A static lower limb rehabilitation assistive device testing system

Abstract

The present invention discloses a static lower limb rehabilitation aid test system, comprising: a base and a mobile device, wherein the mobile device comprises: a horizontal guide rail arranged horizontally, a vertical guide rail arranged vertically and a joint fixing structure, wherein the bottom end of the horizontal guide rail is fixedly mounted on the base, the bottom end of the vertical guide rail is fixedly mounted to a slider on the horizontal guide rail, and the joint fixing structure is fixedly mounted on the slider of the vertical guide rail, and is used to install a rehabilitation aid, wherein the rehabilitation aid is an exoskeleton joint module or a prosthetic module. The rehabilitation aid of the static lower limb rehabilitation aid test system can select an exoskeleton joint module or a prosthetic module to implement testing of different rehabilitation aids, obtain parameter requirements for the rehabilitation aid, and can also directly interact with the rehabilitation aid to evaluate its assistive effect.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation assistive devices, and in particular relates to a static lower limb rehabilitation assistive device testing system. Background Art

[0002] By the end of 2013, the elderly population in my country had reached 202 million, accounting for about 15% of the total population, of which 37.5 million were disabled elderly people and there were more than 85 million disabled people. It is estimated that by 2020, the elderly population will reach 243 million, the disabled elderly will reach 46 million, and the disabled population will reach 98 million, and the vast majority of them will need rehabilitation assistive devices in their daily lives.

[0003] At present, there are existing studies on rehabilitation assistive devices at home and abroad: the HAL series of lower limb exoskeletons of the University of Tsukuba in Japan, the LOKOMAT jointly developed by the Swiss Federal Institute of Technology and the University of Switzerland, the lower limb powered exoskeleton developed by the biomedical engineering of the University of Twente in the Netherlands, and the wearable lower limb walking exoskeleton developed by the Institute of Mechanical and Electrical Engineering of Zhejiang University, etc. These studies focus on the structural design and control of the lower limb exoskeleton training robot, but ignore the research on the auxiliary effect of the exoskeleton.

[0004] In the early days, the evaluation of the auxiliary effect of rehabilitation assistive devices was mainly through physical therapists visually observing the training process of the subjects and evaluating the auxiliary effect of rehabilitation assistive devices based on their own experience. However, this evaluation method is highly subjective, inefficient, and the parameters during the training process cannot be accurately controlled and recorded. Summary of the invention

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a static lower limb rehabilitation assistive device testing system, which sets a sitting working mode to simulate the application scenario of the lower limb rehabilitation assistive device; a variety of sensors are installed on the test platform to collect various data in the actual application process in real time, and can evaluate the characteristics of different aspects of the rehabilitation assistive device; at the same time, the test platform is equipped with comprehensive safety protection measures from multiple angles to ensure comfort and safety during use.

[0006] The purpose of the present invention is achieved through the following technical solutions.

[0007] A static lower limb rehabilitation assistive device testing system comprises: a base and a moving device, wherein the moving device comprises: a horizontal guide rail arranged horizontally, a vertical guide rail arranged vertically and a joint fixing structure, wherein the bottom end of the horizontal guide rail is fixedly mounted on the base, the bottom end of the vertical guide rail is fixedly mounted on a slider on the horizontal guide rail, and the joint fixing structure is fixedly mounted on the slider of the vertical guide rail, and is used for installing a rehabilitation assistive device, wherein the rehabilitation assistive device is an exoskeleton joint module or a prosthetic module.

[0008] The above technical solution also includes: a seat fixedly mounted on the base, wherein the vertical guide rail is located on one side in front of the seat.

[0009] In the above technical solution, the joint fixing structure includes: a bearing seat, a rotating bracket, a mounting rod and a locking block. The bearing seat is fixed to the slider of the vertical guide rail. The rotating bracket is axially connected to the bearing seat and can rotate on the bearing seat. The locking block is installed on the rotating bracket for fixing the rotating bracket relative to the bearing seat. There are multiple mounting rods and they are all installed on the rotating bracket for installing the exoskeleton joint module or prosthesis module.

[0010] In the above technical solution, the rotating bracket includes: a shaft and a fixing plate fixed to one end of the shaft, the rotating bracket is axially connected to the bearing seat through the other end of the shaft, and the mounting rod is fixed to the fixing plate.

[0011] In the above technical solution, the mounting rod is located on a side of the fixing plate away from the bearing seat.

