A device for assisting lower limb flexion and extension rehabilitation training and a control method thereof

Abstract

The present invention relates to the technical field of rehabilitation training devices, and in particular to a device for assisting lower limb flexion and extension rehabilitation training and a control method thereof. By providing a base, a seat and two groups of lower limb rehabilitation training mechanisms including a lower limb exoskeleton, a drive motor, a first transmission mechanism, a second transmission mechanism, a calf push rod and a thigh push rod, a user can choose to perform rehabilitation training on the calf, i.e., the flexion and extension of the knee joint, or on the thigh, i.e., the flexion and extension of the hip joint. The device can realize multiple modes of lower limb rehabilitation training, enable patients to perform flexion and extension training independently, and improve training efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training devices, and in particular to a device for assisting lower limb flexion and extension rehabilitation training and a control method thereof. Background Art

[0002] In daily life, knee flexion and extension and hip flexion and extension account for a large proportion of joint activities. For example, walking, which is the most common activity, mainly involves knee and hip flexion and extension, as well as ankle dorsiflexion. Knee and hip flexion and extension also account for the largest proportion in sports such as football and basketball. Therefore, ensuring that patients recover good flexion and extension ability of the hip and knee joints after medical treatment can improve people's quality of life.

[0003] Introducing the gravity balance feature into the lower limb rehabilitation training device can balance most of the limb gravity and the exoskeleton during the rehabilitation training process, meeting the rehabilitation needs of MMT-2 patients who cannot exert force and cannot bear the gravity of their limbs.

[0004] However, the existing rehabilitation training devices have a single rehabilitation mode and are unable to perform rehabilitation training on the patient's knee joint and hip joint separately, which affects the efficiency of rehabilitation training. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a device for assisting lower limb flexion and extension rehabilitation training and a control method thereof, so as to solve the problems of the existing rehabilitation training device having a single rehabilitation mode and low rehabilitation training efficiency.

[0006] Based on the above purpose, the present invention provides a device for assisting lower limb flexion and extension rehabilitation training, comprising:

[0007] Pedestal;

[0008] A seat is mounted on the top of the base, with a backrest mounted in the middle of the seat;

[0009] Two sets of lower limb rehabilitation training mechanisms are installed on the base, and the lower limb rehabilitation training mechanisms include:

[0010] The lower limb exoskeleton is installed on one side of the backrest. The lower limb exoskeleton includes a thigh exoskeleton and a calf exoskeleton. The thigh exoskeleton is arranged above the seat. The calf exoskeleton is movably connected with the thigh exoskeleton and is arranged on one side of the seat.

[0011] A driving motor is mounted on the base;

[0012] A first transmission mechanism, one end of which is connected to the output end of the driving motor, and the other end of which is connected to a first follower, and the first follower moves horizontally under the action of the first transmission mechanism;

[0013] A second transmission mechanism, one end of which is connected to the output end of the driving motor, and the other end of which is connected to a second follower, and the second follower moves vertically under the action of the second transmission mechanism;

[0014] A calf push rod is installed on one side of the calf exoskeleton. The calf push rod is connected to a first cylinder that drives it to move up and down. The first cylinder can drive the calf push rod to move to a first position, so that one end of the calf push rod contacts the first follower, so that the first follower drives the calf push rod to move horizontally, thereby driving the calf exoskeleton to rotate;

[0015] The thigh push rod is installed at the bottom of the thigh exoskeleton, and the calf push rod is connected to a second cylinder that drives it to move horizontally. The second cylinder can drive the thigh push rod to move to the second position, so that one end of the thigh push rod contacts the second follower, and the second follower drives the thigh push rod to move vertically, thereby driving the thigh exoskeleton to rotate.

[0016] Preferably, a first spring is connected between the backrest and the calf exoskeleton, and a second spring is connected between the backrest and the thigh exoskeleton.

[0017] Preferably, a first angle sensor for detecting the flexion and extension angle of the calf is installed at the calf exoskeleton, and a second angle sensor for detecting the flexion and extension angle of the thigh is installed at the thigh exoskeleton;

[0018] The drive motor is connected to a control module, which is used to read the measurement results of the first angle sensor and the second angle sensor, and control the drive motor to rotate forward or reverse according to a preset angle threshold.

