A lower limb rehabilitation exoskeleton device and control method thereof

Abstract

The embodiment of the present invention provides a lower limb rehabilitation exoskeleton device and a control method thereof, which relate to the technical field of medical equipment. The lower limb rehabilitation exoskeleton device and the control method thereof include a device body, which includes a waist support assembly, a hip joint connecting rod, a knee joint connecting rod, an ankle joint connecting rod, a foot sole and a driving assembly; the waist support assembly is used to support the human waist; the hip joint connecting rod is rotatably connected to the waist support assembly and rotates in a first plane relative to the waist support assembly; the knee joint connecting rod is rotatably connected to the hip joint connecting rod and rotates in a second plane relative to the hip joint connecting rod; the ankle joint connecting rod is rotatably connected to the knee joint connecting rod and rotates in a second plane relative to the knee joint connecting rod; the foot sole is rotatably connected to the ankle joint connecting rod and rotates in a second plane relative to the ankle joint connecting rod, thereby improving the flexibility of the lower limb rehabilitation exoskeleton device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a lower limb rehabilitation exoskeleton device and a control method thereof. Background Art

[0002] Nowadays, with the increase in the number of patients with lower limb walking disorders, there is a shortage of rehabilitation physicians, causing the burden of rehabilitation physicians to increase sharply, resulting in many patients being unable to receive timely treatment and missing the best period for rehabilitation.

[0003] The devices currently on the market that assist in lower limb rehabilitation training are unable to provide corresponding training programs for different patients and have the problem of poor flexibility. Summary of the invention

[0004] The objects of the present invention include, for example, providing a lower limb rehabilitation exoskeleton device having the advantage of good flexibility.

[0005] The purpose of the present invention also includes providing a control method for a lower limb rehabilitation exoskeleton device, which can improve the flexibility of the lower limb rehabilitation exoskeleton device.

[0006] The embodiments of the present invention can be implemented as follows:

[0007] An embodiment of the present invention provides a lower limb rehabilitation exoskeleton device, which includes a device body, wherein the device body includes a waist support component, a hip joint connecting rod, a knee joint connecting rod, an ankle joint connecting rod, a foot sole and a driving component;

[0008] The waist support assembly is used to support the waist of a human body;

[0009] The hip joint connecting rod is rotatably connected to the lumbar support assembly and rotates relative to the lumbar support assembly in a first plane;

[0010] The knee joint connecting rod is rotatably connected to the hip joint connecting rod and rotates in a second plane relative to the hip joint connecting rod, wherein the second plane is perpendicular to the first plane;

[0011] The ankle joint connecting rod is rotatably connected to the knee joint connecting rod and rotates in the second plane relative to the knee joint connecting rod;

[0012] The sole plate is rotatably connected to the ankle joint connecting rod and rotates in the second plane relative to the ankle joint connecting rod;

[0013] The knee joint connecting rod and the ankle joint connecting rod are both provided with positioning components for fixing the human leg;

[0014] The driving assembly is arranged on the device body, and is used for driving the hip joint connecting rod, the knee joint connecting rod and the ankle joint connecting rod to rotate respectively.

[0015] Optionally, the driving assembly includes a first motor, a second motor and a third motor;

[0016] The first motor is disposed on the lumbar support assembly, and the output shaft of the first motor is connected to the hip joint connecting rod;

[0017] The second motor is arranged on the hip joint connecting rod, and the output shaft of the second motor is connected to the knee joint connecting rod;

[0018] The third motor is arranged on the knee joint connecting rod, and the output shaft of the third motor is connected to the ankle joint connecting rod.

[0019] Optionally, the lumbar support assembly is provided with a first mounting seat for mounting the hip joint connecting rod;

[0020] The first motor is disposed on the first mounting seat and is used to drive the hip joint connecting rod to rotate in the first mounting seat.