[0012] In the above technical solution, the number of the mounting rods is 4, and the 4 mounting rods are distributed along a rectangular array and are respectively located at the 4 corners of a rectangle.

[0013] In the above technical solution, there are two locking blocks, and each of the locking blocks is a cam structure.

[0014] In the above technical solution, the exoskeleton joint module is formed with a plurality of through holes along the circumferential direction, and when the exoskeleton joint module is installed on the joint fixing structure, each mounting rod passes through one of the through holes;

[0015] The prosthetic module comprises a cylindrical structure or a substantially cylindrical structure. When the prosthetic module is mounted on the joint fixing structure, the cylindrical structure or the substantially cylindrical structure is embedded between a plurality of mounting rods and fixed by the mounting rods.

[0016] In the above technical solution, a joint motor is installed in the rehabilitation aid, and the static lower limb rehabilitation aid test system further includes: an industrial computer, and the industrial computer controls the movement of the joint motor.

[0017] In the above technical solution, it also includes: an encoder and / or sensor installed in the rehabilitation aid, the encoder is used to obtain the rotation angle, angular velocity and angular acceleration of the joint motor of the rehabilitation aid, the sensor is used to obtain the torque of the joint motor of the rehabilitation aid, and the industrial computer obtains data from the encoder and / or sensor.

[0018] In the above technical solution, a relay is provided on the circuit of the industrial computer controlling the movement of the joint motor, and also includes: a single chip microcomputer controlling the relay.

[0019] In the above technical solution, the single chip microcomputer controls the movement of the horizontal guide rail and the vertical guide rail.

[0020] In the above technical solution, a travel switch is installed on the rehabilitation aid to limit the upper limit of the rotation of the joint motor. The travel switch is electrically connected to the single chip microcomputer.

[0021] The above technical solution also includes: a joint driver for controlling the rotation of the joint motor, the relay is electrically connected to the joint motor through the joint driver, and a data exchange card is arranged on the circuit between the relay and the industrial computer.

[0022] In the above technical solution, a motion control card is arranged on the circuit between the data exchange card and the industrial computer.

[0023] In the above technical solution, the single chip microcomputer is electrically connected to the horizontal guide rail motor of the horizontal guide rail, and the single chip microcomputer is electrically connected to the vertical guide rail motor of the vertical guide rail.

[0024] In the above technical solution, the single chip microcomputer controls the horizontal guide rail motor through a horizontal guide rail driver, and the single chip microcomputer controls the vertical guide rail motor through a vertical guide rail driver.

[0025] In the above technical solution, the industrial computer obtains the data of the encoder and / or sensor through a data acquisition card.

[0026] In the above technical solution, the single chip microcomputer is electrically connected to the data acquisition card, and the single chip microcomputer determines whether the data of the encoder and / or sensor reaches a threshold value. When the threshold value is reached, the single chip microcomputer controls the relay to disconnect the circuit.

[0027] In the above technical solution, the industrial computer is connected to a signal input terminal and a display.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] (1) The static lower limb rehabilitation assistive device testing system is designed with horizontal and vertical guide rails. By adjusting the position of the sliders on the horizontal and vertical guide rails, the joints (hip, knee, ankle) in different positions in the sitting and standing states can be tested, and the actual use scenarios of the lower limb rehabilitation assistive device can be effectively simulated to restore the real use scenarios of the wearer of the rehabilitation assistive device;

[0030] (2) The joint fixation structure of the static lower limb rehabilitation assistive device test system is designed with a locking block with a cam structure. During the experiment, after the subject wears the exoskeleton or prosthetic module and adjusts the comfort level, the locking block can effectively lock the joint fixation structure;

[0031] (3) The rehabilitation assistive device of the static lower limb rehabilitation assistive device testing system can select an exoskeleton joint module or a prosthetic limb module to test different rehabilitation assistive devices and obtain parameter requirements for the rehabilitation assistive device. It can also directly interact with the rehabilitation assistive device to evaluate its assistive effect.