[0019] Preferably, a pressure sensor for measuring the weight of the user is installed on the seat, and the control module is used to adjust the torque of the drive motor according to the measurement result of the pressure sensor.

[0020] Preferably, the device further comprises an electromyographic sensor and a feedback module, the electromyographic sensor being used to detect the strength of the electromyographic signal of the rectus femoris muscle, and the feedback module being used to display the measurement result of the electromyographic sensor.

[0021] This specification also provides a control method for a device for assisting lower limb flexion and extension rehabilitation training as described above, wherein the two sets of lower limb rehabilitation training mechanisms correspond to the left lower limb and the right lower limb of the user respectively, and the control method comprises the following steps:

[0022] A. Pre-set control rules corresponding to various rehabilitation modes;

[0023] B. According to the rehabilitation mode selected by the user, determine the lower limb part corresponding to the rehabilitation mode, control the action of the first cylinder or the second cylinder, push the calf push rod to the first position or push the thigh push rod to the second position;

[0024] C. Control the drive motor to rotate forward, drive the calf exoskeleton to rotate toward the side away from the backrest, or drive the thigh exoskeleton to rotate toward the side away from the seat;

[0025] D. Detect the angle of the corresponding calf exoskeleton or thigh exoskeleton, and stop driving the motor when the angle reaches the threshold corresponding to the control rule;

[0026] E. After the drive motor stops for a set time, start the drive motor to reverse;

[0027] F. When it is detected that the angle of the corresponding calf exoskeleton or thigh exoskeleton is 0 degrees, the driving motor is stopped;

[0028] G. Loop steps CF until the loop stop condition is met.

[0029] Preferably, the method further comprises:

[0030] The PID control algorithm is used to calculate the difference between the set value and the measured output, and the proportional coefficient K is adjusted. p , integration coefficient K i and the differential coefficient K d , combined calculation control quantity, control the output of the drive motor.

[0031] Preferably, the method further comprises:

[0032] The BP neural network algorithm is used to adjust the proportional coefficient, integral coefficient and differential coefficient of the PID control algorithm.

[0033] The beneficial effects of the present invention are as follows: by providing the above-mentioned device for assisting lower limb flexion and extension rehabilitation training, the user can choose to perform rehabilitation training on the calf, that is, the flexion and extension of the knee joint, or on the thigh, that is, the flexion and extension of the hip joint. When performing calf rehabilitation training, the calf push rod is pushed to the first position by the first cylinder, so that the first follower can contact with the calf push rod during the movement, and the calf exoskeleton is driven to rotate by the calf push rod, thereby performing calf rehabilitation training. When performing thigh rehabilitation training, the thigh push rod is pushed to the second position by the second cylinder, so that the second follower can contact with the thigh push rod during the movement, and the thigh exoskeleton is driven to rotate by the thigh push rod, thereby performing thigh rehabilitation training. The present device can realize multiple modes of lower limb rehabilitation training, enable patients to perform flexion and extension training independently, and improve training efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the structure of a rehabilitation training device according to an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of a knee joint rehabilitation training working process according to an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of a hip joint rehabilitation training working process according to an embodiment of the present invention;

[0038] Figure 4 Schematic diagram of the BP-PID control algorithm of an embodiment of the present invention;

[0039] Figure 5 Schematic diagram of the rehabilitation training process according to an embodiment of the present invention.

