A multi-motion scene simulation and rehabilitation training robot

Abstract

The application discloses a multi-motion scene simulation and rehabilitation training robot, which comprises a safety protection device, two left-right symmetrical motion scene simulation devices, a step width adjusting device, a multi-mode sensing and intelligent control system and a motion scene virtual simulation system. The motion scene simulation devices are installed on the step width adjusting device, the step width adjusting device is placed on the ground, the interval of the two motion scene simulation devices can be dynamically adjusted, the safety protection device is hung above the motion scene simulation devices, the multi-mode sensing and intelligent control system realizes the collection of motion sensing information, the sensing of motion intention and the intelligent control of the motion scene simulation devices, the step width adjusting device and the like. The application provides gait simulation and rehabilitation training of various scenes such as flat ground, steps, slopes, obstacle crossing and falling in an indoor environment, and provides more diversified training scene experience for patients with lower limb motor dysfunction and patients with balance dysfunction.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a motion scene simulation and rehabilitation training robot for patients with lower limb motor dysfunction and balance dysfunction. BACKGROUND

[0002] Lower limb motor dysfunction and balance dysfunction are common in patients with stroke, Parkinson's disease, vestibular dysfunction, spinal cord injury, etc. The lower limbs, as the foundation of the whole body, also play a key role in the balance, support and stability of other parts of the body, which are very important for our daily life and functional activities, including walking, running, climbing stairs, and sitting and standing up again. Balance ability is the basic ability of all static and dynamic activities. Once the balance ability is impaired, the patient will have no way to carry out all activities. Therefore, lower limb motor dysfunction and balance dysfunction will affect the self-care ability of patients and reduce the quality of life of patients. At the same time, lower limb motor dysfunction and balance dysfunction often occur in the elderly, which can easily increase the risk of falls, a major cause of accidental death in the elderly. Therefore, scientific and effective rehabilitation exercise training can greatly help protect the safety of patients, enhance the self-care ability of patients, and improve the quality of life of patients.

[0003] Currently, the rehabilitation exercise training for patients is mainly assisted by therapists. Due to the small number of therapists, the high labor intensity of assisted exercise, and the evaluation of rehabilitation by scale form, there are often problems such as insufficient training frequency, poor training consistency, and insufficient objective quantification of rehabilitation effect, making it difficult to achieve satisfactory rehabilitation exercise training effect. In recent years, researchers have proposed a scheme to apply robots to rehabilitation training to partially replace the heavy physical labor of therapists or patient family members. In order to further enhance the patient's initiative training awareness, improve the patient's initiative participation, and improve the patient's ability to adapt to different natural scenes, it is necessary to provide rehabilitation training for flat ground, stairs, slopes, obstacle crossing, and slipping during the rehabilitation training process. However, existing rehabilitation exercise training robots generally only have the ability to assist in gait training on flat ground, and it is difficult to provide patients with actual scene experience such as stairs, slopes, obstacle crossing, and slipping, which limits the rehabilitation exercise training effect. SUMMARY

[0004] In order to make up for the shortcomings of the prior art, provide safe and multi-scene effective training for patients, and better quantify the training effect, the present application provides a new type of multi-motion scene simulation and rehabilitation training robot, which aims to further improve the rehabilitation training effect of patients and improve the quality of life of patients.

[0005] The technical scheme adopted by the present application to solve its technical problems is:

[0006] The application discloses a multi-motion scene simulation and rehabilitation training robot, which comprises a motion scene simulation device, a step width adjusting device and a motion scene virtual simulation system. The motion scene virtual simulation system is placed on the ground in front of the motion scene simulation device or is worn on the eyes of a patient, and synchronously presents a virtual simulation image of a motion scene to the patient from a first visual angle. The motion scene virtual simulation system and the motion scene simulation device are combined, and can provide rehabilitation training of scenes such as flat ground, steps, slopes and obstacle crossing. The step width adjusting device is placed on the ground, the motion scene simulation device is installed on the step width adjusting device, and the motion scene simulation device is symmetrically arranged on the left and right sides, and the distance between the two motion scene simulation devices can be dynamically adjusted through the step width adjusting device. Meanwhile, the step width adjusting device can be dynamically adjusted during training, and in combination with the motion scene simulation device and the motion scene virtual simulation system, the robot can be used for simulating complex sliding scenes such as side sliding, side front sliding and side rear sliding.