[0021] Optionally, the positioning assembly includes a plurality of positioning snap rings, and two of the positioning snap rings are symmetrically hingedly provided on the knee joint connecting rod and / or the ankle joint connecting rod;

[0022] A Velcro is arranged between the two positioning clips, and the two positioning clips are connected by the Velcro to bind the legs of a human body.

[0023] Optionally, the Velcro is provided with an angle sensor for collecting angle signals of human legs.

[0024] Optionally, a pressure sensor is provided on the Velcro to collect muscle force signals and damping force signals of human legs.

[0025] Optionally, the waist support assembly includes an external support portion and an internal support portion, and the internal support portion is used to support the waist of a human body;

[0026] The external support portion is connected to the outer side of the internal support portion;

[0027] The hip joint connecting rod is connected to the external supporting part.

[0028] Optionally, a connecting portion is provided between the external supporting portion and the internal supporting portion.

[0029] An embodiment of the present invention also provides a control method for a lower limb rehabilitation exoskeleton device, which includes obtaining a muscle force signal and a damping force signal of a human leg;

[0030] Acquiring an angle signal, wherein the angle signal represents a rotation angle of the hip joint connecting rod relative to the lumbar support assembly, a rotation angle of the knee joint connecting rod relative to the hip joint connecting rod, and a rotation angle of the ankle joint connecting rod relative to the knee joint connecting rod;

[0031] Obtaining an actual resistance level value according to the muscle force signal, the damping force signal and the angle signal;

[0032] If the actual resistance level value is less than the preset resistance level value, controlling the driving component to operate at a first speed and a first output torque;

[0033] If the actual resistance level value is greater than or equal to the preset resistance level value, the drive component is controlled to operate at a second speed and a second output torque; wherein the first speed is less than the second speed, and the first output torque is less than the second output torque.

[0034] Optionally, the step of obtaining an actual resistance level value according to the muscle force signal, the damping force signal and the angle signal includes:

[0035] Obtaining an actual pressure value of the human leg according to the human leg muscle force signal and the damping force signal;

[0036] The actual resistance level value is obtained according to the actual pressure value and the actual angle value corresponding to the angle signal.

[0037] The beneficial effects of the lower limb rehabilitation exoskeleton device and the control method thereof according to the embodiments of the present invention include, for example:

[0038] The waist support assembly is used to support the human waist, and the positioning assembly is used to fix the human legs; the driving assembly can drive the hip joint connecting rod to rotate relative to the waist support assembly in a first plane, thereby driving the human legs to abduct or adduct; the driving assembly can also drive the knee joint connecting rod to rotate relative to the hip joint connecting rod in a second plane, thereby driving the human thigh to extend forward or swing backward; the driving assembly can also drive the ankle joint connecting rod to rotate relative to the knee joint connecting rod in a second plane, thereby driving the human calf to extend forward or swing backward; the driving assembly is used to drive the hip joint connecting rod, the knee joint connecting rod and the ankle joint connecting rod to move in multiple directions respectively, thereby greatly improving the flexibility of the lower limb rehabilitation exoskeleton device. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 This is a schematic diagram of the overall structure of the device body used to display the embodiment of the present application;

[0041] Figure 2 for Figure 1 A magnified view of part A;

[0042] Figure 3 This is a schematic diagram for illustrating the connection relationship between the first motor, the second motor, and the third motor and the hip joint connecting rod, the knee joint connecting rod, and the ankle joint connecting rod in the embodiment of the present application;

[0043] Figure 4 This is a schematic diagram of the structure of the lumbar support assembly used to illustrate an embodiment of the present application;

[0044] Figure 5 This is a schematic diagram of the exploded structure used to display the device body in the embodiment of the present application;

[0045] Figure 6 This is a schematic diagram for showing the connection relationship of the controllers in the embodiment of the present application;

[0046] Figure 7 A flowchart of a control method for a lower limb rehabilitation exoskeleton device according to an embodiment of the present application;

[0047] Figure 8 Flow chart of step 310 in the control method of the lower limb rehabilitation exoskeleton device according to an embodiment of the present application.

