A lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle driving

Abstract

This invention relates to the field of rehabilitation medical device technology, and discloses a lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive. Its key technical features include: a lower limb rehabilitation exoskeleton and a back frame mounted on top of it; the exoskeleton comprises a hip support rod, thigh rods movably connected to the front ends of the hip support rod, and lower leg rods movably connected to the bottom of the thigh rods; foot pedals are movably connected to the bottom of the lower leg rods; rollers are provided at each joint hinge point; pneumatic tendons are fixedly connected to the front and rear sides of the thigh and lower leg rods; the back frame comprises a back frame, air ducts, and pneumatic tendons in the back; control components are fixed to the outer wall of the back frame; the foot pedals adopt a front-to-back split structure, with the spacing adjusted by a locking rod and slot; the pneumatic tendons drive the lower limb joints to swing through cables and rollers, and the front and rear pneumatic tendons deform accordingly during joint rotation, assisting in joint repositioning.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical device technology, and more specifically, to a lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive. Background Technology

[0002] Lower limb motor dysfunction is a common sequela after stroke, spinal cord injury, and osteoarthritis surgery. Rehabilitation exoskeleton robots can assist patients in lower limb joint flexion and extension training, promoting the recovery of motor function. Pneumatic artificial muscles, due to their good flexibility and high power density, are increasingly being used in the drive systems of lower limb rehabilitation exoskeletons. Currently, most existing pneumatic artificial muscle-driven lower limb rehabilitation exoskeletons rely on electrical systems or software algorithms to control the joint rotation range. When sensors or control systems malfunction, the joints may exceed the physiological range of motion. Regarding adaptability, the thigh and lower leg components of existing exoskeletons are mostly of fixed length or only have simple length adjustment functions, and the foot pedals are mostly of a one-piece structure, making it difficult to simultaneously accommodate users of different heights and foot shapes. In terms of wearing comfort, the back frame of existing exoskeletons is mostly a closed or semi-closed plate structure. During prolonged wear, poor air circulation in the area where the lower back contacts the back frame can easily lead to heat accumulation and sweating, affecting the patient's wearing experience and training duration. Therefore, there is a need to develop a pneumatic artificial muscle-driven lower limb rehabilitation exoskeleton robot with stable transmission, good adaptability, and high wearing comfort to meet the actual needs of clinical rehabilitation training. Summary of the Invention

[0003] The purpose of this invention is to address the technical problems mentioned in the background section by providing a lower limb rehabilitation exoskeleton robot driven by pneumatic artificial muscles.

[0004] The above-mentioned objective of the present invention is achieved through the following technical solution:

[0005] A lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive includes a lower limb rehabilitation exoskeleton and a back frame set on the top of the lower limb rehabilitation exoskeleton. The lower limb rehabilitation exoskeleton includes a hip support rod located on the back side of the human hip, two thigh rods movably connected to the two ends of the front side of the hip support rod, and two lower leg rods movably connected to the bottom end of the thigh rods. The bottom end of the lower leg rods is movably connected to a foot pedal.

[0006] The hinge points of the hip support rod and thigh rod, the hinge points of the thigh rod and calf rod, and the hinge points of the calf rod and foot pedal are all bolted to rollers. Each roller rotates with the circular swinging motion of the thigh rod, calf rod, and foot pedal. A leg pneumatic tendon is fixedly connected to both the front and rear sides of the thigh rod and calf rod.

[0007] The back frame includes a back frame, multiple air ducts fixed to the front side of the inner cavity of the back frame, and four back pneumatic tendons fixed to the back cavity of the back frame. A control component is fixedly connected to the outer wall of the back frame.

[0008] Each foot pedal component includes two separate pedals, front and rear, and two locking rods inserted into the two pedals. Each pedal has a slot for the locking rods to be inserted and engaged.

[0009] The control unit includes a housing, an air pump fixedly connected to the inner cavity of the housing, and a control main board, and a lithium battery is fixedly connected to the inner cavity side wall of the housing.

