A dynamic lower limb rehabilitation assistive device testing system

Abstract

The present invention discloses a dynamic lower limb rehabilitation assistive device testing system, comprising: a dynamic experimental platform support and a treadmill, the dynamic experimental platform support comprises: a frame, an adjustment bracket fixed on the top of the frame, and a floating platform hinged on the frame below the adjustment bracket, the bottom of the adjustment bracket is connected to the floating platform through a spring, a tension sensor is arranged on the adjustment bracket or the floating platform, a single-chip microcomputer reads the data of the tension sensor, a joint mounting frame is installed on each side of the front plate of the floating platform, the user is located on the treadmill when using it and the two joint mounting frames are located on both sides of the user, the rehabilitation assistive device comprises a module to be tested and an exoskeleton joint module at the hip joint, the module to be tested is an exoskeleton joint module or a prosthetic module, and an exoskeleton joint module at the hip joint is installed on each joint mounting frame. Different tensions can be achieved by adjusting the spring to adjust the force exerted on the subject by the weight of the mounted exoskeleton, thereby realizing the test of the person under different forces of the exoskeleton.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation assistive devices, and in particular relates to a dynamic 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, an object of the present invention is to provide a dynamic lower limb rehabilitation assistive device testing system.

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

[0007] A dynamic lower limb rehabilitation assistive device testing system comprises: a dynamic experimental table bracket, an industrial computer and a treadmill, wherein the dynamic experimental table bracket comprises: a frame, an adjustment bracket fixed on the top of the frame, and a floating platform hinged on the frame below the adjustment bracket, the bottom of the adjustment bracket is connected to the floating platform through a spring, a tension sensor is arranged on the adjustment bracket or the floating platform, which is used to measure the tension of the adjustment bracket on the floating platform, and the industrial computer reads the data of the tension sensor; the floating platform comprises: a horizontally arranged floating platform front plate and two joint mounting frames installed on both sides of the floating platform front plate, wherein one joint mounting frame is installed on each side of the floating platform front plate, and the user is located on the treadmill when using it and the two joint mounting frames are located on both sides of the user, and the rehabilitation assistive device comprises a module to be tested and an exoskeleton joint module at the hip joint, the module to be tested is an exoskeleton joint module or a prosthesis module, and an exoskeleton joint module at the hip joint is installed on each joint mounting frame.

[0008] In the above technical solution, the floating platform also includes: two connecting rods, one end of the two connecting rods is hinged to the front plate of the floating platform, and the other end is hinged to the frame. The front plate of the floating platform, the frame and the two connecting rods form a four-bar mechanism to hinge the floating platform to the frame.

[0009] In the above technical solution, the two connecting rods are hinged to the frame through the rear plate of the floating platform, wherein one end of the two connecting rods hinged to the frame is hinged to the rear plate of the floating platform, and the rear plate of the floating platform is fixedly mounted on the frame.

[0010] In the above technical solution, the two joint mounting frames are arranged in parallel and the distance between them on the front plate of the floating platform is adjustable.

[0011] In the above technical solution, a joint motor is installed in the module to be tested, and the industrial computer controls the movement of the joint motor.

[0012] The above technical solution also includes: an encoder and / or sensor installed in the module to be tested, the encoder is used to obtain the rotation angle, angular velocity and angular acceleration of the joint motor of the module to be tested, the sensor is used to obtain the torque of the joint motor of the module to be tested, and the industrial computer obtains data from the encoder and / or sensor.

[0013] 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.

[0014] In the above technical solution, when the module to be tested is an exoskeleton joint module, a travel switch is installed on the exoskeleton joint module to limit the upper limit of the rotation of the joint motor, and the travel switch is electrically connected to the single-chip microcomputer.

[0015] 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.

[0016] In the above technical solution, a motion control card is arranged on the circuit between the data exchange card and the industrial computer.

[0017] In the above technical solution, the industrial computer obtains the data of the encoder and / or sensor through a data acquisition card.

[0018] 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.

[0019] In the above technical solution, the bottom end of the dynamic test bench bracket is provided with lockable casters.