[0007] Further, the multi-motion scene simulation and rehabilitation training robot further comprises a multi-mode sensing and intelligent control system, and the multi-mode sensing and intelligent control system realizes the collection of biological motion sensing information, the sensing of a motion intention and the intelligent control of the motion scene simulation device, the step width adjusting device and the like.

[0008] The multi-mode sensing and intelligent control system comprises a multi-mode sensing module and an intelligent control module. The multi-mode sensing module is mainly used for sensing the balance state of a human body, a motion intention and a robot motion state. The multi-mode sensing module comprises a plantar pressure sensor arranged on a pedal, an inertial sensor worn on a patient, an electromyography sensor and a laser ranging sensor arranged under the pedal. The plantar pressure sensor, the inertial sensor, the electromyography sensor and the laser ranging sensor are in communication with an upper computer in the intelligent control module through CAN, Bluetooth, Modbus and the like.

[0009] The intelligent control module is used for controlling the motion scene simulation device and the step width adjusting device (mainly including controlling the robot pedal to reach an expected position at a certain speed), and comprises an upper computer controller (such as a PC), a lower computer controller (such as an embedded controller) and a plurality of motor drivers. The upper computer controller is connected with the lower computer controller through a network cable or other communication modes, and the lower computer controller is in communication with the motor drivers through a CANopen protocol.

[0010] The system acquires plantar pressure information in real time through the plantar pressure sensor on the pedal in the multi-mode sensing module, acquires human posture information through the inertial sensor on the patient, acquires human skin, especially leg surface electromyography information through the electromyography sensor, and acquires the current pedal pose through the laser ranging sensor.

[0011] The plantar pressure information, human posture information, surface electromyography information and pedal position information are uploaded to an upper computer controller, and the patient's lower limb gait, human balance state, motion intention and robot motion state are perceived through corresponding algorithms.

[0012] The perceived current human posture information is synchronously sent to a motion scene virtual simulation system for interactive control of the motion scene virtual simulation system.

[0013] After the patient's motion information is perceived, the upper computer converts the human motion intention into a pedal position information sequence through a trajectory planning algorithm and sends it to the lower computer, the pedal position information sequence is obtained through inverse kinematics to obtain the joint angle sequence of each swing arm module, and is sent to each driving motor according to the corresponding time node, so as to control the pedal position.

[0014] Further, the motion scene simulation device comprises a base module and a gait generation device; the base module is fixedly installed on the step width adjusting device, and the gait generation device is fixedly installed on the top of the base module.

[0015] Further, the step width adjusting device comprises a bottom plate, a guide rail sliding block module, a gear and rack module and a driving module; the guide rail of the guide rail sliding block module is fixedly installed on the bottom plate, and the sliding block is fixedly connected with the base plate of the motion scene simulation device; the rack of the gear and rack module is fixedly installed on the bottom plate; the driving module comprises a driving motor and a speed reducer, the speed reducer is fixedly installed on the base plate of the motion scene simulation device, the output shaft thereof passes through the through hole on the base plate of the base module, is connected with the gear of the gear and rack module, and drives the motion scene simulation device to slide on the guide rail of the guide rail sliding block module to adjust the step width. The step width adjusting device can adjust the distance between the two motion scene simulation devices, and is combined with the motion of the motion scene simulation device to adapt to people of different body types. Meanwhile, the step width adjusting device can be dynamically adjusted during the training process, and is combined with the motion of the motion scene simulation device to simulate complex sliding scenes such as side sliding, side front sliding and side rear sliding (side sliding is a superposition of lateral motion and longitudinal motion, that is, the motion scene simulation device can generate a straight forward motion during operation, and the step width adjusting mechanism increases the interval between the two sides).