[0010] Furthermore, multiple straps for connecting with the hip and leg are fixed to the front side of the hip support rod, the inner surface of the thigh rod and the calf rod. The straps can fix the exoskeleton to the corresponding parts of the human lower limb, so that the movement of the exoskeleton is synchronized with the movement of the human lower limb.

[0011] Furthermore, both the thigh rod and the calf rod are composed of two connecting rods, one above the other. Each connecting rod has multiple through holes for adjusting its length. Bolts are used to lock the overlapping positions of the connecting rods through these through holes. By adjusting the position of the overlapping through holes of the two connecting rods, the overall length of the thigh rod and the calf rod can be changed to accommodate the lower limb sizes of users of different heights.

[0012] Furthermore, the top ends of the leg pneumatic tendons are connected to the top ends of the thigh rod and the lower leg rod, respectively, and the bottom ends of the two upper leg pneumatic tendons are connected to each other by cables wrapped around the outer ring of the middle roller; the bottom ends of the two lower leg pneumatic tendons are connected to each other by cables wrapped around the outer ring of the lower roller. When the leg pneumatic tendons extend and retract, they can drive the rollers to rotate through the cables, thereby driving the corresponding joints to swing. During the joint rotation, the front and rear leg pneumatic tendons can undergo stretching or compression deformation, respectively.

[0013] Furthermore, the bottom end of the back frame is fixedly connected to the top of the hip support rod. Multiple ventilation holes are arranged in a rectangular array on the front surface of the back frame. The air duct is composed of multiple crisscrossing hollow tubes, and multiple air diffusers are provided on the front side of the air duct. The side wall of the air duct is connected to the end of the air pipe away from the air pump. The airflow generated by the air pump can enter the air duct through the air pipe, and then be blown towards the lower back of the human body through the air diffusers and ventilation holes.

[0014] Furthermore, the top of the back pneumatic tendon is fixedly connected to the top side wall of the inner cavity of the ventilation hole. The four back pneumatic tendons are divided into two groups. The bottom ends of the two back pneumatic tendons on the left are fixed with cables wrapped around the outer ring of the top roller on the left. The bottom ends of the two back pneumatic tendons on the right are fixed with cables wrapped around the outer ring of the top roller on the right. When the back pneumatic tendons extend and retract, they can drive the roller at the hip joint to rotate through the cables, and work together with the leg pneumatic tendons to drive the movement of the lower limbs. They can provide auxiliary force during the joint reduction process.

[0015] Furthermore, the bottom of the housing is provided with a vent for the air pump to draw air, and the rear side of the housing is provided with a charging port for charging the lithium battery. The vent provides an air intake channel for the air pump to operate, and the charging port can replenish the lithium battery to maintain the device's battery life.

[0016] Furthermore, a solenoid valve is installed at the connection point between the air pipe and the air pump, and an air nozzle connected to the inside of the air pipe is connected to the end of the air pipe. The solenoid valve can control the opening and closing and the direction of airflow in the air pipe.

[0017] Furthermore, the upper surface of the rear pedal is provided with a pressure sensor embedding groove, and the outer ring surface of the lever is provided with a linear array of multiple rubber protrusions. The inside of the slot has multiple grooves that fit and engage with the rubber protrusions of the lever to provide resistance. The pressure sensor embedding groove can be used to install a pressure sensor to collect the force information of the user's foot. The rubber protrusions cooperate with the grooves in the slot to provide holding resistance after adjusting the pedal spacing and maintain the relative position of the pedal.

[0018] Furthermore, the outer surface of each roller is provided with a concave annular groove for the cable to engage. Two limiting blocks with an included angle of 120-150° are fixed on the inner side wall of each roller to limit the relative rotation angle between the hip support rod and the thigh rod, between the thigh rod and the calf rod, and between the calf rod and the foot pedal. The annular groove can limit the cable and reduce the possibility of cable slippage. The limiting blocks can limit the rotation range of each joint, so that the joint movement is within the range of human physiological activity.

[0019] Compared with existing technologies, the lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive provided by the present invention has the following beneficial effects:

[0020] 1. This invention uses pneumatic artificial muscles as driving elements, combined with a transmission structure of rollers and cables, to realize the swing drive of multiple joints in the lower limbs. During the joint rotation, the pneumatic tendons on the front and back sides produce corresponding deformations, which can provide auxiliary force during the joint reduction stage, and are suitable for lower limb rehabilitation training scenarios.