[0032] (4) The hardware system takes modular design into consideration, which facilitates secondary development and provides convenience for the development of lower limb rehabilitation assistive devices in multiple directions and angles;

[0033] (5) The static lower limb rehabilitation assistive device test system is equipped with safety protection measures such as travel switches and relays to protect the safety of the subjects. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of the static lower limb rehabilitation assistive device testing system of the present invention;

[0035] Figure 2 It is a structural schematic diagram of the static lower limb rehabilitation assistive device testing system of the present invention;

[0036] Figure 3 The cross-sectional view (left) and top view (right) of the rotating bracket;

[0037] Figure 4 is a schematic diagram of the three-dimensional structure of the rotating bracket;

[0038] Figure 5 It is a schematic diagram of the structure of the exoskeleton joint module;

[0039] Figure 6a is a front view of the prosthetic module;

[0040] Figure 6b is a rear view of the prosthetic module;

[0041] Figure 7 This is a schematic diagram of the structure of the exoskeleton;

[0042] Figure 8 It is a schematic diagram of the electrical control structure of the static lower limb rehabilitation assistive device testing system of the present invention;

[0043] Figure 9a It is a usage state diagram of the static lower limb rehabilitation assistive device testing system of the present invention (prosthesis module);

[0044] Figure 9b It is a usage state diagram of the static lower limb rehabilitation assistive device testing system of the present invention (exoskeleton joint module);

[0045] Fig.9c It is a usage state diagram of the static lower limb rehabilitation assistive device testing system of the present invention (exoskeleton joint module);

[0046] Figure 9d It is a usage state diagram of the static lower limb rehabilitation assistive device testing system of the present invention (exoskeleton joint module);

[0047] Fig.10a are the expected and actual values ​​of the samples obtained according to method 2;

[0048] Fig.10b are the expected and actual values ​​of the samples obtained according to method 1.

[0049] in,

[0050] 1: base, 2: seat, 3: horizontal guide rail, 301: horizontal guide rail driver, 302: horizontal guide rail motor, 4: vertical guide rail, 401: vertical guide rail driver, 402: vertical guide rail motor, 5: joint fixing structure, 501: bearing seat, 502: rotating bracket, 503: mounting rod, 504: locking block, 6: single chip microcomputer; 7: joint motor, 8: exoskeleton joint module, 801: reducer, 802: fixed end bracket, 803: output end bracket, 9: waist fixing brace, 10: Upper thigh fixing brace, 11: lower thigh fixing brace, 12: upper calf fixing brace, 13: lower calf fixing brace, 14: foot fixing brace, 15: thigh rod, 16: calf rod; 17: prosthetic module, 1701: prosthetic receiving cavity connector, 1702: calf tube connector, 18: industrial computer, 19: data acquisition card, 20: sensor, 21: encoder, 22: joint driver, 24: motion control card, 25: data exchange card, 26: relay, 27: travel switch. DETAILED DESCRIPTION

[0051] The technical solution of the static lower limb rehabilitation assistive device testing system of the present invention is further explained below in conjunction with specific embodiments.

[0052] The models of the instruments involved in the following embodiments are as follows:

[0053] Industrial computer: IDEL-12

[0054] Motion control card: GT-400-SV-ISA-G

[0055] Data exchange card: terminal board of motion control card, matching with motion control card, no model

[0056] Exoskeleton module (self-assembly): joint driver: AP2-090, joint motor: GRM7613H, encoder: AM64 / 1617, reducer: LCSG-I-25-160, sensor (torque sensor): M2210G

[0057] Data acquisition card: M8128B1SN04375

[0058] Relay: JQC-3FF-SZ

[0059] Microcontroller: STM32F4

[0060] Travel switch: XCE102

[0061] Example 1

[0062] like Figures 1-2 As shown, it comprises: a base 1, a moving device and a seat 2 fixedly mounted on the base 1, the moving device comprises: a horizontal guide rail 3 arranged horizontally, a vertical guide rail 4 arranged vertically and a joint fixing structure 5, the bottom end of the horizontal guide rail 3 is fixedly mounted on the base 1, the vertical guide rail 4 is located on the side in front of the seat 2 (front: the side of the patient's legs sitting on the seat), the bottom end of the vertical guide rail 4 is fixedly mounted on the slider of the horizontal guide rail 3, and the joint fixing structure 5 is fixedly mounted on the slider of the vertical guide rail 4, and is used to install a rehabilitation aid, which is an exoskeleton joint module 8 or a prosthetic module 17. By adjusting the sliding distance of the sliders on the horizontal guide rail 3 and the vertical guide rail 4, the position between the joint fixing structure 5 and the seat 2 is adjusted, so that the joint fixing structure 5 moves on the plane on one side of the seat 2.