[0016] Further, the motion scene virtual simulation system comprises a display device and a motion scene virtual simulation software installed on the host computer controller, wherein the display device can be a display screen, a projection device or a VR device, and is placed in front of the motion scene simulation device (for display screen or projection device) or worn on the patient (for VR device). The motion scene virtual simulation software presents a virtual simulation image of a rehabilitation training scene such as flat ground, steps, ramps, crossing obstacles and falling to the patient from a first perspective, and the image is synchronized with the current pose of the human body obtained by the multi-modal perception module. At the same time, the motion scene simulation device simulates the corresponding scene, and the virtual motion state in the scene is completely synchronized with the actual motion state of the motion scene simulation device, so that the patient obtains real-time immediacy.

[0017] Further, a multi-motion scene simulation and rehabilitation training robot further comprises a safety protection device, which is suspended above the motion scene simulation device to ensure the safety of the patient during training; the safety protection device comprises a hanging bracket, a suspension vest and a safety rope, the four feet of the hanging bracket are supported on the ground and suspended above the motion scene simulation device, and the suspension vest is connected to the hanging bracket by the safety rope.

[0018] Further, the gait generation device in the motion scene simulation device comprises a front swing arm module, a flange swing arm module, a rear swing arm module, a pedal module and a driving platform. The front swing arm module comprises a front upper swing arm and a front lower swing arm, the front upper swing arm is hinged to the front lower swing arm, and the front upper swing arm is connected to the corresponding output end of the driving platform. The flange swing arm module comprises a synchronous belt transmission module, a flange arm and a lower swing arm, the flange arm is connected to the corresponding output end of the driving platform by the synchronous belt transmission module, and the lower swing arm is hinged to the flange arm. The rear swing arm module comprises a rear upper swing arm and a rear lower swing arm, the rear upper swing arm is hinged to the rear lower swing arm, and the rear upper swing arm is connected to the corresponding output end of the driving platform. The pedal module comprises a pedal base, a front pivot shaft and a rear pivot shaft, the rear swing arm module and the flange swing arm module are coaxially installed on the rear pivot shaft, and the front swing arm module is installed on the front pivot shaft. The flange arm and the upper end of the rear upper swing arm are coaxially installed and driven by two different motors, and the flange swing arm and the rear upper swing arm do not interfere with each other during movement. The front swing arm module, the rear swing arm module, the flange swing arm module and the pedal module together form a three-degree-of-freedom planar eight-link mechanism.

[0019] Further, the base module in the motion scene simulation device comprises a base plate, a side plate and a support steel frame; the support steel frame is fixedly installed on the base plate; and the side plate is fixedly installed on the side of the support steel frame and perpendicular to the base plate.

[0020] Further, the driving platform of the gait generating device comprises a first mounting base plate, a second mounting base plate, an outer mounting bracket, an inner mounting bracket, a driving motor, a synchronous belt wheel system, a speed reducer, a lower rib, an upper rib and a motor bracket; the outer mounting bracket and the inner mounting bracket are vertically and parallelly mounted on the first mounting base plate; the synchronous belt wheel system is mounted between the inner mounting bracket and the outer mounting bracket; the second mounting base plate is parallel to the mounting platform, is vertically mounted on the inner mounting bracket, is supported by the lower rib and is further connected to the inner mounting bracket by the upper rib; the driving motor is fixedly mounted on the mounting base plate by the motor bracket; the speed reducer is fixedly mounted on the outer mounting bracket; the driving motor, the synchronous belt wheel system and the speed reducer are each provided with three, to form three sets of driving modules and act on the front swing arm module, the rear swing arm module and the flange swing arm module respectively; and the driving platform is fixedly mounted on the top end of the support steel frame.

[0021] Further, the pedal module of the gait generating device further comprises a pedal, a universal ball plate and universal balls; the pedal is fixedly mounted on a pedal base; the universal ball plate is connected to the pedal base by a front rotating shaft and a rear rotating shaft; the universal balls can be multiple and are installed at corresponding positions on the opposite sides of the universal ball plate; and the universal balls are in rolling contact with the side plates.