[0048] Icons: 10-device body; 100-lumbar support assembly; 110-external support part; 120-internal support part; 121-first plate; 122-second plate; 123-positioning groove; 130-connecting part; 140-first mounting seat; 150-first motor; 200-hip joint connecting rod; 210-second mounting seat; 220-second motor; 300-knee joint connecting rod; 310-third mounting seat; 320-third motor; 400-ankle joint connecting rod; 500-sole plate; 600-positioning assembly; 610-positioning clamp; 620-baffle; 700-controller; 710-pressure sensor; 720-angle sensor; 730-surface muscle electrical signal sensor; 740-display screen. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0052] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0053] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0054] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0055] At present, the designers of this application have found that since there are many patients with lower limb movement dysfunction problems and the degree of lower limb movement dysfunction varies among different patients, the devices currently on the market that assist in lower limb rehabilitation training cannot provide corresponding training plans for different patients and have the problem of poor flexibility.

[0056] The present application provides a lower limb rehabilitation exoskeleton device and a control method for the lower limb rehabilitation exoskeleton device, which are used to provide corresponding training programs for patients with different degrees of lower limb movement disorders, thereby solving the problem of poor flexibility of existing lower limb rehabilitation training devices.

[0057] Please refer to Figure 1 , Figure 2The present embodiment provides a lower limb rehabilitation exoskeleton device, including a device body 10, the device body 10 includes a waist support assembly 100, a hip joint connecting rod 200, a knee joint connecting rod 300, an ankle joint connecting rod 400, a foot sole 500 and a driving assembly (not shown in the figure); the waist support assembly 100 is used to support the waist of a human body; the hip joint connecting rod 200 is rotatably connected to the waist support assembly 100 and rotates in a first plane relative to the waist support assembly 100; the knee joint connecting rod 300 is rotatably connected to the hip joint connecting rod 200 and rotates in a second plane relative to the hip joint connecting rod 200. The second plane is perpendicular to the first plane; the ankle connecting rod 400 is rotatably connected to the knee connecting rod 300 and rotates in the second plane relative to the knee connecting rod 300; the sole plate 500 is rotatably connected to the ankle connecting rod 400 and rotates in the second plane relative to the ankle connecting rod 400; the knee connecting rod 300 and the ankle connecting rod 400 are both provided with a positioning assembly 600 for fixing the human leg; the driving assembly is arranged on the device body 10, and is used to drive the hip connecting rod 200, the knee connecting rod 300 and the ankle connecting rod 400 to rotate respectively.

[0058] When the patient uses the lower limb rehabilitation exoskeleton device for rehabilitation training, the waist support assembly 100 is used to support the human waist, and the positioning assembly 600 is used to fix the human legs; the driving assembly is used to drive the hip joint connecting rod 200, the knee joint connecting rod 300 and the ankle joint connecting rod 400 to move in multiple directions, which greatly improves the flexibility of the lower limb rehabilitation exoskeleton device.

[0059] It should be noted that the first plane is the plane on which the hip joint connecting rod 200 rotates, and the second plane is a variable plane, and the second plane is always perpendicular to the first plane. Specifically, the surfaces of the two hip joint connecting rods 200 that are away from each other are always parallel to the second plane.

[0060] Furthermore, two groups of hip joint connecting rods 200, knee joint connecting rods 300, ankle joint connecting rods 400 and sole plates 500 are provided, and the two groups of hip joint connecting rods 200, knee joint connecting rods 300, ankle joint connecting rods 400 and sole plates 500 are symmetrically arranged, corresponding to the legs of the human body.