[0063] The method for using the static lower limb rehabilitation assistive device testing system of the present invention includes method one or method two:

[0064] Method 1 (used in the early stage of rehabilitation): Have the patient wear a rehabilitation aid, control the rehabilitation aid to drive the patient to move based on the expected data of a gait cycle, measure the actual data of the rehabilitation aid during this gait cycle, and compare the expected data of a gait cycle with the actual data.

[0065] Method 2 (for mid-term or late-stage rehabilitation): Have the patient move and actively drive the rehabilitation aid to move, obtain actual data of a gait cycle and compare it with expected data (expected data is based on data obtained from healthy people).

[0066] The above methods can be used to objectively evaluate the auxiliary effect of rehabilitation assistive devices.

[0067] Make the patient wear the rehabilitation assistive device: when the rehabilitation assistive device is an exoskeleton joint module, what the patient wears is an exoskeleton; when the rehabilitation assistive device is a prosthesis module, what the patient wears is a prosthesis.

[0068] Example 2

[0069] On the basis of Example 1, Figures 3-4 As shown, the joint fixing structure 5 includes: a bearing seat 501, a rotating bracket 502, a mounting rod 503 and a locking block 504. The bearing seat 501 is fixed to the slider of the vertical guide rail 4. The rotating bracket 502 is axially connected to the bearing seat 501 and can rotate on the bearing seat 501. A locking block 504 is installed on the rotating bracket 502 for fixing the rotating bracket 502 and the bearing seat 501 relatively. There are multiple mounting rods 503 and they are all installed on the rotating bracket 502 for installing the exoskeleton joint module 8 or the prosthesis module 17.

[0070] Preferably, the rotating bracket 502 includes: a shaft and a fixed plate fixed to one end of the shaft, the rotating bracket 502 is axially connected to the bearing seat 501 through the other end of the shaft, and the mounting rod 503 is fixed to the fixed plate and is located on the side of the fixed plate away from the bearing seat 501.

[0071] Preferably, there are four mounting rods 503, which are distributed along a rectangular array and are respectively located at four corners of a rectangle. The mounting rods 503 may also be distributed in other forms as long as the rehabilitation aid can be installed.

[0072] Preferably, there are two locking blocks 504, each of which is a cam structure with a crank arm. The locking block 504 can rotate on the rotating bracket 502 and can be fastened by bolts when it rotates to a certain angle. The locking block 504 is rotated and the cam structure of the locking block 504 is pressed against the bearing seat 501, and the locking block 504 and the rotating bracket 502 are fastened by bolts to be relatively fixed, so that the rotating bracket 502 and the bearing seat 501 are relatively fixed. Further explanation, the bearing seat includes: a bottom plate and a cylindrical shell fixed on the bottom plate, two rolling bearings are installed side by side in the cylindrical shell, and the shaft of the rotating bracket 502 is installed in the rolling bearing in the cylindrical shell. When the locking block 504 makes the rotating bracket 502 and the bearing seat 501 relatively fixed, the cam structure of the locking block 504 presses the outer surface of the cylindrical shell of the bearing seat 501. Preferably, a layer of polyurethane coating is coated on the outer surface of the cylindrical shell to increase the surface friction.

[0073] A joint motor 7 is installed in the rehabilitation aid. The static lower limb rehabilitation aid test system also includes an industrial control computer 18 , which controls the movement of the joint motor 7 .

[0074] An encoder 21 and a sensor 20 are installed in the rehabilitation aid. The sensor 20 may be a torque sensor or other sensor for measuring torque. The encoder 21 is used to obtain the rotation angle, angular velocity and angular acceleration of the joint motor 7 of the rehabilitation aid. The sensor 20 is used to obtain the torque of the joint motor 7 of the rehabilitation aid. The industrial computer 18 obtains data from the encoder 21 and the sensor 20.

[0075] like Figure 5 As shown, the exoskeleton joint module 8 is formed with a plurality of through holes along the circumferential direction. When the exoskeleton joint module 8 is mounted on the joint fixing structure 5, each mounting rod 503 passes through a through hole.

[0076] like Figure 6a and 6b As shown, the prosthetic module 17 includes a cylindrical structure or a substantially cylindrical structure. When the prosthetic module 17 is mounted on the joint fixing structure 5 , the cylindrical structure or the substantially cylindrical structure is embedded between a plurality of mounting rods 503 and fixed by the mounting rods 503 .