[0022] Further, the synchronous belt transmission module of the flange swing arm module comprises a large synchronous belt wheel, a synchronous belt and a mounting flange; and the synchronous belt wheel is fixed on the side surface of the mounting flange by bolts.

[0023] Further, the guide rail sliding block module of the step width adjusting device comprises a guide rail, four guide rail sliding blocks and a square tube on the bottom of the guide rail.

[0024] Further, the synchronous belt wheel system of the driving platform comprises a large belt wheel, a small belt wheel, a large belt wheel shaft, a small belt wheel shaft and a small synchronous belt.

[0025] The technical concept of the present application is:

[0026] The three-degree-of-freedom eight-link mechanism is a hardware platform for motion scene simulation and rehabilitation exercise training, comprising a front swing arm, a rear swing arm and a flange swing arm. The front swing arm, the rear swing arm and the flange swing arm form a planar three-degree-of-freedom mechanism, and the three swing arms are all driving members, so that full-drive control of the three-degree-of-freedom eight-link mechanism can be realized, and then the control of the position and posture of the vertical degree-of-freedom, the horizontal degree-of-freedom and the vertical plane rotation degree-of-freedom of the pedal can be realized. The multi-mode perception and intelligent control system collects human / biological motion information, robot posture information and human-robot interaction force information, perceives human motion intention and controls the motion of the pedal based on multi-mode sensing information fusion, and realizes simulation and rehabilitation exercise training of various scenes such as flat ground, steps, slopes, obstacle crossing and falling. The motion scene virtual simulation system switches the virtual simulation image of the corresponding motion scene in real time by receiving the control mode information of the intelligent control system, and provides a virtual reality scene for the patient.

[0027] The beneficial effects of the present application mainly include:

[0028] 1) A flat ground, step, slope, obstacle crossing, falling and other various scene gait simulation and rehabilitation training in an indoor environment is provided, and more diversified training scene experience is provided for lower limb motor dysfunction patients and balance dysfunction patients, so that better rehabilitation exercise training effect is obtained.

[0029] 2) The function of providing various types of disturbance inputs such as forward inclination, backward inclination, lateral inclination and falling during walking is provided, and the motion ability, balance adjustment ability and balance disorder causes of the patient are quantitatively evaluated and analyzed based on multi-mode sensing data and information fusion.

[0030] 3) Combined with the motion scene virtual simulation system, the patient can obtain a more realistic training scene, and multi-mode sensory inputs such as motion, vision and hearing can be superimposed, so that the subjective initiative of the patient in participating in the training can be better mobilized. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a schematic diagram of the overall structure of the present application;

[0032] Figure 2 is a schematic diagram of the safety protection device of the present application;

[0033] Figure 3 is a schematic diagram of the motion scene simulation device of the present application with the shell hidden;

[0034] Figure 4 is a schematic diagram of the gait generation device of the present application

[0035] Figure 5 is Figure 4 is a schematic diagram of the back of the driving platform in the present application;

[0036] Figure 6 is a schematic diagram of the front of the driving platform;

[0037] Figure 7 is a schematic diagram of the inside of the driving platform;

[0038] Figure 8 is Figure 3 is a schematic diagram of the base module;

[0039] Figure 9 is Figure 4 is a schematic diagram of the pedal module;

[0040] Figure 10 is Figure 4 is a schematic diagram of the front swing arm module;

[0041] Figure 11 is Figure 4 is a schematic diagram of the flange swing arm module;

[0042] Figure 12 is a schematic diagram of the step width adjustment device of the present application;