[0061] For further information, please refer to Figure 3The driving assembly includes a first motor 150, a second motor 220 and a third motor 320; the first motor 150 is arranged on the lumbar support assembly 100, and the output shaft of the first motor 150 is connected to the hip joint connecting rod 200; the second motor 220 is arranged on the hip joint connecting rod 200, and the output shaft of the second motor 220 is connected to the knee joint connecting rod 300; the third motor 320 is arranged on the knee joint connecting rod 300, and the output shaft of the third motor 320 is connected to the ankle joint connecting rod 400. Accordingly, the first motor 150 is used to drive the hip joint connecting rod 200 to rotate, the second motor 220 is used to drive the knee joint connecting rod 300 to rotate, and the third motor 320 is used to drive the ankle joint connecting rod 400 to rotate, and the hip joint connecting rod 200, the knee joint connecting rod 300, and the ankle joint connecting rod 400 are connected in sequence.

[0062] Optionally, the first motor 150, the second motor 220 and the third motor 320 in the present embodiment are all stepper motors. By setting up the motors, the stepper motors can provide driving force when the user steps, which can greatly reduce the weight of the lower limb bones and reduce the work done in the process of swinging the legs, making the wearer more comfortable.

[0063] Please refer to Figure 4 In this embodiment, the waist support assembly 100 includes an external support portion 110 and an internal support portion 120. The internal support portion 120 is used to support the waist of a human body. The external support portion 110 is connected to the outer side of the internal support portion 120. A connecting portion 130 is provided between the external support portion 110 and the internal support portion 120. The hip joint connecting rod 200 is connected to the external support portion 110.

[0064] Optionally, the internal support portion 120 includes a first plate 121 and a second plate 122, the first plate 121 and the second plate 122 are integrally formed, and the second plate 122 is symmetrically arranged on both sides of the first plate 121, the first plate 121 and the second plate 122 surround a positioning groove 123 for clamping the human waist, and when the human waist is located in the positioning groove 123, the first plate 121 and the second plate 122 cooperate to support the human waist. In addition, an elastic band (not shown in the figure) is arranged between the second plate 122 to cooperate with the first plate 121 to fix the human waist.

[0065] The shape of the external support portion 110 is roughly U-shaped and surrounds the outer side of the second plate body 122. The end of the external support portion 110 away from the first plate body 121 is connected to the second plate body 122, and a gap is left between the external support portion 110 and the first plate body 121; the connecting portion 130 is a support rod, and there are multiple support rods. The support rods are located in the gap between the external support portion 110 and the first plate body 121, connecting the external support portion 110 and the first plate body 121, thereby enhancing the stability of the connection between the external support portion 110 and the internal support portion 120.

[0066] Optionally, the lumbar support assembly 100 is provided with a first mounting seat 140 for mounting the hip joint connecting rod 200. Specifically, the first mounting seat 140 is arranged on the second plate body 122, and the shape of the first mounting seat 140 is door-shaped. The hip joint connecting rod 200 is rotatably arranged in the door-shaped opening of the first mounting seat 140. The first motor 150 is arranged on the side wall of the first mounting seat 140, and the output shaft of the first motor 150 extends into the first mounting seat 140 and is connected to the hip joint connecting rod 200.

[0067] For further information, please refer to Figure 5 A second mounting seat 210 is symmetrically arranged at one end of the hip joint connecting rod 200 away from the first mounting seat 140, and the second mounting seat 210 is circular in shape. One end of the knee joint connecting rod 300 is connected between the two second mounting seats 210; the second motor 220 is arranged on the second mounting seat 210, and the output shaft of the second motor 220 passes through the second mounting seat 210 and is connected to the knee joint connecting rod 300.

[0068] A third mounting seat 310 is symmetrically arranged at one end of the knee joint connecting rod 300 away from the hip joint connecting rod 200, and the third mounting seat 310 is circular in shape. One end of the ankle joint connecting rod 400 is connected between the two third mounting seats 310; the third motor 320 is arranged on the third mounting seat 310, and the output shaft of the third motor 320 passes through the third mounting seat 310 and is connected to the ankle joint connecting rod 400.