[0077] As preferred, the rehabilitation aids are as follows:

[0078] The exoskeleton joint module includes: a joint motor 7, a reducer 801, a fixed end bracket 802, an output end bracket 803 and a sensor 20, wherein the sensor 20 is a torque sensor; the joint motor 7 is a flat DC motor specially used for robot joints, and its main body is an oblate cylindrical shape, and an output shaft is formed on the circular surface of the oblate cylindrical shape; the reducer 801 uses a harmonic reducer, and its main body is an oblate cylindrical shape, and an input shaft hole is provided on the end face of the input side, and the output side is a mounting plate with mounting holes, and the output shaft of the joint motor 7 is fixed in the input shaft hole of the reducer 801, and the shell of the joint motor 7 is fixedly connected to the shell of the input side end face of the reducer 801; the fixed end bracket 802 is formed by bending a flat plate, one end of the flat plate is bent upward, and the other end is bent downward, and the two surfaces after bending upward and downward are two mutually parallel mounting planes, one of which is annular, and the annular mounting plane is fixedly connected to the shell of the output side end face of the reducer 801, and in the annular A plurality of through holes for passing the mounting rod 503 are formed along the circumferential direction on the mounting plane of the exoskeleton joint module 8; the sensor 20 is an oblate cylindrical shape, and its structure is divided into an inner ring and an outer ring. The sensor between the two can measure the torque between the two. Both the inner ring and the outer ring have annular mounting holes, and the sensor 20 is fixed to the mounting plate on the output side of the reducer 801 through the outer ring mounting hole; the output end bracket 803 is a thin plate, one end of which is connected to the inner ring of the sensor 20 through the mounting hole, and the other end has a mounting hole; when the exoskeleton joint module 8 is powered on, the joint motor 7 generates a driving torque, which is amplified by the reducer 801 and transmitted to the output end bracket 803 by the sensor 20, and a joint driving torque is generated between the fixed end bracket 802 and the output end bracket 803, and the sensor 20 can measure the torque in real time; the encoder 21 is installed at the output shaft of the joint motor 7, and can measure the rotation angle, angular velocity and angular acceleration of the joint motor 7 in real time.

[0079] When the exoskeleton joint module 8 is assembled into an exoskeleton, Figure 7As shown, the exoskeleton 4 includes: an exoskeleton joint module 8, a waist fixing brace 9, an upper thigh fixing brace 10, a lower thigh fixing brace 11, an upper calf fixing brace 12, a lower calf fixing brace 13, a foot fixing brace 14, a thigh rod 15 and a calf rod 16. The parts of the waist fixing brace 9, the upper thigh fixing brace 10, the lower thigh fixing brace 11, the upper calf fixing brace 12 and the lower calf fixing brace 13 fixed to the corresponding body are all arc-shaped, and are respectively used to fix the user's waist, upper thigh, lower thigh, upper calf and lower calf. The foot fixing brace 14 is flat and is used to fix the user's feet; the thigh rod 15 and the calf rod 16 are connecting rods; the waist fixing brace 9 has a mounting hole corresponding to the fixed end bracket 802 of the exoskeleton joint module 8, which can be fixed together with screws; the upper end of the upper thigh fixing brace 10 has a mounting hole corresponding to the exoskeleton The output end bracket 803 of the joint module 8 has a mounting hole corresponding to the thigh rod 15 at the lower end, and can be fixed together with screws; the lower thigh fixing brace 11 has a mounting hole corresponding to the thigh rod 15 at the upper end, and a mounting hole corresponding to the fixed end bracket 802 of the exoskeleton joint module 8 at the lower end, and can be fixed together with screws; the upper calf fixing brace 12 has a mounting hole corresponding to the output end bracket 803 of the exoskeleton joint module 8 at the upper end, and a mounting hole corresponding to the calf rod 16 at the lower end, and can be fixed together with screws; the lower calf fixing brace 13 has a mounting hole corresponding to the calf rod 16 at the upper end, and a mounting hole corresponding to the fixed end bracket 802 of the exoskeleton joint module 8 at the lower end, and can be fixed together with screws; the foot fixing brace 14 has a mounting hole corresponding to the output end bracket 803 of the exoskeleton joint module 8, and can be fixed together with screws.

[0080] like Figure 6a and 6b As shown, the prosthesis module 5 includes: a prosthesis receiving cavity connector 1701 and a calf tube connector 1702 (this embodiment adopts the model number 3E80 of Yanglikang Prosthetics and Orthotics Technology Co., Ltd.). The prosthesis receiving cavity connector 1701 has a mounting hole, and the prosthesis receiving cavity can be fixed to the prosthesis receiving cavity connector 1701 by screws, so as to be worn by a thigh amputee; the calf tube connector 1702 has a mounting hole, so as to fix the calf tube to the calf tube connector 1702.

