Construction method and system of flexible lower limb exoskeleton rehabilitation unit based on digital twin

Abstract

The invention provides a digital twin-based flexible lower limb exoskeleton rehabilitation unit construction method and system. The exoskeleton rehabilitation system consists of two parts: the physical entity of the lower extremity exoskeleton and the digital twin of the lower extremity exoskeleton. The exoskeleton entity is fixed on the wearer's body in an organic combination of rigid support and flexible drive, including various straps connected to the lower limbs, various joint transmission structures, gravity support mechanisms, data acquisition modules and control execution modules. There are two degrees of freedom on each leg of the exoskeleton, which are hip joints and knee joints, and the joints are driven flexibly by using a serial elastic actuator (SEA). The digital twin of the lower extremity exoskeleton can completely reflect the geometric and physical characteristics of the exoskeleton entity. The invention can be well applied to the medical rehabilitation of the lower limbs, assists the walking training of hemiplegic patients and detects the rehabilitation status of the patients, and has great practical value.

Description

technical field [0001] The invention relates to the field of human-computer interaction medical technology, in particular to a method and system for constructing a flexible lower limb exoskeleton rehabilitation unit based on digital twins. Background technique [0002] Digital twin technology is one of the most popular digital technologies and application fields in recent years. The so-called digital twin is a digital model of a physical object. This model can receive data from the physical object in real time, so that it can continuously evolve to maintain the relationship with the physical object. unanimous. The basic feature of digital twins is virtual-real mapping. By constructing digital twin models for physical entities, the two-way mapping between physical models and digital twin models is realized. Building a digital twin model is not an end, but a means. It is necessary to analyze and optimize the digital twin model to improve the performance and operating performa...

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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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