[0069] The end of the ankle joint connecting rod 400 away from the knee joint connecting rod 300 is rotatably connected to the sole plate 500, and a strap for binding the human foot is also provided on the sole plate 500. A rolling bearing is provided between the ankle joint connecting rod 400 and the sole plate 500 to facilitate the free movement of the foot; in this embodiment, the knee joint connecting rod 300 and the ankle joint connecting rod 400 are three-section structures, and the concave design of the middle section is more in line with the human body design.

[0070] In addition, the rolling bearing between the ankle joint connecting rod 400 and the sole plate 500 is built with a limit groove, and the second mounting seat 210 and the third mounting seat 310 are equipped with limit grooves. The setting of the limit groove can limit the rotation angle of the knee joint connecting rod 300, the ankle joint connecting rod 400 and the sole plate 500 to prevent the knee joint connecting rod 300, the ankle joint connecting rod 400 and the sole plate 500 from rotating too much, causing secondary damage to the user.

[0071] In addition, the first motor 150, the second motor 220 and the third motor 320 in the embodiment of the present application are all equipped with reducers. The first motor 150, the second motor 220 and the third motor 320 and the corresponding reducers are arranged in different motor placement boxes to cooperate with the motors to ensure safety.

[0072] For further information, please refer to Figure 1 , Figure 2 The positioning assembly 600 includes a plurality of positioning snap rings 610, and two positioning snap rings 610 are symmetrically hingedly arranged on the knee joint connecting rod 300 and / or the ankle joint connecting rod 400 respectively; in the present embodiment, the positioning snap ring 610 arranged on the knee joint connecting rod 300 is close to the connection between the knee joint connecting rod 300 and the hip joint connecting rod 200; the positioning snap ring 610 arranged on the ankle joint connecting rod 400 is close to the connection between the ankle joint connecting rod 400 and the knee joint connecting rod 300; in addition, a baffle 620 is also arranged on the knee joint connecting rod 300 and / or the ankle joint connecting rod 400 near the positioning snap ring 610 to limit the positioning snap ring 610.

[0073] A Velcro (not shown in the figure) is provided between the two positioning clips 610, and the two positioning clips 610 are connected by the Velcro to bind the human body's legs.

[0074] In this embodiment, an angle sensor 720 is provided on the Velcro for collecting angle signals of human legs, and the angle sensor 720 is electrically connected to the controller 700; a pressure sensor 710 is provided on the Velcro for collecting muscle strength signals and damping force signals of human legs, and the pressure sensor 710 is electrically connected to the controller 700.

[0075] In addition, the Velcro is also provided with electrodes for applying electrical stimulation to the human legs, making the muscles tense or relax and producing certain movements, so as to achieve the purpose of improving or restoring the function of the stimulated muscles or muscle groups.

[0076] In addition, a surface muscle electrical signal sensor 730 is provided on the Velcro for collecting surface electrical signals of human leg muscles. The surface muscle electrical signal sensor 730 is electrically connected to the controller 700; the controller 700 is also connected to a display screen 740, which displays the electromyography RMS value in real time to facilitate rehabilitation assessment of the user.

[0077] In addition, a one-touch brake button is provided on the device body 10, and the one-touch brake button is electrically connected to the controller 700 to pause the driving component, which can effectively prevent secondary injuries to the user caused by emergencies and ensure the safety of the user.

[0078] Also, see Figure 6The device body 10 also includes a controller 700, which is electrically connected to a pressure sensor 710, an angle sensor 720, and a surface muscle electrical signal sensor 730, respectively. The controller 700 is also electrically connected to a first motor 150, a second motor 220, a third motor 320, and a display screen 740. The controller 700 is used to execute computer instructions to implement the control method of the lower limb rehabilitation exoskeleton device provided in this embodiment.