[0020] The beneficial effects of the dynamic lower limb rehabilitation assistive device testing system of the present invention are:

[0021] (1) The dynamic lower limb rehabilitation assistive device testing system is designed with a floating platform and an adjustable hanger, which can adapt to subjects of different heights. During the experiment, the waist of the subject fixed on the joint mounting frame can move up and down and forward and backward, ensuring a certain degree of comfort and safety. It effectively simulates the actual use scenario of the lower limb rehabilitation assistive device and restores the real use scenario of the rehabilitation assistive device wearer;

[0022] (2) The dynamic lower limb rehabilitation assistive device testing system is designed with a spring and a tension sensor to form an upward pulling force. The tension sensor can measure the force exerted by the weight of the mounted exoskeleton on the subject. By adjusting the spring, different pulling forces can be achieved to adjust the force exerted by the weight of the mounted exoskeleton on the subject, thereby enabling testing of the person under different forces exerted by the exoskeleton;

[0023] (3) During the experiment, the subjects wear the rehabilitation assistive device for testing to obtain the parameter requirements for the rehabilitation assistive device. They can also directly interact with the rehabilitation assistive device to evaluate its assistive effect;

[0024] (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;

[0025] (5) The dynamic 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

[0026] Figure 1It is a structural schematic diagram of the dynamic lower limb rehabilitation assistive device testing system of the present invention (with an exoskeleton joint module installed);

[0027] Figure 2 It is a structural schematic diagram of the dynamic lower limb rehabilitation assistive device testing system of the present invention;

[0028] Figure 3 It is a structural schematic diagram of the frame of the present invention;

[0029] Figure 4 It is a structural schematic diagram of the adjustment bracket of the present invention;

[0030] Figure 5 It is a structural schematic diagram of the floating platform of the present invention;

[0031] Figure 6 It is a schematic diagram of the structure of the exoskeleton joint module;

[0032] Figure 7 This is a schematic diagram of the structure of the exoskeleton;

[0033] Figure 8 This is a schematic diagram of the structure of the electric control part of the dynamic lower limb rehabilitation assistive device testing system of the present invention;

[0034] Figure 9a This is a schematic diagram of the dynamic lower limb rehabilitation assistive device testing system of the present invention during testing (the user wears the exoskeleton);

[0035] Figure 9b This is a schematic diagram of the dynamic lower limb rehabilitation assistive device testing system of the present invention during testing (the user wears the exoskeleton and the prosthetic module);

[0036] Fig.10a are the expected and actual values ​​of the samples obtained according to method 1;

[0037] Fig.10b are the expected and actual values ​​of the samples obtained using method 2.

[0038] Among them, 1: dynamic experimental platform bracket, 1-1: frame, 1-2: floating platform, 1-2-1: joint mounting frame, 1-2-2: floating platform front plate, 1-2-3: connecting rod, 1-2-4: floating platform back plate, 1-3: adjustment bracket, 1-3-1: spring, 1-3-2: tension sensor, 1-3-3: bracket mounting plate, 1-4: handrail, 1-5: first mounting platform, 1-6: second mounting platform, 2: treadmill, 3: exoskeleton joint module, 3-1: joint motor, 3-2: reducer, 3 -3: sensor, 3-4: output end bracket, 3-5: fixed end bracket, 4: waist fixing brace, 5: upper thigh fixing brace, 6: thigh rod, 7: lower thigh fixing brace, 8: upper calf fixing brace, 9: calf rod, 10: lower calf fixing brace, 11: foot fixing brace, 12: industrial computer, 13: data acquisition card, 14: encoder, 15: joint driver, 16: relay, 17: data exchange card, 18: motion control card, 19: travel switch, 20: single chip microcomputer. DETAILED DESCRIPTION

[0039] The technical solution of the present invention is further described below in conjunction with specific embodiments.