[0040] The markings in the figure are: 1. first transmission mechanism; 2. second transmission mechanism; 3. drive motor; 4. seat; 5. first spring; 6. second spring; 7. lower limb exoskeleton; 8. first cylinder; 9. thigh push rod; 10. second cylinder; 11. calf push rod; 12. first follower; 13. second follower; 14. base. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0042] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0043] The embodiment of the present specification provides a device for assisting lower limb flexion and extension rehabilitation training, including a base, a seat 4 and two groups of lower limb rehabilitation training mechanisms, wherein the seat 4 is installed on the top of the base, and a backrest is installed in the middle of the seat 4, and the two groups of lower limb rehabilitation training mechanisms are installed on the base, and the lower limb rehabilitation training mechanism includes a lower limb exoskeleton 7, a drive motor 3, a first transmission mechanism 1, a second transmission mechanism 2, a calf push rod 11 and a thigh push rod 9, wherein the lower limb exoskeleton 7 is installed on one side of the backrest, and the lower limb exoskeleton 7 includes a thigh exoskeleton and a calf exoskeleton, the thigh exoskeleton is arranged above the seat 4, the calf exoskeleton is movably connected to the thigh exoskeleton, and is arranged on one side of the seat 4, the drive motor 3 is installed on the base, one end of the first transmission mechanism 1 is connected to the output end of the drive motor 3, and the other end is connected to a first follower 12, and the first follower 12 moves horizontally under the action of the first transmission mechanism 1, The second transmission mechanism 2 has one end connected to the output end of the driving motor 3 and the other end connected to a second follower 13. The second follower 13 moves vertically under the action of the second transmission mechanism 2. The calf push rod 11 is installed on one side of the calf exoskeleton. The calf push rod 11 is connected to the first cylinder 8 that drives it to rise and fall. The first cylinder 8 can drive the calf push rod 11 to move to the first position, so that one end of the calf push rod 11 contacts the first follower 12, so that the first follower 12 drives the calf push rod 11 to move horizontally, thereby driving the calf exoskeleton to rotate. The thigh push rod 9 is installed at the bottom of the thigh exoskeleton. The calf push rod 11 is connected to the second cylinder 10 that drives it to move horizontally. The second cylinder 10 can drive the thigh push rod 9 to move to the second position, so that one end of the thigh push rod 9 contacts the second follower 13. The second follower 13 drives the thigh push rod 9 to move vertically, thereby driving the thigh exoskeleton to rotate.

[0044] By providing the above-mentioned device for assisting lower limb flexion and extension rehabilitation training, the user can choose to perform rehabilitation training on the calf, that is, the flexion and extension of the knee joint, or on the thigh, that is, the flexion and extension of the hip joint. When performing calf rehabilitation training, the calf push rod 11 is pushed to the first position by the first cylinder 8, so that the first follower 12 can contact with the calf push rod 11 during the movement, and the calf exoskeleton is driven to rotate by the calf push rod 11, thereby performing calf rehabilitation training. When performing thigh rehabilitation training, the thigh push rod 9 is pushed to the second position by the second cylinder 10, so that the second follower 13 can contact with the thigh push rod 9 during the movement, and the thigh exoskeleton is driven to rotate by the thigh push rod 9, thereby performing thigh rehabilitation training. The present device can realize multiple modes of lower limb rehabilitation training, enable patients to perform flexion and extension training independently, and improve training efficiency.

[0045] As an implementation mode, a first spring 5 is connected between the backrest and the calf exoskeleton, and a second spring 6 is connected between the backrest and the thigh exoskeleton, which can compensate for the gravity generated during the rehabilitation of the knee and hip joints during training and achieve gravity balance.

[0046] As an implementation mode, a first angle sensor for detecting the flexion and extension angle of the calf is installed at the calf exoskeleton, and a second angle sensor for detecting the flexion and extension angle of the thigh is installed at the thigh exoskeleton. The drive motor 3 is connected to a control module, and the control module is used to read the measurement results of the first angle sensor and the second angle sensor, and control the drive motor 3 to rotate forward or reverse according to a preset angle threshold. The flexion and extension angle can be detected in real time, and feedback is given to the control module to control the forward and reverse rotation of the drive motor 3, that is, the flexion and extension angle in rehabilitation training can be adjusted, so as to control the flexion and extension angles of the knee and hip joints by adjusting the rotation angle of the drive motor 3 according to the degree of injury of the patient, so as to achieve the best rehabilitation effect.