[0021] 2. The back frame of this invention integrates an air duct and ventilation hole structure, which can utilize the airflow generated by the air pump to achieve ventilation of the lower back, improving comfort during long-term wear. The foot pedals adopt a front-to-back split structure, and the pedal spacing can be adjusted by the cooperation of the lever and slot to accommodate different foot sizes. The thigh and calf rods are equipped with length adjustment structures, which can be used in conjunction with the pedal adjustment function to meet the usage needs of users of different heights. The rollers are equipped with annular grooves and limiting blocks to guide and limit the cable, while also limiting the rotation range of each joint. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced and explained below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of a lower limb rehabilitation exoskeleton robot driven by pneumatic artificial muscles.

[0024] Figure 2 A schematic diagram of a lower limb rehabilitation exoskeleton;

[0025] Figure 3 This is a schematic diagram of a backpack frame;

[0026] Figure 4 A schematic diagram of the control components on the side wall of the back frame;

[0027] Figure 5 This is a schematic diagram of the foot pedal component;

[0028] Figure 6 This is a schematic diagram of the roller.

[0029] Appendix Figure 1 - Appendix Figure 6 The correspondence between the components is as follows:

[0030] 1. Lower limb rehabilitation exoskeleton; 2. Back frame components; 2-1. Back frame; 2-2. Ventilation hole; 2-3. Air duct; 2-4. Back pneumatic tendon; 3. Foot pedal components; 3-1. Pedal; 3-2. Slot; 3-3. Locking rod; 4. Hip support rod; 5. Roller; 6. Thigh rod; 7. Leg pneumatic tendon; 8. Lower leg rod; 9. Control components; 9-1. Housing; 9-2. Air pump; 9-3. Air duct; 9-4. Control motherboard; 9-5. Lithium battery; 10. Annular groove; 11. Limiting block; 12. Pressure sensor embedding groove. Detailed Implementation

[0031] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described below are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. In order to provide a clearer explanation and description of the technical solutions and implementation methods of the present invention, the following describes specific embodiments that implement the preferred technical solutions of the present invention.

[0032] Example: This example provides a lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive. The robot includes a lower limb rehabilitation exoskeleton 1, a back frame 2 mounted on top of the exoskeleton 1, and a hip support rod 4 located behind the hip. The exoskeleton 1 includes two thigh rods 6 movably connected to the front ends of the hip support rod 4, and two lower leg rods 8 movably connected to the bottom ends of the thigh rods 6. Foot pedals 3 are movably connected to the bottom ends of the lower leg rods 8. Multiple straps for connecting to the hip and legs are fixed to the front of the hip support rod 4, the inner surfaces of the thigh rods 6 and the lower leg rods 8. Each thigh rod 6 and lower leg rod 8 consists of two connecting rods, and each connecting rod has multiple through holes for adjusting its length. The overlapping positions of the connecting rods are connected through these through holes. The hinge points of the hip support rod 4 and thigh rod 6, the thigh rod 6 and calf rod 8, and the calf rod 8 and foot pedal 3 are all bolted together and secured with rollers 5. Each roller 5 rotates with the circumferential swinging motion of the thigh rod 6, calf rod 8, and foot pedal 3. The outer surface of each roller 5 is provided with a concave annular groove 10 for the cable to engage. Two limiting blocks 11 with an included angle of 120-150° are fixed on the inner side wall of each roller 5 to limit the relative rotation angle between the hip support rod 4 and thigh rod 6, between the thigh rod 6 and calf rod 8, and between the calf rod 8 and foot pedal 3.