[0043] In the figure: 1000, safety protection device; 1001, hanger; 1002, safety rope; 1003, suspended vest; 2000, sports scene simulation device; 2100, driving platform; 2101, outer mounting bracket; 2102, fixed block; 2103, upper side rib; 2104, inner mounting bracket; 2105, two-layer mounting bottom plate; 2106, lower side rib; 2107, one-layer mounting bottom plate; 2108, motor bracket; 2109, driving motor one; 2110, speed reducer; 2111, large pulley; 2112, large pulley shaft; 2113, small synchronous belt; 2114, small pulley shaft; 2115, small pulley; 2200, base module; 2201, side plate; 2202, speed reducer bracket; 2203, base plate; 2204, support steel frame; 2300, pedal module; 2301, pedal; 2302, laser distance measuring sensor; 2303, pedal base; 2304, rear shaft; 2305, universal ball plate; 2306, universal ball; 2307, front shaft; 2308, foot pressure acquisition system; 2400, flange swing arm; 2401, flange upper swing arm; 2402, pin shaft; 2403, flange lower swing arm; 2404, synchronous belt; 2405, synchronous pulley; 2406, mounting flange; 2500, rear swing arm; 2600, front swing arm; 2601, front upper swing arm; 2602, pin shaft; 2603, front lower swing arm; 2700, synchronous pulley module; 3000, step width adjustment device; 3001, guide rail; 3002, guide rail slider; 3003, square steel; 3004, bottom plate; 3005, rack; 3006, gear; 3007, speed reducer; 3008, driving motor two; 4000, sports scene virtual simulation system. DETAILED DESCRIPTION

[0044] The application will be further described below with reference to the accompanying drawings.

[0045] Referring to Figure 1 A multi-movement scene simulation and rehabilitation training robot, comprising a safety protection device 1000, a movement scene simulation device 2000, a step width adjusting device 3000, and a movement scene virtual simulation system 4000. The movement scene simulation device 2000 comprises two symmetrical devices. The safety protection device 1000 is above the movement scene simulation device 2000. The step width adjusting device 3000 is below the movement scene simulation device 2000 and can adjust the distance between the two movement scene simulation devices. The movement scene virtual simulation system 4000 is placed in front of the movement scene simulation device or is worn on the patient in the form of VR, for real-time display of the simulated movement scene.

[0046] Referring to Figure 2 The safety protection device 1000 comprises a hanger 1001, a plurality of safety ropes 1002, and a suspension vest 1003. The suspension vest 1003 is hung below the hanger 1001 through the safety ropes 1002.

[0047] Referring to Figure 3 、 Figure 4 The unilateral movement scene simulation device 2000 comprises a gait generation device and a base module 2200, wherein the gait generation device comprises a driving platform 2100, a pedal module 2300, a flange swing arm 2400, a rear swing arm 2500, and a front swing arm 2600. The driving platform 2100 is installed on the top of the base module 2200. The front swing arm 2600 and the rear swing arm 2500 are respectively installed on the output casing of the reducer of the driving platform. The flange of the flange swing arm 2400 is coaxial with the upper end of the rear swing arm 2500, is connected with the synchronous belt 2404 and the synchronous pulley 2405, and the synchronous pulley 2405 is fixedly connected with the installation flange 2406. The flange swing arm 2400 and the rear swing arm 2500 form a scissors linkage, the tail end of which is hinged to the rear end of the pedal module 2300 to control the rear end point of the pedal module. The tail end of the front swing arm 2600 is hinged to the front end of the pedal module 2300 to control the front end point of the pedal module, thereby realizing full-drive control of the pedal.