[0047] As an implementation mode, a pressure sensor for measuring the user's weight is installed on the seat 4, and the control module is used to adjust the torque of the drive motor 3 according to the measurement result of the pressure sensor, so as to realize the weight of the user in the rehabilitation training process and improve the rehabilitation effect.

[0048] As an embodiment, the device also includes an electromyographic sensor and a feedback module. The electromyographic sensor is used to detect the strength of the electromyographic signal of the rectus femoris muscle, and the feedback module is used to display the measurement results of the electromyographic sensor. For example, the feedback measurement results can be displayed through a touch screen to detect the strength of the electromyographic signal of the rectus femoris muscle in real time, thereby assisting in judging the effect of rehabilitation training. If the intensity of the electromyographic signal increases significantly when it is relatively calm, it means that the muscle activity has increased and the training is effective.

[0049] As an implementation mode, the two groups of lower limb rehabilitation training mechanisms provided in the present device correspond to the user's left lower limb and right lower limb respectively, that is, the calf exoskeleton and thigh exoskeleton correspond to the user's left calf, right calf, left thigh, and right thigh respectively.

[0050] The embodiment of this specification also provides a control method of a device for assisting lower limb flexion and extension rehabilitation training, comprising the following steps:

[0051] A. Pre-set control rules corresponding to various rehabilitation modes;

[0052] B. According to the rehabilitation mode selected by the user, the lower limb part corresponding to the rehabilitation mode is determined, and the first cylinder 8 or the second cylinder 10 is controlled to move, so as to push the calf push rod 11 to the first position or the thigh push rod 9 to the second position;

[0053] C. Control the drive motor 3 to rotate forward, driving the calf exoskeleton to rotate toward the side away from the backrest, or driving the thigh exoskeleton to rotate toward the side away from the seat 4;

[0054] D. Detect the angle of the corresponding calf exoskeleton or thigh exoskeleton, and when the angle reaches the threshold corresponding to the control rule, stop driving motor 3;

[0055] E. After the driving motor 3 stops for a set time, the driving motor 3 is started to reverse;

[0056] F. When it is detected that the angle of the corresponding calf exoskeleton or thigh exoskeleton is 0 degrees, stop driving motor 3;

[0057] G. Loop steps CF until the loop stop condition is met.

[0058] For example, the stop condition includes reaching a set number of cycles or receiving a stop command.

[0059] For example, six recovery modes can be preset:

[0060] Mode 1: Lift the left calf. First, the corresponding drive motor 3 rotates forward. When the first angle sensor at the left calf exoskeleton detects 60 degrees, it stops for 2-3 seconds and then the drive motor 3 reverses. When the first angle sensor detects 0 degrees, it stops for 2-3 seconds and then the drive motor 3 continues to rotate forward. The cycle repeats in this way.

[0061] Mode 2: Lift the left thigh. First, the corresponding drive motor 3 rotates forward. When the second angle sensor at the left thigh exoskeleton detects 40 degrees, it stops for 2-3 seconds and then the drive motor 3 reverses. When the second angle sensor detects 0 degrees, it stops for 2-3 seconds and then the drive motor 3 continues to rotate forward. The cycle repeats in this way.

[0062] Mode 3: Lift the right calf. First, drive motor 3 to rotate forward. When the first angle sensor at the right calf exoskeleton detects 60 degrees, it stops for 2-3 seconds and then drives motor 3 to rotate reversely. When the first sensor detects 3 to 0 degrees, it stops for 2-3 seconds and then drives motor 3 to continue to rotate forward. Repeat this step.

[0063] Mode 4: Lift the right thigh. First, drive motor 3 to rotate forward. When the second sensor at the right thigh exoskeleton detects 60 degrees, it stops for 2-3 seconds and then drives motor 3 to reverse. When the second angle sensor detects 4 to 0 degrees, it stops for 2-3 seconds and then drives motor 3 to continue to rotate forward. Repeat this cycle.

[0064] Mode 5: Lift the left and right calves together. First, both drive motors 3 rotate forward. When the first angle sensor at the left calf exoskeleton and the first sensor at the right calf exoskeleton detect 60 degrees, they stop for 2-3 seconds, and then the two drive motors 3 reverse. When the two first angle sensors detect 0 degrees, they stop for 2-3 seconds, and then the drive motors 3 continue to rotate forward. The cycle continues in this way.