[0033] A leg pneumatic tendon 7 is fixedly connected to both the front and rear sides of the thigh rod 6 and the calf rod 8. The top of the leg pneumatic tendon 7 is connected to the top of the thigh rod 6 and the top of the calf rod 8, respectively. The bottom ends of the two upper leg pneumatic tendons 7 are connected to each other by cables wrapped around the outer ring of the middle roller 5, and the bottom ends of the two lower leg pneumatic tendons 7 are connected to each other by cables wrapped around the outer ring of the lower roller 5. The back frame 2 includes a back frame 2-1. The back frame 2-1 has multiple air ducts 2-3 fixed to the front of its inner cavity, and four back pneumatic tendons 2-4 fixed to the back of its inner cavity. A control component 9 is fixedly connected to the outer wall of the back frame 2-1. The bottom of the back frame 2-1 is fixedly connected to the top of the hip support rod 4. Multiple ventilation holes 2-2 are arranged in a rectangular array on the front surface of the back frame 2-1. The air ducts 2-3 consist of multiple crisscrossing hollow tubes, and multiple ventilation holes 2-2 are arranged on the front of the air ducts 2-3. A ventilation hole is provided. The side wall of the air duct 2-3 is connected to the end of the air duct 9-3 away from the air pump 9-2. The top of the back pneumatic tendon 2-4 is fixedly connected to the top side wall of the inner cavity of the ventilation hole 2-2. The four back pneumatic tendons 2-4 are divided into two groups. The bottom ends of the two back pneumatic tendons 2-4 on the left are fixed with cables wrapped around the outer ring of the top roller 5 on the left. The bottom ends of the two back pneumatic tendons 2-4 on the right are fixed with cables wrapped around the outer ring of the top roller 5 on the right. The arrangement of multiple leg pneumatic tendons 7 and back pneumatic tendons 2-4 allows the leg pneumatic tendons 7 and back pneumatic tendons 2-4 to be stretched or compressed relative to each other after the relative rotation between the hip support rod 4 and the thigh rod 6, between the thigh rod 6 and the calf rod 8, and between the calf rod 8 and the foot pedal 3. At the same time, the back pneumatic tendons 2-4 and the leg pneumatic tendons 7 can help the joints of the lower limbs to reset and carry out rehabilitation training.

[0034] The air ducts 2-3 and ventilation holes 2-2 on the backrest component 2 provide ventilation and heat dissipation for the lower back during summer. The foot pedal components 3 each consist of two separate pedals 3-1, with two locking rods 3-3 inserted into each pedal 3-1. Each pedal 3-1 has a slot 3-2 for the locking rods 3-3 to be inserted and engaged. The upper surface of the rear pedal 3-1 has a pressure sensor recess 12. The outer surface of each locking rod 3-3 has multiple rubber protrusions arranged in a linear array, and the slot 3-2 has multiple grooves that fit and engage with the rubber protrusions of the locking rods 3-3 to provide resistance. The foot pedal components 3, through the combination of the separate pedals 3-1 and locking rods 3-3… The device is adjustable to fit users with different foot sizes. The length adjustment structures of the thigh rod 6 and calf rod 8 can be adapted to the foot pedal 3 to accommodate users of different heights. The control unit 9 includes a housing 9-1, an air pump 9-2 fixedly connected to the inner cavity of the housing 9-1, and a control main board 9-4. A lithium battery 9-5 is fixedly connected to the inner wall of the housing 9-1. A vent for air pump 9-2 is located at the bottom of the housing 9-1, and a charging port for charging the lithium battery 9-5 is located on the rear side of the housing 9-1. A solenoid valve is installed at the connection point between the air pipe 9-3 and the air pump 9-2, and an air nozzle connected to the inside of the air duct 2-3 is connected to the end of the air pipe 9-3.

[0035] Workflow Description:

[0036] The lithium battery 9-5 supplies power to the control motherboard 9-4, the air pump 9-2, and the solenoid valve. The control motherboard 9-4 receives external control commands and starts the air pump 9-2. The air pump 9-2 draws in outside air through the vent at the bottom of the housing 9-1 to generate compressed air. The solenoid valve controls the on / off state and flow direction of the compressed air according to the commands from the control motherboard 9-4, delivering the compressed air to the corresponding leg pneumatic tendons 7, back pneumatic tendons 2-4, and air duct 2-3. The user secures the hip support rod 4, thigh rod 6, and calf rod 8 to the hip, thigh, and calf respectively using straps, places the foot on the foot pedal 3, and pulls the front and rear pedals 3-1 according to the size of the user's foot, causing the locking lever 3-3 to engage in the slot 3. -2 Slide within, adjust the distance between the two pedals 3-1, the rubber convex ring on the outer ring of the locking rod 3-3 engages with the groove inside the locking slot 3-2, maintaining the relative position of the pedals 3-1. According to your own height, adjust the position of the overlapping through holes of the upper and lower connecting rods in the thigh rod 6 and the lower leg rod 8, and fix them by bolts, changing the overall length of the thigh rod 6 and the lower leg rod 8 so that the exoskeleton is adapted to the size of the human lower limbs. When the control motherboard 9-4 controls the external additional compressed air (the compressed air is not output by the air pump 9-2, and the rear of the robot is also equipped with an additional air source to drive the pneumatic tendons 7 of the legs and the pneumatic tendons 2-4 of the back) to enter the corresponding side of the pneumatic tendon 2-4 of the back, the pneumatic tendon 2-4 of the back will produce a stretching deformation, through the bottom end The connecting cable drives the top roller 5 to rotate. The cable engages in the annular groove 10 on the outer ring of the roller 5 and moves with the rotation of the roller 5, thereby causing the thigh rod 6 to swing relative to the hip support rod 4, realizing the flexion and extension movement of the hip joint. When the control board 9-4 controls compressed air to enter the upper leg pneumatic tendon 7 on the corresponding side, the upper leg pneumatic tendon 7 undergoes extension and contraction deformation, which drives the middle roller 5 to rotate through the cable connected to the bottom end, thereby causing the lower leg rod 8 to swing relative to the thigh rod 6, realizing the flexion and extension movement of the knee joint. When the control board 9-4 controls compressed air to enter the lower leg pneumatic tendon 7 on the corresponding side, the lower leg pneumatic tendon 7 undergoes extension and contraction deformation, which drives the lower roller 5 to rotate through the cable connected to the bottom end. This causes the foot pedal 3 to swing relative to the lower leg rod 8, achieving flexion and extension movements of the ankle joint. During the rotation of each joint, the limiting block 11 on the inner side of the roller 5 rotates synchronously with the roller 5. When the limiting block 11 contacts the side wall of the corresponding rod, it restricts the continued rotation of the joint, keeping the joint movement within a set angle range. When the joint rotates in one direction, the pneumatic tendon on that side contracts and deforms, while the pneumatic tendon on the opposite side stretches. When the control board 9-4 controls the solenoid valve to deliver compressed air to the air duct 2-3, the compressed air enters the crisscrossing air duct 2-3, flows out through the air diffuser on the front side of the air duct 2-3, and then blows towards the lower back of the human body through the ventilation hole 2-2 on the front side of the back frame 2-1, achieving air circulation in that area.The pressure sensor, installed in the pressure sensor recess 12, collects the force information between the user's foot and the pedal 3-1.

[0037] This invention is not limited to the preferred embodiments described above. Anyone should understand that structural changes made under the guidance of this invention, and any technical solutions that are the same as or similar to this invention, fall within the protection scope of this invention. Finally, it should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are only for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation of this application. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effects and objectives of this application, should still fall within the scope of the technical content disclosed in this application.

Claims

1. A lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive, characterized in that, It includes a lower limb rehabilitation exoskeleton (1), a back frame (2) set on the top of the lower limb rehabilitation exoskeleton (1), the lower limb rehabilitation exoskeleton (1) includes a hip support rod (4) located on the back of the hip, two thigh rods (6) movably connected to the front ends of the hip support rod (4), and two lower leg rods (8) movably connected to the bottom end of the thigh rods (6), and a foot pedal (3) movably connected to the bottom end of the lower leg rods (8). The hinge points of the hip support rod (4) and the thigh rod (6), the hinge points of the thigh rod (6) and the calf rod (8), and the hinge points of the calf rod (8) and the foot pedal (3) are all bolted with rollers (5). Each roller (5) rotates with the circular swinging motion of the thigh rod (6), the calf rod (8), and the foot pedal (3). A leg pneumatic tendon (7) is fixedly connected to the front and rear sides of the thigh rod (6) and the calf rod (8). The back frame (2) includes a back frame (2-1), multiple air ducts (2-3) fixed to the front side of the inner cavity of the back frame (2-1), and four back pneumatic tendons (2-4) fixed to the back cavity of the back frame (2-1). A control component (9) is fixedly connected to the outer wall of the back frame (2-1). Each foot pedal component (3) includes two separate pedals (3-1) at the front and back, two locking rods (3-3) inserted into the two pedals (3-1), and each pedal (3-1) has a slot (3-2) for the locking rods (3-3) to be inserted and engaged. The control unit (9) includes a housing (9-1), an air pump (9-2) fixedly connected in the inner cavity of the housing (9-1), and a control main board (9-4), and a lithium battery (9-5) is fixedly connected to the inner cavity side wall of the housing (9-1).