[0040] The models of the instruments involved in the following embodiments are as follows:

[0041] Industrial computer: IDEL-12

[0042] Motion control card: GT-400-SV-ISA-G

[0043] Data exchange card: terminal board of motion control card, matching with motion control card, no model

[0044] Exoskeleton module (self-assembly): joint driver: AP2-090, joint motor: GRM7613H, encoder: AM64 / 1617, reducer: LCSG-I-25-160, sensor (torque sensor): M2210G

[0045] Data acquisition card: M8128B1SN04375

[0046] Relay: JQC-3FF-SZ

[0047] Microcontroller: STM32F4

[0048] Travel switch: XCE102

[0049] Example 1

[0050] like Figures 1 to 4As shown, a dynamic lower limb rehabilitation assistive device testing system includes: a dynamic test bench bracket 1, an industrial computer 12 and a treadmill 2. The dynamic test bench bracket 1 includes: a frame 1-1, an adjustment bracket 1-3 fixedly mounted on the top of the frame 1-1, and a floating platform 1-2 hinged on the frame 1-1 below the adjustment bracket 1-3. The bottom of the adjustment bracket 1-3 is connected to the floating platform 1-2 through a spring 1-3-1. A tension sensor 1-3-2 (S-type tension sensor) is arranged on the adjustment bracket 1-3 or the floating platform 1-2 to measure the tension of the adjustment bracket 1-3 on the floating platform 1-2. The industrial computer 12 reads the data of the tension sensor 1-3-2; Figure 5 As shown, the floating platform 1-2 includes: a horizontally arranged floating platform front plate 1-2-2 and two joint mounting frames 1-2-1 installed on both sides of the floating platform front plate 1-2-2, wherein one joint mounting frame 1-2-1 is installed on each side of the floating platform front plate 1-2-2, and the user (patient, subject) is located on the treadmill 2 when using it and the two joint mounting frames 1-2-1 are located on both sides of the user, and the rehabilitation aid includes a module to be tested and an exoskeleton joint module at the hip joint, and the module to be tested includes: an exoskeleton joint module 3 or a prosthesis module, and an exoskeleton joint module at the hip joint is installed on each joint mounting frame 1-2-1.

[0051] When the exoskeleton joint modules are assembled into a complete lower limb exoskeleton, Figure 7As shown, the exoskeleton includes: an exoskeleton joint module 3, a waist fixing brace 4, an upper thigh fixing brace 5, a lower thigh fixing brace 7, an upper calf fixing brace 8, a lower calf fixing brace 10, a foot fixing brace 11, a thigh rod 6 and a calf rod 9. The parts of the waist fixing brace, the upper thigh fixing brace, the lower thigh fixing brace, the upper calf fixing brace and the lower calf fixing brace 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 is flat and is used to fix the user's feet; the thigh rod and the calf rod are connecting rods; the waist fixing brace is provided with mounting holes corresponding to the fixed end brackets of the exoskeleton joint module, which can be fixed together with screws; the upper end of the upper thigh fixing brace has mounting holes corresponding to the exoskeleton The output end bracket of the skeletal joint module has a mounting hole corresponding to the thigh rod 6 at the lower end, and can be fixed together with screws; the lower thigh fixing brace has a mounting hole corresponding to the thigh rod at the upper end, and a mounting hole corresponding to the fixed end bracket of the exoskeleton joint module at the lower end, and can be fixed together with screws; the upper calf fixing brace has a mounting hole corresponding to the output end bracket of the exoskeleton joint module at the upper end, and a mounting hole corresponding to the calf rod at the lower end, and can be fixed together with screws; the lower calf fixing brace has a mounting hole corresponding to the calf rod at the upper end, and a mounting hole corresponding to the fixed end bracket of the exoskeleton joint module at the lower end, and can be fixed together with screws; the foot fixing brace has a mounting hole corresponding to the output end bracket of the exoskeleton joint module, and can be fixed together with screws.

[0052] Regardless of whether the module to be tested is an exoskeleton joint module 3 or a prosthetic module, the user needs to wear a waist fixing brace 4, an upper thigh fixing brace 5, and an exoskeleton joint module 3 (at the hip joint) located between the waist fixing brace 4 and the upper thigh fixing brace 5 and use them together as a fixed exoskeleton. When the module to be tested is an exoskeleton joint module 3, the fixed exoskeleton needs to be fixedly mounted with the module to be tested, such as Figure 9a When the module to be tested is a prosthetic module, the prosthetic module needs to be fixed to the fixed exoskeleton, as shown in Figure 9b shown.