[0048] Referring to Figure 5 、 Figure 6 、 Figure 7The driving platform 2100 comprises an outer mounting bracket 2101, a plurality of fixed blocks 2102, two upper side ribs 2103, an inner mounting bracket 2104, a two-layer mounting bottom plate 2105, four lower side ribs 2106, a one-layer mounting bottom plate 2107, three motor brackets 2108, three driving motors 2109, three reducers 2110, and three sets of synchronous pulley systems. The synchronous pulley system comprises a large pulley 2111, a large pulley shaft 2112, a small synchronous belt 2113, a small pulley shaft 2114, and a small pulley 2115. The outer mounting bracket 2101 and the inner mounting bracket 2104 are vertically mounted on the upper surface of the mounting platform and are fixed by screws. The inner mounting bracket 2104 is reinforced by the two lower side ribs 2106. The two-layer mounting bottom plate 2105 is vertically mounted on the side of the inner mounting bracket and is parallel to the one-layer mounting bottom plate 2107 and is reinforced by two upper side ribs and two lower side ribs. The three reducers are mounted in the three corresponding hole positions of the outer mounting bracket. The large pulley shaft 2112 of the synchronous pulley system is inserted into the reducer input hole, the small pulley shaft 2114 is supported between two brackets, the large pulley 2111 is mounted on the large pulley shaft 2112, the small pulley 2115 is mounted on the small pulley shaft 2114, and the large pulley and the small pulley are driven by the small synchronous belt 2113. The three motor brackets 2108 are installed corresponding to the positions of the small pulley shaft 2114 of the three synchronous pulley systems. The driving motor 2109 is installed on the motor bracket 2108.

[0049] Referring to Figure 8 The base module 2200 comprises a side plate 2201, two reducer brackets 2202, a base plate 2203, and a support steel frame 2204. The support steel frame 2204 is welded to the base plate 2203, and the side plate 2201 is welded to the side of the support steel frame. The base plate 2203 has two through holes, and the reducer brackets 2202 are installed on both sides of the through holes for connecting the driving module of the step width adjusting device.

[0050] Referring to Figure 9 The pedal module 2300 comprises a pedal 2301, a plurality of laser ranging sensors 2302, a pedal base 2303, a rear rotating shaft 2304, a universal ball plate 2305, three universal balls 2306, a front rotating shaft 2307, and a plantar pressure acquisition system 2308. The pedal 2301 is fixed above the pedal base 2303 by screws, and the laser ranging sensors 2302 are installed at the bottom of the pedal 2301. The pedal base 2303 and the universal ball plate 2305 are connected by the front rotating shaft 2307 and the rear rotating shaft 2304. The universal balls 2306 are installed at the corresponding positions of the universal ball plate 2305, with one above and two below.

[0051] Referring to Figure 10The front swing arm 2600 comprises a front upper swing arm 2601, a pin shaft 2602 and a front lower swing arm 2603. The front upper swing arm 2601 and the front lower swing arm 2603 are hingedly connected through the pin shaft 2602. The rear swing arm 2500 and the flange swing arm 2400 are also similar in structure, except that the upper swing arms are different. Meanwhile, the flange swing arm 2400 is additionally provided with a synchronous pulley at the flange of the flange upper swing arm.

[0052] With reference to Figure 11 The flange swing arm module comprises a flange upper swing arm 2401, a pin shaft 2402, a flange lower swing arm 2403, a synchronous belt 2404, a synchronous pulley 2405 and a mounting flange 2406. The synchronous pulley 2405 is fixedly connected with the mounting flange 2406. The mounting flange 2406 is connected with a reducer at a corresponding position of the driving platform through a screw. The mounting flange 2406 is in transmission with the flange upper swing arm 2401 through the synchronous belt 2404.

[0053] With reference to Figure 12 The step width adjusting device 3000 comprises a guide rail 3001, a guide rail slider 3002, a square steel 3003, a bottom plate 3004, a rack 3005, a gear 3006, a speed reducer 3007 and a driving motor 3008. The guide rail 3001 is provided with a plurality of sliders 3002, which are connected with the base module through the sliders. The guide rail 3001 is fixed on the square steel 3003 through a screw. The square steel is fixed on the bottom plate 3004 through a screw. The guide rail 3001, the guide rail slider 3002 and the square steel form a guide rail slider module. When the bottom plate 3004 is placed horizontally, three sets of guide rail modules are horizontally installed at the front, middle and rear positions of the bottom plate respectively. The length of the rack 3005 of the gear and rack module is half of the length of the bottom plate 3004. The two racks 3005 are opposite to each other and are in meshing with the gear 3006. The rack 3005 is horizontally arranged between the front and middle guide rails and the middle and rear guide rails through a screw in a central symmetry manner along the center of the bottom plate 3004. The speed reducer 3007 is fixed on the fixing hole of the base module through a speed reducer support 2202. The output shaft of the speed reducer 3007 penetrates through the through hole of the bottom plate 2203. The gear 3006 is installed on the output shaft of the speed reducer 3007, which is convenient for meshing with the rack 3005. The driving motor 3008 is installed at the input shaft position of the speed reducer 3007.