2. The lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive according to claim 1, characterized in that, Multiple straps for connecting to the hip and leg are fixed on the front side of the hip support rod (4), the inner surface of the thigh rod (6) and the calf rod (8).

3. The lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive according to claim 1, characterized in that, Both the thigh rod (6) and the lower leg rod (8) are composed of two connecting rods, one above the other. The connecting rods are provided with multiple through holes for adjusting the length. The overlapping positions of the connecting rods are locked with bolts through the through holes.

4. The lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive according to claim 1, characterized in that, The top of the leg pneumatic tendon (7) is connected to the top of the thigh rod (6) and the top of the calf rod (8) respectively, and the bottom ends of the two upper leg pneumatic tendons (7) are connected to each other by a cable wrapped around the outer ring of the middle roller (5); the bottom ends of the two lower leg pneumatic tendons (7) are connected to each other by a cable wrapped around the outer ring of the lower roller (5).

5. The lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive according to claim 1, characterized in that, The bottom end of the back frame (2-1) is fixedly connected to the top of the hip support rod (4). The front surface of the back frame (2-1) is provided with a rectangular array of ventilation holes (2-2). The air duct (2-3) is composed of multiple crisscrossing hollow tubes. The front side of the air duct (2-3) is provided with multiple air diffusers. The side wall of the air duct (2-3) is connected to the end of the air pipe (9-3) away from the air pump (9-2).

6. The lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive according to claim 1, characterized in that, The top of the back pneumatic tendon (2-4) is fixedly connected to the top side wall of the inner cavity of the ventilation hole (2-2). The four back pneumatic tendons (2-4) are divided into two groups. The bottom ends of the two back pneumatic tendons (2-4) on the left are fixed with cables wrapped around the outer ring of the roller (5) on the left top. The bottom ends of the two back pneumatic tendons (2-4) on the right are fixed with cables wrapped around the outer ring of the roller (5) on the right top.

7. The lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive according to claim 1, characterized in that, The bottom of the housing (9-1) is provided with a vent for the air pump (9-2) to draw air, and the rear side of the housing (9-1) is provided with a charging port for charging the lithium battery (9-5).

8. The lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive according to claim 1, characterized in that, A solenoid valve is installed at the connection point between the air pipe (9-3) and the air pump (9-2), and an air nozzle connected to the inside of the air duct (2-3) is connected to the end of the air pipe (9-3).

9. A lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive according to claim 1, characterized in that, The upper surface of the rear pedal (3-1) is provided with a pressure sensor inlay groove (12), and the outer ring surface of the lever (3-3) is provided with multiple rubber protrusions arranged in a linear array. The inside of the slot (3-2) has multiple grooves that are adapted to engage with the rubber protrusions on the outer ring of the lever (3-3) to provide resistance.

10. A lower limb rehabilitation exoskeleton robot based on pneumatic artificial muscle drive according to claim 1, characterized in that, The outer ring surface of each roller (5) is provided with an indented annular groove (10) for cable locking. Two limiting blocks (11) with an included angle of 120-150° are fixed on the inner side wall of each roller (5) to limit the relative rotation angle between the hip support rod (4) and the thigh rod (6), between the thigh rod (6) and the calf rod (8), and between the calf rod (8) and the foot pedal (3).

Images