[0053] The method for using the dynamic lower limb rehabilitation assistive device testing system of the present invention comprises:

[0054] 1) The entire exoskeleton to be worn by the user (excluding the prosthetic module) is mounted on the joint mounting frame 1-2-1 through the exoskeleton joint module 3 at the hip joint, and the tension F1 of the adjustment frame 1-3 on the floating platform 1-2 is obtained through the tension sensor 1-3-2; the user is allowed to wear the entire exoskeleton and is located on the treadmill 2 with the two joint mounting frames 1-2-1 located on both sides of the user (if the module to be tested is a prosthetic module, the user is allowed to wear the prosthetic module at the same time), and the exoskeleton is again mounted on the joint mounting frame 1-2-1 through the exoskeleton joint module 3 at the hip joint (the two joint mounting frames 1-2-1 are both equipped with the exoskeleton joint module 3 at the hip joint), and the tension F2 of the adjustment frame 1-3 on the floating platform 1-2 is obtained through the tension sensor 1-3-2, and the user is allowed to exercise on the treadmill, and the spring is adjusted to X = 9-18 kg, the mass of the entire exoskeleton is X;

[0055] 2) Carry out method 1 or method 2:

[0056] Method 1 (for early rehabilitation): Based on the expected data of a gait cycle, control the module to be tested and the exoskeleton joint module 3 at the hip joint to drive the user to move on the treadmill, measure the actual data of the module to be tested during this gait cycle, and compare the expected data of a gait cycle with the actual data.

[0057] Method 2 (for mid-term or late-term rehabilitation): Have the user move and actively drive the module to be tested and the exoskeleton joint module 3 at the hip joint to move on the treadmill, obtain actual data of a gait cycle and compare it with expected data (expected data is based on data obtained from healthy people).

[0058] The above methods can be used to objectively evaluate the auxiliary effect of rehabilitation assistive devices.

[0059] Example 2

[0060] On the basis of Example 1, Figure 5 As shown, the floating platform 1-2 also includes: two connecting rods 1-2-3 arranged in the vertical direction, one end of the two connecting rods 1-2-3 is hinged to the floating platform front plate 1-2-2, and the other end is hinged to the frame 1-1, and the floating platform front plate 1-2-2, the frame 1-1 and the two connecting rods 1-2-3 form a four-bar linkage mechanism so that the floating platform 1-2 is hinged to the frame 1-1. Preferably, the two connecting rods 1-2-3 are hinged to the frame 1-1 through the floating platform rear plate 1-2-4, wherein one end of the two connecting rods 1-2-3 hinged to the frame 1-1 is hinged to the floating platform rear plate 1-2-4, and the floating platform rear plate 1-2-4 is fixedly mounted on the frame 1-1.

[0061] The two joint mounting frames 1-2-1 are arranged in parallel and the distance between them on the front plate 1-2-2 of the floating platform is adjustable (they can be tightened after adjustment). The position of the joint mounting frame 1-2-1 for mounting the exoskeleton joint module at the hip joint is a circular ring structure. The exoskeleton joint module at the hip joint is cylindrical, and a circular ring frame is fixed outside the cylindrical shape. When the joint mounting frame 1-2-1 mounts the exoskeleton joint module at the hip joint, the circular ring structure is sleeved outside the exoskeleton joint module at the hip joint, and the circular ring frame and the circular ring structure are tightened by bolts.

[0062] like Figure 4 As shown, the top of the adjustment rack is a rack mounting plate 1-3-3, and the adjustment rack is mounted on the frame body 1-1 through the rack mounting plate.

[0063] like Figure 3 As shown, a first mounting platform 1-5 and a second mounting platform 1-6 are provided on the frame body 1-1. The first mounting platform 1-5 is used to install the floating platform 1-2, and the second mounting platform 1-6 is used to fix the adjustment bracket 1-3.

[0064] Preferably, the frame includes: an n-shaped welded pipe, two first straight pipes and two second straight pipes, the n-shaped welded pipe is arranged horizontally, the n-shaped welded pipe includes a first pipe part, a second pipe part and a second pipe part connected in sequence head to tail, the two second straight pipes are arranged in parallel and fixed on the second pipe part at intervals, the angle between the second straight pipe and the second pipe part is 60 to 90°, the angle between the second straight pipe and the horizontal plane is 60 to 90°, the two first straight pipes are respectively fixed vertically on the first pipe part and the second pipe part, each first straight pipe is installed with a handrail 1-4 and the height of the handrail 1-4 on the first straight pipe can be adjusted up and down, and the two first straight pipes are respectively connected to the second straight pipes close to them through a support pipe. The first mounting platform 1-5 and the second mounting platform 1-6 are both fixed to the two second straight pipes. The bottom end of the frame 1-1 is provided with lockable casters.