[0054] The working process of the embodiment is as follows: when the rehabilitation robot is used for training, the following steps are performed: 1) the patient wears the human body biological motion information acquisition system (the human body biological motion information acquisition system comprises a plantar pressure sensor arranged on the pedal, an inertial sensor worn on the patient, an electromyographic sensor and a laser ranging sensor distributed and installed on the lower surface of the pedal); 2) the patient steps on the pedal; 3) the patient wears the safety protection equipment; 4) the training / evaluation mode is selected on the man-machine interaction interface of the multi-mode perception and intelligent control system; 4) the patient trains according to the set path.

[0055] The embodiments of the present specification are merely illustrative of the implementation forms of the inventive concept, and are only used for the purpose of illustration. The protection scope of the present application should not be regarded as being limited to the specific forms described in the present embodiments, and the protection scope of the present application also encompasses equivalent technical means that can be thought of by those skilled in the art according to the inventive concept.

Claims

1. A multi-movement scenario simulation and rehabilitation training robot, characterized in that, The application relates to a motion scene simulation device, a motion scene virtual simulation system and a step width adjusting device; the motion scene virtual simulation system is placed on the ground in front of the motion scene simulation device and can provide virtual simulation including flat ground, steps, slopes, obstacle crossing and slipping scenes; the step width adjusting device is placed on the ground, the motion scene simulation device is installed on the step width adjusting device, and the motion scene simulation device is symmetrically arranged on the left and right sides, and the interval between the two motion scene simulation devices can be dynamically adjusted through the step width adjusting device. The motion scene simulation device comprises a base module and a gait generating device; the base module is fixedly installed on the step width adjusting device, and the gait generating device is fixedly installed on the top of the base module. The gait generating device comprises a front swing arm module, a flange swing arm module, a rear swing arm module, a pedal module and a driving platform. The front swing arm module comprises a front upper swing arm and a front lower swing arm, the front upper swing arm is hinged to the front lower swing arm, and the front upper swing arm is connected to the corresponding output end of the driving platform. The flange swing arm module comprises a synchronous belt transmission module, a flange arm and a lower swing arm, the flange arm is connected to the corresponding output end of the driving platform through the synchronous belt transmission module, and the lower swing arm is hinged to the flange arm. The rear swing arm module comprises a rear upper swing arm and a rear lower swing arm, the rear upper swing arm is hinged to the rear lower swing arm, and the rear upper swing arm is connected to the corresponding output end of the driving platform. The pedal module comprises a pedal base, a front rotating shaft and a rear rotating shaft, the rear swing arm module and the flange swing arm module are coaxially installed on the rear rotating shaft, and the front swing arm module is installed on the front rotating shaft. The flange arm and the upper end of the rear upper swing arm are coaxially installed, the rear swing arm module and the flange swing arm module form a two-degree-of-freedom scissor linkage mechanism, and the front swing arm module, the rear swing arm module, the flange swing arm module and the pedal module jointly form a three-degree-of-freedom planar eight-link mechanism.

2. The multi-movement scenario simulation and rehabilitation training robot according to claim 1, wherein, The application further relates to a multi-mode sensing and intelligent control system, the multi-mode sensing and intelligent control system comprises a multi-mode sensing module and an intelligent control module; the multi-mode sensing module is used for sensing the balance state of a human body, a motion intention and a robot motion state; and the intelligent control module is used for controlling the motion scene simulation device and the step width adjusting device.

3. The multi-movement scenario simulation and rehabilitation training robot according to claim 2, wherein, The base module comprises a base plate, side plates and a support steel frame; the support steel frame is fixedly installed on the base plate; and the side plates are fixedly installed on the side faces of the support steel frame and are perpendicular to the base plate.