[0065] Mode 6: Lift both thighs together. First, both drive motors 3 rotate forward. When the second angle sensor at the left thigh exoskeleton and the second angle sensor at the right thigh exoskeleton detect 60 degrees, they stop for 2-3 seconds, and then the two drive motors 3 reverse. When the two second angle sensors detect 0 degrees, they stop for 2-3 seconds, and then the two drive motors 3 continue to rotate forward. The cycle repeats in this way.

[0066] As an implementation method, in order to speed up the response speed of the motor of the lower limb rehabilitation training device and improve the stability of the device during operation, it is necessary to introduce an intelligent control algorithm to control the motor. The PID controller can continuously calculate the difference between the set value and the measured output and adjust the behavior of the controlled object. However, the parameters of the PID controller are difficult to adjust and the system is unstable. Therefore, the BP neural network algorithm is used to adjust the parameters of the PID controller. The BP neural network can repeatedly perform network training based on the input and output errors to find the optimal error and output parameters.

[0067] The PID control algorithm controls the output of the motor by adjusting the proportional coefficient, integral coefficient, differential coefficient, and combining the calculated control quantity according to the deviation between the input and output.

[0068] Error elimination: In the rehabilitation mode set in the controller, there is a certain error between the motor angle and the rehabilitation angle due to mechanical installation. The error value is obtained through calculation and compensated through the controller input to eliminate the error.

[0069] The control flow further includes:

[0070] 1. Apply the BP-PID control algorithm to the drive motor 3 to speed up the response speed and stability of the motor of the lower limb rehabilitation training device;

[0071] 2. When the patient is ready to recover, the gravity sensor detects the patient's weight and feeds it back to the controller, and the control module adjusts the torque of the drive motor 3;

[0072] 3. Select the rehabilitation mode through the touch screen;

[0073] 4. The solenoid valve performs the cylinder opening of the corresponding drive motor 3 in the rehabilitation mode;

[0074] 5. The control module drives the motor 3 to rotate forward through the servo driver;

[0075] 6. Start rehabilitation;

[0076] 7. The angle sensor at the exoskeleton detects the flexion and extension angles of the knee and hip joints. When the flexion and extension angle of the knee joint reaches 60° or the flexion and extension angle of the hip joint reaches 40°, the servo driver drives the motor 3 to reverse. When the flexion and extension angle of the knee joint reaches 0° or the flexion and extension angle of the hip joint reaches 0°, the servo driver drives the motor 3 to stop, and the solenoid valve executes the cylinder cut-off of the motor in this rehabilitation mode.

[0077] The electromyographic sensor is placed close to the surface of the patient's rectus femoris muscle. Since the rectus femoris muscle is directly involved in the flexion and extension of the knee and hip joints, the electromyographic sensor is used to detect the intensity of the electromyographic signal of the rectus femoris muscle in real time.

[0078] The real-time electromyographic signal waveform is displayed on the host computer. When the patient uses the rehabilitation training device for rehabilitation, the signal waveform is almost consistent with the waveform trend when the patient is at rest, indicating that the device has the characteristics of balancing the patient's limbs and the gravity of the device. After a certain period of rehabilitation, the patient performs flexion and extension training independently. If the electromyographic signal intensity increases significantly compared to when it is calm, it means that the muscle activity has increased and the training is effective.