[0065] Example 3

[0066] like Figure 8 As shown, on the basis of Example 2, a joint motor 3 - 1 is installed in the module to be tested, and the industrial computer 12 controls the movement of the joint motor 3 - 1 .

[0067] It also includes: an encoder 14 and / or a sensor 3-3 installed in the module to be tested, the encoder 14 is used to obtain the rotation angle, angular velocity and angular acceleration of the joint motor 3-1 of the module to be tested, the sensor 3-3 is used to obtain the torque of the joint motor 3-1 of the module to be tested, and the industrial computer 12 obtains data from the encoder 14 and / or the sensor 3-3.

[0068] like Figure 6As shown, the exoskeleton joint module includes: a joint motor 3-1, a reducer 3-2, a fixed end bracket 3-5, an output end bracket 3-4 and a sensor 3-3, the sensor is a torque sensor; the joint motor is a flat DC motor specially used for robot joints, the main body is an oblate cylindrical, and an output shaft is formed on the circular surface of the oblate cylindrical; the reducer uses a harmonic reducer, the main body is an oblate cylindrical, with an input shaft hole on the end face of the input side, and the output side is a mounting plate with mounting holes, the output shaft of the joint motor is fixed in the input shaft hole of the reducer, and the shell of the joint motor is fixedly connected to the shell of the input side end face of the reducer; the fixed end bracket 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 parallel mounting planes, one of which is a circular frame, and the circular frame is fixedly connected to the shell of the output side end face of the reducer, and on the circular frame A plurality of through holes are formed on the frame along the circumferential direction, and bolts can be passed through the through holes to fasten the circular ring structure of the circular ring frame and the joint mounting frame 1-2-1; the sensor is an oblate cylinder, and its structure is divided into an inner ring and an outer ring, and the sensor between the two can measure the torque between the two, and both the inner ring and the outer ring have annularly distributed mounting holes, and the sensor is fixed to the mounting plate on the output side of the reducer through the outer ring mounting holes; the output end bracket is a thin plate, one end of which is connected to the inner ring of the sensor through a mounting hole, and the other end has a mounting hole; when the exoskeleton joint module is powered on, the joint motor generates a driving torque, which is amplified by the reducer and transmitted to the output end bracket by the sensor, generating a joint driving torque between the fixed end bracket and the output end bracket, and the sensor can measure the torque in real time; the encoder is installed at the output shaft of the joint motor, and can measure the rotation angle, angular velocity and angular acceleration of the joint motor in real time.

[0069] The prosthetic module includes: a prosthetic socket connector and a calf tube connector (this embodiment uses the model number 3E80 of Yanglikang Prosthetics and Orthotics Technology Co., Ltd.). The prosthetic socket connector has a mounting hole, and the prosthetic socket can be fixed to the prosthetic socket connector by screws for use by patients with thigh amputations; the calf tube connector has a mounting hole for fixing the calf tube to the calf tube connector.

[0070] A relay 16 is arranged on the circuit for the industrial computer 12 to control the movement of the joint motor 3-1, and also includes: a single chip computer 20 for controlling the relay 16. The relay is used to cut off the power supply in case of emergency during the experiment, and plays a role of safety protection.

[0071] When the module to be tested is an exoskeleton joint module 3, a travel switch 19 is installed on the exoskeleton joint module 3 to limit the upper limit of the rotation of the joint motor 3-1, and the travel switch 19 is electrically connected to the single-chip microcomputer 20. The travel switch is set between the fixed end bracket and the output end bracket of the exoskeleton joint module, and is connected to the single-chip microcomputer through a wire. When the angle between the fixed end bracket and the output end bracket reaches the boundary of the joint safety angle range, the travel switch is activated, and the travel switch disconnects the relay through the single-chip microcomputer; the rotation of the joint motor is limited to protect the safety of the subject.