[0079] The controller 700 may be an integrated circuit chip with signal processing capability. The controller 700 may be a general-purpose processor, including a central processing unit (CPU), a single-chip microcomputer, a microcontroller unit (MCU), a complex programmable logic device (CPLD), a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), an embedded ARM, and the like. The controller 700 may implement or execute the disclosed methods, steps, and logic diagrams in the embodiments of the present invention.

[0080] In a feasible implementation, the device body 10 may further include a memory for storing program instructions executable by the controller 700. The memory may be an independent external memory, including but not limited to a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), and an electrically erasable read-only memory (EEPROM). The memory may also be integrated with the controller 700, for example, the memory may be integrated with the controller 700 in the same chip.

[0081] In summary, the working principle of a lower limb rehabilitation exoskeleton device provided in this embodiment is:

[0082] The user's waist is inserted into the positioning groove 123, and then the waist of the human body is tied and positioned using an elastic strap; then the legs of the human body are inserted into the positioning clamp ring 610, and the legs of the human body are tied using Velcro; then the first motor 150 is used to drive the hip joint connecting rod 200 to rotate relative to the waist support component 100 in the first plane, driving the human leg to abduct or adduct; the second motor 220 is used to drive the knee joint connecting rod 300 to rotate relative to the hip joint connecting rod 200 in the second plane, driving the human thigh to extend or swing backward; the third motor 320 is used to drive the ankle joint connecting rod 400 to rotate relative to the knee joint connecting rod 300 in the second plane, driving the human calf to extend or swing forward; the driving assembly is used to drive the hip joint connecting rod 200, the knee joint connecting rod 300 and the ankle joint connecting rod 400 to move in multiple directions, thereby greatly improving the flexibility of the lower limb rehabilitation exoskeleton device.

[0083] This embodiment also provides a control method for a lower limb rehabilitation exoskeleton device, which is applied to the above lower limb rehabilitation exoskeleton device. Figure 7 , the control method comprises:

[0084] S100, obtaining a muscle force signal and a damping force signal of a human leg;

[0085] It should be noted that in step S100 , the muscle force signal and the damping force signal of the human leg are collected by using the pressure sensor 710 on the Velcro strap tied to the human leg, and the muscle force signal and the damping force signal are sent to the controller 700 .

[0086] S200, obtaining an angle signal, wherein the angle signal represents a rotation angle of the hip joint connecting rod 200 relative to the lumbar support assembly 100, a rotation angle of the knee joint connecting rod 300 relative to the hip joint connecting rod 200, and a rotation angle of the ankle joint connecting rod 400 relative to the knee joint connecting rod 300;

[0087] It should be noted that in step S200, the angle sensor 720 provided on the knee joint connecting rod 300 is used to collect the rotation angle of the hip joint connecting rod 200 relative to the lumbar support assembly 100 and the rotation angle of the knee joint connecting rod 300 relative to the hip joint connecting rod 200; the angle sensor 720 provided on the ankle joint connecting rod 400 is used to collect the rotation angle of the ankle joint connecting rod 400 relative to the knee joint connecting rod 300.

[0088] S300, obtaining an actual resistance level value according to the muscle force signal, the damping force signal and the angle signal;

[0089] It should be noted that in step S300, the actual resistance level value is obtained by comparing the collected muscle force signal, damping force signal and angle signal with the database parameter table.

[0090] Please refer to Figure 8 , step S300 includes:

[0091] S310, obtaining an actual pressure value of the human leg according to the human leg muscle force signal and the damping force signal;

[0092] The actual resistance level value is obtained according to the actual pressure value and the actual angle value corresponding to the angle signal.

[0093] It should be noted that, in step S310, the actual resistance level value is obtained by comparing the actual pressure value with the actual angle value corresponding to the angle signal with the database parameter table.

[0094] For example, the database parameter table can be a group of data formed by the actual pressure values ​​corresponding to the muscle force signal, the damping force signal, and the actual angle value corresponding to the angle signal. Each group of data corresponds to an actual resistance level value, and the actual resistance level value is obtained by looking up the table according to the difference between the actual pressure value and the actual angle value.

