Therefore, it should not be construed as a limitation of the present invention. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In addition, it should also be noted that, in the description of the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a It is a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication between two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

The term "comprising" or any other similar term is intended to encompass a non-exclusive inclusion such that a process, article, or device/means comprising a list of elements includes not only those elements, but also other elements not expressly listed, or also includes Elements inherent to these processes, items or equipment/devices.

So far, the technical solutions of the present invention have been described with reference to the preferred embodiments shown in the accompanying drawings, however, those skilled in the art can easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. On the premise of not departing from the principle of the present invention, those skilled in the art can make equivalent changes or replacements to the relevant technical features, and the technical solutions after these changes or replacements will all fall within the protection scope of the present invention.

Claims

A foot drop rehabilitation exoskeleton robot, including foot drop rehabilitation equipment, the foot drop rehabilitation equipment includes a foot fixing component, a leg fixing component, and a traction between the foot fixing component and the leg fixing component. The traction drive device is characterized in that it further comprises a main control module and an induction module, and the control end of the traction drive device and the induction module are respectively connected in communication with the main control module;

The traction driving device includes a traction driving mechanism and a traction driven mechanism respectively arranged on both sides of the foot fixing assembly;

The traction drive mechanism includes a power device, a driving wheel, a driven shaft, a driven wheel and a traction connector, the power device is fixed with the leg fixing assembly, and the driving wheel is sleeved on the output shaft of the power device ; the driven shaft is fixed with the foot fixing component and is coaxially arranged with the rotating shaft corresponding to the ankle joint, the driven wheel is sleeved on the driven shaft, and the driven wheel is close to the driving wheel. The end is provided with a first traction fixing part and a second traction fixing part for fixing the traction connecting piece. One end of the traction connecting piece passes through the first traction fixing part and then rotates around the driving wheel once and then follows a tangent line. The direction extends through the second traction fixing part and is fixed;

The sensing module is used for acquiring and sending a first data packet to the main control module, where the first data packet includes the height data of the user's center of gravity and the sole pressure data during use;

Based on the data signal of the first data packet, the main control module controls the power device to drive the driven wheel to rotate around the driven shaft axially through the traction connection, so that the traction driven mechanism follows rotate, and then drive the foot fixing component to rotate around the rotation axis corresponding to the ankle joint.
A foot drop rehabilitation exoskeleton robot, including foot drop rehabilitation equipment, the foot drop rehabilitation equipment includes a foot fixing component, a leg fixing component, and a traction between the foot fixing component and the leg fixing component. The traction drive device is characterized in that it further comprises a main control module and an induction module, and the control end of the traction drive device and the induction module are respectively connected in communication with the main control module;

The traction driving device includes two traction driving mechanisms respectively disposed on both sides of the foot fixing assembly;

The traction drive mechanism includes a power device, a driving wheel, a driven shaft, a driven wheel and a traction connector, the power device is fixed with the leg fixing assembly, and the driving wheel is sleeved on the output shaft of the power device ; the driven shaft is fixed with the foot fixing component and is coaxially arranged with the rotating shaft corresponding to the ankle joint, the driven wheel is sleeved on the driven shaft, and the driven wheel is close to the driving wheel. The end is provided with a first traction fixing part and a second traction fixing part for fixing the traction connecting piece. One end of the traction connecting piece passes through the first traction fixing part and then rotates around the driving wheel once and then follows a tangent line. The direction extends through the second traction fixing part and is fixed;

The sensing module is used for acquiring and sending a first data packet to the main control module, where the first data packet includes the height data of the user's center of gravity and the sole pressure data during use;

Based on the data signal of the first data packet, the main control module controls the power device to drive the driven wheel to rotate around the driven shaft axially through the traction connector, thereby driving the foot fixing assembly to rotate around the driven shaft. The rotation axis corresponding to the ankle joint rotates.
The foot drop rehabilitation exoskeleton robot according to any one of claims 1 or 2, wherein the radius of the driven wheel is greater than the radius of the driving wheel, the first traction fixing part, the driving wheel , The center of the second traction fixing part is connected end to end in turn to form an isosceles triangle.
The foot drop rehabilitation exoskeleton robot according to any one of claims 1 or 2, wherein the traction drive mechanism is further provided with a limit mechanism, and the limit mechanism includes a first limit member that is rotatably matched and a limiter. A second limiting piece, the first limiting piece and the second limiting piece are coaxially arranged with the driven wheel, the first limiting piece is fixed with the casing of the power device, the second limiting piece is The limiting member is fixed with the driven shaft;

The first limiting member includes a first limiting portion and a second limiting portion arranged at an acute angle, the second limiting member includes a third limiting portion, and the third limiting portion can The moving shaft moves between the first limiting portion and the second limiting portion under the driving of the moving shaft.
The exoskeleton robot for foot drop rehabilitation according to any one of claims 1 or 2, wherein the traction drive device comprises an encoder, and the encoder is arranged on a part of the power device away from the driving wheel. On the other hand, the encoder is connected with the main control module through a communication link, and the encoder is used to obtain the rotation angle of the ankle joint.
The foot drop rehabilitation exoskeleton robot according to any one of claims 1 or 2, wherein the foot fixing assembly comprises a main pedal and an auxiliary pedal respectively arranged on the front foot and the rear foot, so The main pedal is hinged with the auxiliary pedal.
The foot drop rehabilitation exoskeleton robot according to any one of claims 1 or 2, wherein the main control module can determine the user's next gait phase based on the data signal of the first data packet and based on The preset control rule performs torque control or angle control on the foot drop rehabilitation exoskeleton robot, and the preset control rule is the mapping relationship between the gait phase and the rehabilitation training method.
The foot drop rehabilitation exoskeleton robot according to any one of claims 1 or 2, wherein the first data package further includes heart rate data of the user during use, and the main control module is based on the The heart rate data controls the rotational speed of the output shaft of the power device to adjust the user's pace.
An adaptive gait auxiliary control method for a foot drop rehabilitation exoskeleton robot, characterized in that it includes the following steps:

Step S100, obtaining gait phase trajectory parameters under the standard gait of the foot drop rehabilitation exoskeleton robot user based on the standard gait prediction model, where the gait phase trajectory parameters include ankle joint angle trajectory, ankle joint torque trajectory and standard center of gravity height track;

Step S200, acquiring the height data of the center of gravity and the plantar pressure data of the user during use, and calculating the height data of the user's center of gravity at the current moment based on the data of the center of gravity and the plantar pressure data;

Step S300, obtaining the gait phase of the user at the current moment according to the height data of the center of gravity of the user at the current moment, and obtaining the gait phase trajectory parameters at the next moment according to the gait phase at the current moment, and based on the preset control rule generating a control signal of the foot drop rehabilitation exoskeleton robot, and adjusting the foot drop rehabilitation exoskeleton robot according to the signal to control the user's ankle joint torque and/or ankle joint rotation angle;

The preset control rule is the mapping relationship between the gait phase and the rehabilitation training method.
The adaptive gait assisted control method for a foot drop rehabilitation exoskeleton robot according to claim 9, wherein the standard gait prediction model is based on the age, weight, gender, thigh length, calf length, and double stock width of the sample. , bibone width, and anterior superior iliac spine width were constructed.