[0072] It also includes: a joint driver 15 for controlling the rotation of the joint motor 3-1, a relay 16 electrically connected to the joint motor 3-1 through the joint driver 15, and a data exchange card 17 is arranged on the circuit between the relay 16 and the industrial computer 12, and the data exchange card is used to convert data types to realize communication between different interfaces.

[0073] A motion control card 18 is provided on the circuit between the data exchange card 17 and the industrial computer 12, and the motion control card is connected to the industrial computer via a PCI bus.

[0074] The industrial computer 12 acquires data from the encoder 14 and / or the sensor 3 - 3 via the data acquisition card 13 , and the data acquisition card is connected to the industrial computer via a PCI bus.

[0075] The single chip microcomputer 20 is electrically connected to the data acquisition card 13. The single chip microcomputer 20 determines whether the data of the encoder 14 and / or the sensor 3-3 reaches a threshold value. When the threshold value is reached, the single chip microcomputer 20 controls the relay 16 to disconnect the circuit, thereby disconnecting the power supply of the joint motor.

[0076] The data acquisition card processes the joint angle, angular velocity, angular acceleration and torque information of the joint motor collected by the encoder and sensor and transmits it to the industrial computer through the PCI bus for calculation. The motion control card is used to compile the program to control the rotation of the joint motor. The sensor and encoder are connected to the data acquisition card through wires, and the data collected by the sensor and encoder are transmitted to the industrial computer through the data acquisition card for processing and calculation.

[0077] Preferably, the industrial computer 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 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 via a VGA cable, and the angle, angular velocity, angular acceleration and torque of the joint motor can be displayed in real time.

[0078] The above method 1 and method 2 are further explained as follows:

[0079] Method 1 (used in the early stages of rehabilitation): input one of the angle, angular velocity, angular acceleration and torque of a gait cycle into the industrial computer and control the rotation of the joint motor, which drives the patient to move; the encoder and / or sensor measures the angle, angular velocity, angular acceleration and / or torque of the joint motor, and compares them with the angle, angular velocity, angular acceleration and / or torque of the gait cycle input by the industrial computer, so as to make an objective evaluation of the auxiliary effect of the rehabilitation assistive device.

[0080] Method 2 (used in the middle or late stage of rehabilitation): The patient actively drives the joint motor to move, and the encoder and / or sensor measures the angle, angular velocity, angular acceleration and / or torque of the joint motor, and compares it with the expected values ​​of the angle, angular velocity, angular acceleration and / or torque of a gait cycle.

[0081] The method for using the dynamic lower limb rehabilitation assistive device testing system includes the following steps:

[0082] 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 :

[0083]

[0084]

[0085] Where n represents the number of sampling points of the encoder and / or sensor on the module to be tested, M i 、N i They are respectively the expected sampling value before sampling of the module under test and the actual value obtained when sampling the module under test. Sampling is to obtain the angle, angular velocity, angular acceleration and / or torque of the module under test. The mean error u of angle, angular velocity, angular acceleration and torque is positively correlated, and the root mean square error E of 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 module under test 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 module to be tested (when judging the auxiliary effect of the module to be tested, 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).

[0086] According to method one and method two, the module to be tested is sampled respectively. The module to be tested is an exoskeleton joint module. The expected and actual sampling values ​​obtained according to method one are as follows: Fig.10aAs shown in the figure, the expected and actual sampling values ​​obtained by method 2 are as follows Fig.10b 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.