[0081] When in use, the patient sits on the seat 2 or stands (sitting on the seat 2 or standing is related to the position of the exoskeleton joint module installed on the patient's body. When the exoskeleton joint module is installed at the hip joint, the patient stands, and the rest sit on the seat 2; when the prosthetic module 5 is installed, the patient sits on the seat 2). The running distance of the sliders on the horizontal guide rails and the vertical guide rails is controlled by the single-chip microcomputer to adjust to a comfortable state for the patient, so that the sliders on the horizontal guide rails and the vertical guide rails are fixed.

[0082] The method for using the static lower limb rehabilitation assistive device testing system of the present invention includes method one or method two:

[0083] Method 1 (used in the early stages of rehabilitation): The angle, angular velocity, angular acceleration and torque of a gait cycle are input into the industrial computer and the joint motor is controlled to rotate. The joint motor drives the patient to move. The encoder and sensor measure the angle, angular velocity, angular acceleration and torque of the joint motor and compare them with the angle, angular velocity, angular acceleration and torque of the gait cycle input by the industrial computer. This can objectively evaluate the auxiliary effect of the rehabilitation assistive device.

[0084] Method 2 (used in the middle or late stage of rehabilitation): The patient actively drives the joint motor to move, and the encoder and sensor measure the angle, angular velocity, angular acceleration and torque of the joint motor, and compare them with the expected values ​​of the angle, angular velocity, angular acceleration and torque of a gait cycle.

[0085] Example 3

[0086] like Figure 8 As shown, based on Example 2, a relay 26 is provided on the circuit for the industrial computer 18 to control the movement of the joint motor 7, and also includes: a single chip computer 6 for controlling the relay 26. The relay is used to cut off the power supply in an emergency during the experiment, playing a role of safety protection.

[0087] The single chip microcomputer 6 controls the movement of the horizontal guide rail 3 and the vertical guide rail 4. The position of the movable joint motor is realized by controlling the position of the sliders on the horizontal guide rail 3 and the vertical guide rail 4.

[0088] Preferably, when the rehabilitation aid is an exoskeleton joint module, a travel switch 27 is installed on the rehabilitation aid to limit the upper limit of the rotation of the joint motor 7.

[0089] When the rehabilitation aid is an exoskeleton joint module, the travel switch 27 is arranged between the fixed end bracket 802 and the output end bracket 803 of the exoskeleton joint module, and is connected to the single-chip microcomputer through a wire. When the angle between the fixed end bracket 802 and the output end bracket 803 reaches the boundary of the joint safety angle range, the travel switch 27 is activated, and the travel switch disconnects the relay through the single-chip microcomputer; the rotation of the joint motor 7 is limited to protect the safety of the subject.

[0090] Preferably, it also includes: a joint driver 22 for controlling the rotation of the joint motor 7, the joint motor driver is used to drive the joint motor, the relay 26 is electrically connected to the joint motor 7 through the joint driver 22, and a data exchange card 25 is arranged on the circuit between the relay 26 and the industrial computer 18.

[0091] Preferably, a motion control card 24 is provided on the circuit between the data exchange card 25 and the industrial computer 18 , and the motion control card 24 is connected to the industrial computer 18 via a PCI bus.

[0092] Preferably, the single chip microcomputer 6 is electrically connected to the horizontal guide rail motor 302 of the horizontal guide rail 3 , and the single chip microcomputer 6 is electrically connected to the vertical guide rail motor 402 of the vertical guide rail 4 .

[0093] Preferably, the single chip microcomputer 6 controls the horizontal guide rail motor 302 via the horizontal guide rail driver 301 , and the single chip microcomputer 6 controls the vertical guide rail motor 402 via the vertical guide rail driver 401 .