4. The multi-movement scenario simulation and rehabilitation training robot according to claim 3, wherein, The driving platform comprises a mounting base plate, outer mounting supports, inner mounting supports, driving motors, synchronous belt pulley systems and reducers; the outer mounting supports and the inner mounting supports are vertically and parallelly installed on the mounting base plate; the synchronous belt pulley systems are installed between the inner mounting supports and the outer mounting supports; the driving motors are fixedly installed on the mounting base plate through motor supports; the reducers are fixedly installed on the outer mounting supports; the driving motors, the synchronous belt pulley systems and the reducers are each provided with three sets, form three sets of driving transmission modules and are respectively used for the front swing arm module, the rear swing arm module and the flange swing arm module; and the driving platform is fixedly installed on the top end of the support steel frame.

5. A multi-movement scenario simulation and rehabilitation training robot according to claim 4, characterized in that, The pedal module further comprises a pedal, a universal ball plate and universal balls; the pedal is fixedly installed on the pedal base; the universal ball plate is connected with the pedal base through a front rotating shaft and a rear rotating shaft; the universal balls are installed at corresponding positions of the universal ball plate; The universal balls are in rolling contact with the side plates.

6. A multi-movement scenario simulation and rehabilitation training robot according to claim 5, wherein The multi-mode perception module comprises a plantar pressure acquisition system, a laser ranging system and a posture and electromyography acquisition system; the plantar pressure acquisition system comprises a plurality of plantar pressure sensors, which are covered on the upper surface of the pedal and used to acquire plantar pressure data in real time during the training of the patient; the laser ranging system comprises a plurality of laser ranging sensors, which are distributed and installed on the lower surface of the pedal and used to measure the position and posture of the pedal in real time; the posture and electromyography acquisition system comprises a plurality of inertial sensors and a plurality of electromyography sensors, which are worn on the patient; The plantar pressure acquisition system acquires plantar pressure information in real time through the plantar pressure sensors, the laser ranging system acquires current pedal position and posture information through the laser ranging sensors, and the posture and electromyography acquisition system acquires human posture information through the inertial sensors and acquires surface electromyography information of the human body through the electromyography sensors; The acquired plantar pressure information, human posture information, surface electromyography information and pedal position and posture information are uploaded to an upper computer, and the patient's lower limb gait, human balance state, motion intention and robot motion state are perceived through an algorithm; The current human posture information perceived is synchronously sent to a motion scene virtual simulation system, which is used for interactive control of the motion scene virtual simulation system. After the patient's motion information is perceived, the human motion intention is converted into a pedal position information sequence through a trajectory planning algorithm and is sent to a lower computer, the pedal position information sequence is obtained through inverse kinematics to obtain a joint angle sequence of each swing arm module, and the joint angle sequence is sent to each driving motor according to the corresponding time node, so as to control the position of the pedal.

7. The multi-movement scenario simulation and rehabilitation training robot according to claim 1, wherein, The step width adjusting device comprises a bottom plate, a guide rail sliding block module, a gear and rack module and a driving module; the guide rail of the guide rail sliding block module is fixedly installed on the bottom plate, and the sliding block is fixedly connected with the base plate of the motion scene simulation device; the rack of the gear and rack module is fixedly installed on the bottom plate; the driving module is fixedly installed on the base plate of the motion scene simulation device, the output shaft thereof passes through the through hole in the base plate of the base module, is connected with the gear of the gear and rack module, is driven through the gear and rack module, and the motion scene simulation device is adjusted in sliding on the guide rail of the guide rail sliding block module.

8. The multi-movement scenario simulation and rehabilitation training robot according to claim 1, wherein, The safety protection device comprises a hanging bracket, a suspension vest and a safety rope; the four supporting legs of the hanging bracket are supported on the ground and are arranged above the motion scene simulation device; the suspension vest is connected to the hanging bracket through the safety rope.

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