[0087] 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 dynamic lower limb rehabilitation assistive device testing system, characterized in that: include: A dynamic test bench bracket (1), an industrial computer (12) and a treadmill (2), wherein the dynamic test bench bracket (1) comprises: a frame (1-1), an adjustment bracket (1-3) fixedly mounted on the top of the frame (1-1), and a floating platform (1-2) hinged on the frame (1-1) below the adjustment bracket (1-3); the bottom of the adjustment bracket (1-3) is connected to the floating platform (1-2) via a spring (1-3-1); a tension sensor (1-3-2) is provided on the adjustment bracket (1-3) or the floating platform (1-2) for measuring the tension of the adjustment bracket (1-3) on the floating platform (1-2); the industrial computer (12) reads the tension sensor (1-3-2); the floating platform (1-2) comprises: a horizontally arranged floating platform front plate (1-2-2) and two joint mounting frames (1-2-1) mounted on both sides of the floating platform front plate (1-2-2), wherein one joint mounting frame (1-2-1) is mounted on each side of the floating platform front plate (1-2-2); when the user uses the treadmill (2), the user is located on the treadmill (2) and the two joint mounting frames (1-2-1) are located on both sides of the user; the rehabilitation aid comprises a module to be tested and an exoskeleton joint module at the hip joint; the module to be tested is an exoskeleton joint module (3) or a prosthetic module; and each joint mounting frame (1-2-1) is mounted with an exoskeleton joint module at the hip joint; The floating platform (1-2) further comprises: two connecting rods (1-2-3), one end of the two connecting rods (1-2-3) is hinged to the floating platform front plate (1-2-2), and the other end is hinged to the frame (1-1), the floating platform front plate (1-2-2), the frame (1-1) and the two connecting rods (1-2-3) form a four-link (1-2-3) mechanism, so that the floating platform (1-2) is hinged to the frame (1-1); When the module to be tested is an exoskeleton joint module (3), a travel switch (19) is installed on the exoskeleton joint module (3) to limit the upper limit of the rotation of the joint motor (3-1), and the travel switch (19) is electrically connected to the single-chip computer (20); The joint mounting frame (1-2-1) is used to mount the exoskeleton joint module at the hip joint, which is a circular ring structure. The exoskeleton joint module at the hip joint is cylindrical, and a circular ring frame is fixed outside the cylindrical shape. When the joint mounting frame (1-2-1) mounts the exoskeleton joint module at the hip joint, the circular ring structure is sleeved outside the exoskeleton joint module at the hip joint, and the circular ring frame and the circular ring structure are fastened by bolts.

2. The dynamic lower limb rehabilitation assistive device testing system according to claim 1, characterized in that: The two connecting rods (1-2-3) are hinged to the frame (1-1) via a rear plate (1-2-4) of a floating platform, wherein one end of the two connecting rods (1-2-3) hinged to the frame (1-1) is hinged to the rear plate (1-2-4) of the floating platform, and the rear plate (1-2-4) of the floating platform is fixedly mounted on the frame (1-1).

3. The dynamic lower limb rehabilitation assistive device testing system according to claim 2, characterized in that: The two joint mounting frames (1-2-1) are arranged in parallel and the distance between them on the front plate (1-2-2) of the floating platform is adjustable.

4. The dynamic lower limb rehabilitation assistive device testing system according to claim 3, characterized in that: A joint motor (3-1) is installed in the module to be tested, and the industrial control computer (12) controls the movement of the joint motor (3-1).

5. The dynamic lower limb rehabilitation assistive device testing system according to claim 4, characterized in that: Also includes: An encoder (14) and / or a sensor (3-3) are installed in the module to be tested, wherein the encoder (14) is used to obtain the rotation angle, angular velocity and angular acceleration of the joint motor (3-1) of the module to be tested, and the sensor (3-3) is used to obtain the torque of the joint motor (3-1) of the module to be tested, and the industrial computer (12) obtains data from the encoder (14) and / or the sensor (3-3).

6. The dynamic lower limb rehabilitation assistive device testing system according to claim 5, characterized in that: A relay (16) is provided on the circuit for the industrial computer (12) to control the movement of the joint motor (3-1), and the single chip computer (20) controls the relay (16).

7. The dynamic lower limb rehabilitation assistive device testing system according to claim 6, characterized in that: Also includes: A joint driver (15) controls the rotation of the joint motor (3-1); the relay (16) is electrically connected to the joint motor (3-1) via the joint driver (15); and a data exchange card (17) is provided on the circuit between the relay (16) and the industrial computer (12).

8. The dynamic lower limb rehabilitation assistive device testing system according to claim 7, characterized in that: A motion control card (18) is provided on the circuit between the data exchange card (17) and the industrial computer (12); The industrial computer (12) acquires data from the encoder (14) and / or the sensor (3-3) through a data acquisition card (13); The single chip microcomputer (20) is electrically connected to the data acquisition card (13), and the single chip microcomputer (20) determines whether the data of the encoder (14) and / or the sensor (3-3) reaches a threshold value. When the threshold value is reached, the single chip microcomputer (20) controls the relay (16) to disconnect the circuit.

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