[0094] As a preferred embodiment, the industrial computer 18 obtains the data of the encoder 21 and the sensor 20 through the data acquisition card 19, the data acquisition card is connected to the industrial computer 32 through the PCI bus, and the data exchange card is used to convert the data type to realize the communication between different interfaces; the data acquisition card 19 processes the joint angle, angular velocity, angular acceleration and torque information of the joint motor collected by the encoder and the sensor 20 and transmits them to the industrial computer 18 through the PCI bus for calculation, and the motion control card is used to compile the program to control the rotation of the joint motor 7. The sensor and the encoder are connected to the data acquisition card through a wire, and the data collected by the sensor and the encoder are transmitted to the industrial computer through the data acquisition card for processing and calculation. The single-chip microcomputer 6 is electrically connected to the data acquisition card 19, and the single-chip microcomputer 6 determines whether the data of the encoder 21 and the sensor 20 reaches the threshold value. When the threshold value is reached, the single-chip microcomputer 6 controls the relay to disconnect the circuit, thereby disconnecting the power supply of the joint motor.

[0095] Preferably, the industrial computer 18 is connected with a signal input terminal and a display, and the signal input terminal is a mouse, a keyboard and a control panel. The mouse and the keyboard are connected to the USB interface of the industrial computer 18 via a USB cable, and the control program of the electric control machine can be written and modified using the mouse and the keyboard; the display is connected to the VGA interface of the industrial computer 18 via a VGA cable, and the angle, angular velocity, angular acceleration and torque of the joint motor 7 can be displayed in real time.

[0096] When in use, the test state when the patient wears the prosthesis module 5 is as follows: Figure 9a As shown in Figure 2, the test status of the patient wearing the exoskeleton module is as follows: Figure 9b As shown in Figure 2 (with an exoskeleton module installed at the knee), the test state of the patient wearing the exoskeleton module is as follows: Fig.9c As shown in Figure 2 (with an exoskeleton module installed at the ankle), the test status of the patient wearing the exoskeleton module is as follows: Figure 9d As shown (exoskeleton module is installed at the ankle joint).

[0097] The method for using the static lower limb rehabilitation assistive device testing system of the present invention comprises the following steps:

[0098] In order to objectively evaluate the auxiliary effect of rehabilitation assistive devices, the mean error u and the root mean square error E are defined RMS :

[0099]

[0100]

[0101] Where n represents the number of sampling points of the encoder and / or sensor on the rehabilitation aid, M i 、N i They are respectively the expected sampling value before sampling of the rehabilitation assistive device and the actual value obtained during sampling of the rehabilitation assistive device. The sampling is to obtain the angle, angular velocity, angular acceleration and / or torque of the rehabilitation assistive device. The mean error u of the angle, angular velocity, angular acceleration and torque is positively correlated, and the root mean square error E of the angle, angular velocity, angular acceleration and torque is positively correlated. RMS Also positively correlated, the mean error u and the root mean square error E RMS The larger the value of is, the worse the auxiliary effect of the rehabilitation assistive device is. On the contrary, the mean error u and the root mean square error E RMS The smaller the value, the better the auxiliary effect of the rehabilitation assistive device (when judging the auxiliary effect of the rehabilitation assistive device, one or more of the angle, angular velocity, angular acceleration and torque can be judged. Since the mean error u and the root mean square error E of the angle, angular velocity, angular acceleration and torque are RMS There is a positive correlation, therefore, the results of judging one or more of the angle, angular velocity, angular acceleration and torque are almost the same).

[0102] The patient wears a rehabilitation aid and samples the rehabilitation aid according to method one and method two. The rehabilitation aid is an exoskeleton joint module at the hip joint. The expected and actual sampling values ​​obtained by method one are as follows: Fig.10b As shown in the figure, the expected and actual sampling values ​​obtained by method 2 are as follows Fig.10a As shown, by calculating the mean error u and the root mean square error E RMS To evaluate the auxiliary effect of rehabilitation assistive devices.

[0103] The present invention is described above by way of example. It should be noted that, without departing from the core of the present invention, any simple deformation, modification or other equivalent replacement that can be made by those skilled in the art without inventive effort falls within the protection scope of the present invention.

