Flexible lower limb exoskeleton rehabilitation unit construction method based on digital twinning and system thereof

Abstract

The invention provides a flexible lower limb exoskeleton rehabilitation unit construction method based on digital twinning and a system thereof. The exoskeleton rehabilitation system comprises two parts, namely a lower limb exoskeleton physical entity and a lower limb exoskeleton digital twinborn body. The exoskeleton entity is fixed to the body of a wearer in a rigid supporting and flexible driving organic combination mode and comprises various bandages connected with the lower limbs, joint transmission structures, a gravity supporting mechanism, a data acquisition module and a control execution module. Each leg of the exoskeleton has two degrees of freedom, namely a hip joint and a knee joint, and the joints are flexibly driven by a series elastic actuator (SEA). The lower limb exoskeleton digital twin can completely reflect the geometrical characteristics and physical characteristics of an exoskeleton entity. The lower limb rehabilitation assisting device can be well applied to lower limb medical rehabilitation, assists the hemiplegic patient in walking training and detects the rehabilitation condition of the patient, and has great practical value.

Description

Technical field [0001] The present invention relates to the field of human machine interactive medical technology, and in particular, to a method and system for the construction of a flexible lower extremity of flexible lower limbs based on digital twin. Background technique [0002] Digital twin technology is one of the most popular digital technologies and applications in recent years. The so-called digital twins are a digital model of physical objects. This model can receive data from physical objects in real time, so that they can be evolved to maintain with physical objects. Consistent. The basic feature of digital twins is a virtual mapping, and a two-way mapping of physical model and digital twin model is realized by building a digital twin model for physical entities. Build a digital twin model is not a purpose, but a means, it needs to improve its performance and performance performance of the physical entity by analyzing and optimizing the digital twin model. Digital tw...

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Problems solved by technology

[0005] Patent document CN112223263A discloses a human-machine collaborative real-time control method for a flexible exoskeleton system, including a flexible exoskeleton system that acquires human body posture information and human-ground interaction force information in real time; The system includes full assist control, weak assist control, force feedback control and non-assist control; the control mode of the flexible exoskeleton system is selected according to the information of human body posture and human-ground interaction force; the patent still needs to be improved in terms of process structure and technical performance Space

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