[0095] S400, if the actual resistance level value is less than the preset resistance level value, controlling the driving component to operate at a first speed and a first output torque;

[0096] If the actual resistance level value is greater than or equal to the preset resistance level value, the driving component is controlled to operate at a second rotational speed and a second output torque; wherein the first rotational speed is less than the second rotational speed, and the first output torque is less than the second output torque.

[0097] It should be noted that, in step S400, there may be multiple preset resistance level values.

[0098] For example, the preset resistance level values ​​include a first preset resistance level value, a second preset resistance level value and a third preset resistance level value, and the first preset resistance level value, the second preset resistance level value and the third preset resistance level value increase in sequence.

[0099] If the actual resistance level value is less than the first preset resistance level value, the driving component is controlled to operate at a first rotation speed and a first output torque.

[0100] If the actual resistance level value is greater than or equal to the first preset resistance level value and less than the second preset resistance level value, the driving component is controlled to operate at a second rotation speed and a second output torque.

[0101] If the actual resistance level value is greater than or equal to the second preset resistance level value and less than the third preset resistance level value, the drive component is controlled to operate at a third speed and a third output torque, wherein the second speed is less than the third speed and the second output torque is less than the third output torque.

[0102] By analogy, the drive component can be controlled to operate at different rotation speeds and output torques by setting multiple preset resistance level values.

[0103] It should be noted that the above-mentioned control method of the lower limb rehabilitation exoskeleton device is executed by the controller 700.

[0104] In summary, the working principle of the control method of a lower limb rehabilitation exoskeleton device provided in this embodiment is:

[0105] First, the muscle force signal and damping force signal of the human leg and the angle signal of the corresponding position of the leg are obtained, and then the actual pressure value of the human leg is obtained according to the muscle force signal and the damping force signal, and the corresponding actual angle value is obtained according to the angle signal, and the actual resistance level value is obtained according to the actual pressure value and the actual angle value; the actual resistance level value is compared with the preset resistance level value, and the drive component is controlled to operate at the corresponding speed and output torque. In actual use, according to the different signals fed back by the user's legs, the drive component is controlled to operate at different speeds and output torques, so as to provide the minimum driving force to complete the training, and it can also better avoid the situation where the output power is not compatible with the human body and causes damage to the user's body.

[0106] In summary, an embodiment of the present invention provides a lower limb rehabilitation exoskeleton device and a control method thereof, which controls the drive component to operate at different rotation speeds and output torques according to different signals fed back from different leg parts of different users, thereby driving the hip joint connecting rod 200 and / or the knee joint connecting rod 300 and / or the ankle joint connecting rod 400 to rotate, thereby greatly improving the flexibility of the lower limb rehabilitation exoskeleton device and having better adaptability.