Claims

1. A static lower limb rehabilitation assistive device testing system, characterized in that: include: A base (1) and a moving device, wherein the moving device comprises: a horizontal guide rail (3) arranged horizontally, a vertical guide rail (4) arranged vertically, and a joint fixing structure (5), wherein the bottom end of the horizontal guide rail (3) is fixedly mounted on the base (1), the bottom end of the vertical guide rail (4) is fixedly mounted on a slider on the horizontal guide rail (3), and the joint fixing structure (5) is fixedly mounted on the slider of the vertical guide rail (4), and is used for installing a rehabilitation assistive device, wherein the rehabilitation assistive device is an exoskeleton joint module (8) or a prosthetic limb module (17); The joint fixing structure (5) comprises: a bearing seat (501), a rotating bracket (502), a mounting rod (503) and a locking block (504); the bearing seat (501) is fixedly mounted on the slider of the vertical guide rail (4); the rotating bracket (502) is axially connected to the bearing seat (501) and can rotate on the bearing seat (501); the locking block (504) is mounted on the rotating bracket (502) for fixing the rotating bracket (502) and the bearing seat (501) relative to each other; there are a plurality of mounting rods (503) which are all mounted on the rotating bracket (502) for mounting the exoskeleton joint module (8) or the prosthetic module (17); The rotating bracket (502) comprises: a shaft and a fixing plate fixed to one end of the shaft, the rotating bracket (502) is axially connected to the bearing seat (501) through the other end of the shaft, and the mounting rod (503) is fixed to the fixing plate; There are two locking blocks (504), and each locking block (504) is a cam structure.

2. The static lower limb rehabilitation assistive device testing system according to claim 1, characterized in that: Also includes: A seat (2) is fixedly mounted on the base (1), wherein the vertical guide rail (4) is located on one side in front of the seat (2).

3. The static lower limb rehabilitation assistive device testing system according to claim 1, characterized in that: The mounting rod (503) is located on a side of the fixing plate away from the bearing seat (501).

4. The static lower limb rehabilitation assistive device testing system according to claim 3, characterized in that: The number of the mounting rods (503) is four, and the four mounting rods (503) are distributed along a rectangular array and are respectively located at four corners of a rectangle.

5. The static lower limb rehabilitation assistive device testing system according to claim 1, characterized in that: The exoskeleton joint module (8) is formed with a plurality of through holes along the circumferential direction, and when the exoskeleton joint module (8) is mounted on the joint fixing structure (5), each mounting rod (503) passes through one of the through holes; The prosthetic module (17) comprises a cylindrical structure or a substantially cylindrical structure. When the prosthetic module (17) is mounted on the joint fixing structure (5), the cylindrical structure or the substantially cylindrical structure is embedded between a plurality of mounting rods (503) and fixed by the mounting rods (503).

6. The static lower limb rehabilitation assistive device testing system according to claim 5, characterized in that: A joint motor (7) is installed in the rehabilitation aid, and the static lower limb rehabilitation aid test system further comprises: an industrial control computer (18), and the industrial control computer (18) controls the movement of the joint motor (7).

7. The static lower limb rehabilitation assistive device testing system according to claim 6, characterized in that: Also includes: An encoder (21) and / or a sensor (20) installed in the rehabilitation aid, the encoder (21) is used to obtain the rotation angle, angular velocity and angular acceleration of the joint motor (7) of the rehabilitation aid, the sensor (20) is used to obtain the torque of the joint motor (7) of the rehabilitation aid, and the industrial computer (18) obtains data from the encoder (21) and / or the sensor (20); A relay (26) is arranged on the circuit of the industrial computer (18) controlling the movement of the joint motor (7), and further comprising: a single chip computer (6) controlling the relay (26); The single chip computer (6) controls the movement of the horizontal guide rail (3) and the vertical guide rail (4); A travel switch (27) is installed on the rehabilitation aid to limit the upper limit of the rotation of the joint motor (7); the travel switch (27) is electrically connected to the single-chip microcomputer (6); It also includes: a joint driver (22) for controlling the rotation of the joint motor (7), the relay (26) being electrically connected to the joint motor (7) via the joint driver (22), and a data exchange card (25) being arranged on the circuit between the relay (26) and the industrial computer (18); A motion control card (24) is provided on the circuit between the data exchange card (25) and the industrial computer (18); The single chip microcomputer (6) is electrically connected to a horizontal guide rail motor (302) of the horizontal guide rail (3), and the single chip microcomputer (6) is electrically connected to a vertical guide rail motor (402) of the vertical guide rail (4); The single chip microcomputer (6) controls the horizontal guide rail motor (302) via a horizontal guide rail driver (301), and the single chip microcomputer (6) controls the vertical guide rail motor (402) via a vertical guide rail driver (401); The industrial computer (18) acquires data from the encoder (21) and / or the sensor (20) via a data acquisition card (19); The single chip microcomputer (6) is electrically connected to the data acquisition card (19), and the single chip microcomputer (6) determines whether the data of the encoder (21) and / or the sensor (20) reaches a threshold value. When the threshold value is reached, the single chip microcomputer (6) controls the relay (26) to disconnect the circuit.

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