[0079] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0080] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A device for assisting lower limb flexion and extension rehabilitation training, characterized in that: include: Pedestal; A seat is installed on the top of the base, and a backrest is installed in the middle of the seat; Two sets of lower limb rehabilitation training mechanisms are installed on the base, and the lower limb rehabilitation training mechanisms include: Lower limb exoskeletons are installed on one side of the backrest, the lower limb exoskeleton includes a thigh exoskeleton and a calf exoskeleton, the thigh exoskeleton is arranged above the seat, and the calf exoskeleton is movably connected with the thigh exoskeleton and arranged on one side of the seat; A driving motor is mounted on the base; A first transmission mechanism, one end of which is connected to the output end of the driving motor, and the other end of which is connected to a first follower, wherein the first follower moves horizontally under the action of the first transmission mechanism; A second transmission mechanism, one end of which is connected to the output end of the driving motor, and the other end of which is connected to a second follower, and the second follower moves vertically under the action of the second transmission mechanism; A calf push rod is installed on one side of the calf exoskeleton, the calf push rod is connected to a first cylinder that drives it to rise and fall, the first cylinder can drive the calf push rod to move to a first position, so that one end of the calf push rod contacts the first follower, so that the first follower drives the calf push rod to move horizontally, thereby driving the calf exoskeleton to rotate; A thigh push rod is installed at the bottom of the thigh exoskeleton. The calf push rod is connected to a second cylinder that drives it to move horizontally. The second cylinder can drive the thigh push rod to move to a second position so that one end of the thigh push rod contacts the second follower. The second follower drives the thigh push rod to move vertically, thereby driving the thigh exoskeleton to rotate.

2. The device for assisting lower limb flexion and extension rehabilitation training according to claim 1, characterized in that: A first spring is connected between the backrest and the calf exoskeleton, and a second spring is connected between the backrest and the thigh exoskeleton.

3. The device for assisting lower limb flexion and extension rehabilitation training according to claim 2, characterized in that: The calf exoskeleton is equipped with a first angle sensor for detecting the calf flexion and extension angle, and the thigh exoskeleton is equipped with a second angle sensor for detecting the thigh flexion and extension angle; The drive motor is connected to a control module, and the control module is used to read the measurement results of the first angle sensor and the second angle sensor, and control the drive motor to rotate forward or reverse according to a preset angle threshold.

4. The device for assisting lower limb flexion and extension rehabilitation training according to claim 3, characterized in that: A pressure sensor for measuring the weight of a user is installed on the seat, and the control module is used to adjust the torque of the drive motor according to the measurement result of the pressure sensor.

5. The device for assisting lower limb flexion and extension rehabilitation training according to claim 3, characterized in that: The device further comprises an electromyographic sensor and a feedback module, wherein the electromyographic sensor is used to detect the strength of the electromyographic signal of the rectus femoris muscle, and the feedback module is used to display the measurement result of the electromyographic sensor.

6. A control method for a device for assisting lower limb flexion and extension rehabilitation training according to any one of claims 3 to 5, characterized in that: The two groups of lower limb rehabilitation training mechanisms correspond to the left lower limb and the right lower limb of the user respectively, and the control method comprises the following steps: A. Pre-set control rules corresponding to various rehabilitation modes; B. according to the rehabilitation mode selected by the user, determining the lower limb part corresponding to the rehabilitation mode, controlling the first cylinder or the second cylinder to move the calf push rod to the first position or the thigh push rod to the second position; C. Control the drive motor to rotate forward, drive the calf exoskeleton to rotate toward the side away from the backrest, or drive the thigh exoskeleton to rotate toward the side away from the seat; D. Detecting the angle of the corresponding calf exoskeleton or thigh exoskeleton, and stopping the drive motor when the angle reaches a threshold value corresponding to the control rule; E. After the drive motor stops for a set time, start the drive motor to reverse; F. When it is detected that the angle of the corresponding calf exoskeleton or thigh exoskeleton is 0 degrees, the driving motor is stopped; G. Loop steps CF until the loop stop condition is met.

7. The control method of the device for assisting lower limb flexion and extension rehabilitation training according to claim 6, characterized in that: The method further comprises: The PID control algorithm is used to calculate the difference between the set value and the measured output, and the proportional coefficient K is adjusted. p , integration coefficient K i and the differential coefficient K d , combined calculation control quantity, control the output of the drive motor.

8. The control method of the device for assisting lower limb flexion and extension rehabilitation training according to claim 7, characterized in that: The method further comprises: The BP neural network algorithm is used to adjust the proportional coefficient, integral coefficient and differential coefficient of the PID control algorithm.

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