[0107] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A lower limb rehabilitation exoskeleton device, characterized in that: The device comprises a device body, wherein the device body comprises a waist support component, a hip joint connecting rod, a knee joint connecting rod, an ankle joint connecting rod, a foot sole and a driving component; The waist support assembly is used to support the waist of a human body; The hip joint connecting rod is rotatably connected to the lumbar support assembly and rotates relative to the lumbar support assembly in a first plane; The knee joint connecting rod is rotatably connected to the hip joint connecting rod and rotates in a second plane relative to the hip joint connecting rod, wherein the second plane is perpendicular to the first plane; The ankle joint connecting rod is rotatably connected to the knee joint connecting rod and rotates in the second plane relative to the knee joint connecting rod; The sole plate is rotatably connected to the ankle joint connecting rod and rotates in the second plane relative to the ankle joint connecting rod; The knee joint connecting rod and the ankle joint connecting rod are both provided with positioning components for fixing the human leg; The driving assembly is arranged on the device body, and is used to drive the hip joint connecting rod, the knee joint connecting rod and the ankle joint connecting rod to rotate respectively; The positioning assembly comprises a plurality of positioning snap rings, and two of the positioning snap rings are symmetrically hingedly provided on the knee joint connecting rod and / or the ankle joint connecting rod; A Velcro is provided between the two positioning clips, and the two positioning clips are connected by the Velcro to bind the human legs; an angle sensor is provided on the Velcro to collect angle signals of the human legs; a pressure sensor is provided on the Velcro to collect muscle force signals and damping force signals of the human legs; The device body also includes a controller, which is electrically connected to the angle sensor and the pressure sensor respectively; The controller can obtain the actual pressure value of the human leg according to the muscle force signal and the damping force signal, and obtain the actual resistance level value by comparing the actual pressure value with the actual angle value corresponding to the angle signal with the database parameter table; The controller can compare the actual resistance level value with the preset resistance level value, and then control the driving component to operate at different speeds and output torques to provide a minimum driving force to complete the training, wherein the number of the preset resistance level values ​​is multiple; If the actual resistance level value is less than the preset resistance level value, controlling the driving component to operate at a first speed and a first output torque; If the actual resistance level value is greater than or equal to the preset resistance level value, the drive component is controlled to operate at a second speed and a second output torque; wherein the first speed is less than the second speed, and the first output torque is less than the second output torque.

2. The lower limb rehabilitation exoskeleton device according to claim 1, characterized in that: The drive assembly includes a first motor, a second motor and a third motor; The first motor is disposed on the lumbar support assembly, and the output shaft of the first motor is connected to the hip joint connecting rod; The second motor is arranged on the hip joint connecting rod, and the output shaft of the second motor is connected to the knee joint connecting rod; The third motor is arranged on the knee joint connecting rod, and the output shaft of the third motor is connected to the ankle joint connecting rod.

3. The lower limb rehabilitation exoskeleton device according to claim 2, characterized in that: The lumbar support assembly is provided with a first mounting seat for mounting the hip joint connecting rod; The first motor is disposed on the first mounting seat and is used to drive the hip joint connecting rod to rotate in the first mounting seat.

4. The lower limb rehabilitation exoskeleton device according to claim 1, characterized in that: The waist support assembly includes an external support part and an internal support part, and the internal support part is used to support the waist of the human body; The external support portion is connected to the outer side of the internal support portion; The hip joint connecting rod is connected to the external supporting part.

5. The lower limb rehabilitation exoskeleton device according to claim 4, characterized in that: A connecting portion is provided between the external supporting portion and the internal supporting portion.

6. A control method for a lower limb rehabilitation exoskeleton device, applied to the lower limb rehabilitation exoskeleton device according to any one of claims 1 to 5, characterized in that: The control method comprises: Obtain muscle force signals and damping force signals of human legs; Acquiring an angle signal, wherein the angle signal represents a rotation angle of the hip joint connecting rod relative to the lumbar support assembly, a rotation angle of the knee joint connecting rod relative to the hip joint connecting rod, and a rotation angle of the ankle joint connecting rod relative to the knee joint connecting rod; Obtaining an actual resistance level value according to the muscle force signal, the damping force signal, and the angle signal, comparing the actual resistance level value with a preset resistance level value, and then controlling the driving component to operate at different speeds and output torques to provide a minimum driving force for completing training; If the actual resistance level value is less than the preset resistance level value, controlling the driving component to operate at a first speed and a first output torque; If the actual resistance level value is greater than or equal to the preset resistance level value, the driving component is controlled to operate at a second speed and a second output torque; wherein the first speed is less than the second speed, and the first output torque is less than the second output torque; Wherein, the number of the preset resistance level values ​​is multiple; The step of obtaining an actual resistance level value according to the muscle force signal, the damping force signal and the angle signal comprises: Obtaining an actual pressure value of the human leg according to the muscle force signal of the human leg and the damping force signal; The actual resistance level value is obtained by comparing the actual pressure value with the actual angle value corresponding to the angle signal with the database parameter table.

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