Single lower limb exoskeleton device and system

Abstract

This invention provides a single lower limb exoskeleton device and system, comprising: a camera on the healthy side, a camera on the affected side, and a main control device. The camera on the healthy side is used to collect the movement trajectory of the patient's healthy side, obtain gait data of the healthy side based on the movement trajectory, and send the gait data of the healthy side to the main control device. The camera on the affected side is used to collect the movement trajectory of the patient's affected side, obtain gait data of the affected side based on the movement trajectory, and send the gait data of the affected side to the main control device. The main control device is used to compare the gait data of the healthy side and the gait data of the affected side, and correct the gait data of the affected side based on the comparison result. This invention improves the learning accuracy of the affected side.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robot technology, and in particular to a single lower limb exoskeleton device and system. Background Technology

[0002] A single lower limb exoskeleton is an exoskeleton robot used for patient rehabilitation training. After wearing the exoskeleton, patients can perform rehabilitation training on the affected side. Currently, existing single lower limb exoskeleton technologies involve collecting motion data from the healthy lower limb using sensors on the healthy side, sending this data to a main controller, and then using the controller's algorithm to reconstruct the gait data from the healthy side onto the affected side, thus achieving the goal of the affected side learning from the healthy side. However, existing methods rely on sensor data collection, which has limitations, resulting in lower learning accuracy for the affected side. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a single lower limb exoskeleton device and system to improve the learning accuracy of the affected side.

[0004] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0005] In a first aspect, embodiments of the present invention provide a single lower limb exoskeleton device, comprising: a camera on the healthy side, a camera on the affected side, and a main control device; the camera on the healthy side is used to collect the movement trajectory of the patient's healthy side, obtain gait data of the healthy side based on the movement trajectory, and send the gait data of the healthy side to the main control device; the camera on the affected side is used to collect the movement trajectory of the patient's affected side, obtain gait data of the affected side based on the movement trajectory, and send the gait data of the affected side to the main control device; the main control device is used to compare the gait data of the healthy side and the gait data of the affected side, and correct the gait data of the affected side based on the comparison result.

[0006] In one embodiment, the healthy side camera includes: an external healthy side camera and a built-in healthy side camera. The external healthy side camera is disposed on the rehabilitation straight track on the healthy side of the patient, and the built-in healthy side camera is disposed on the healthy side exoskeleton. The external healthy side camera is used to collect a first healthy side motion trajectory when the patient steps on the healthy side, and obtain first healthy side gait data based on the first healthy side motion trajectory. The built-in healthy side camera is used to collect a second healthy side motion trajectory when the patient steps on the healthy side, and obtain second healthy side gait data based on the second healthy side motion trajectory.

[0007] In one embodiment, the affected-side camera includes an external affected-side camera and a built-in affected-side camera. The external affected-side camera is positioned on the rehabilitation linear track on the affected side of the patient, and the built-in affected-side camera is positioned on the affected-side exoskeleton. The external affected-side camera is used to collect a first affected-side motion trajectory when the patient steps on the affected side, and to obtain first affected-side gait data based on the first affected-side motion trajectory. The built-in affected-side camera is used to collect a second affected-side motion trajectory when the patient steps on the affected side, and to obtain second affected-side gait data based on the second affected-side motion trajectory.

[0008] In one embodiment, the main control device includes a data processing unit and a motor drive unit; the data processing unit is used to fit the first healthy side gait data and the second healthy side gait data to obtain the healthy side gait, and to generate the patient's affected side gait based on the healthy side gait; the motor drive unit is used to drive the patient's affected side to take steps based on the gait.

[0009] In one embodiment, the data processing unit is further configured to fit the first affected side gait data and the second affected side gait data to obtain the affected side gait.

[0010] In one embodiment, the main control device is further configured to: acquire the patient's height and leg length data, and determine the maximum stride interval of the patient's healthy side based on the height and leg length data; compare the first healthy side gait data with the maximum stride interval, and remove the first healthy side gait data that exceeds the maximum stride interval; smooth multiple consecutive first healthy side gait data that are within the maximum stride interval to obtain a first normal gait interval for the patient; compare the second healthy side gait data with the first normal gait interval for the patient, and remove the second healthy side gait data that exceeds the first normal gait interval for the patient; and smooth multiple consecutive second healthy side gait data that are within the first normal gait interval for the patient to obtain the healthy side gait.

[0011] In one embodiment, the main control device is further configured to: compare the first affected side gait data with the maximum stride interval, and remove the first affected side gait data that exceeds the maximum stride interval; smooth multiple consecutive first affected side gait data that are within the maximum stride interval to obtain a second patient normal gait interval; compare the second affected side gait data with the second patient normal gait interval, and remove the second affected side gait data that exceeds the second patient normal gait interval; smooth multiple consecutive second affected side gait data that are within the second patient normal gait interval to obtain the affected side gait.

[0012] In one embodiment, the main control device further includes a trend analysis unit for performing gait analysis on the affected side and the healthy side.

[0013] In one embodiment, the device further includes a wireless transmission unit for receiving first healthy-side gait data transmitted by an external healthy-side camera and first affected-side gait data transmitted by an external affected-side camera.

[0014] Secondly, embodiments of the present invention provide a single lower limb exoskeleton system, including the single lower limb exoskeleton device provided in any of the first aspects above, and also including a mobile terminal device connected to the single lower limb exoskeleton device.

[0015] The embodiments of the present invention bring the following beneficial effects:

[0016] The single lower limb exoskeleton device and system provided in this invention include: a camera on the healthy side, a camera on the affected side, and a main control device. The camera on the healthy side is used to collect the movement trajectory of the patient's healthy side, obtain gait data of the healthy side based on the movement trajectory, and send the gait data of the healthy side to the main control device. The camera on the affected side is used to collect the movement trajectory of the patient's affected side, obtain gait data of the affected side based on the movement trajectory, and send the gait data of the affected side to the main control device. The main control device is used to compare the gait data of the healthy side and the gait data of the affected side, and correct the gait data of the affected side based on the comparison result. The above-mentioned single lower limb exoskeleton device, by collecting the movement trajectories of the healthy side and the affected side of the patient through the camera on the healthy side and the camera on the affected side, can more comprehensively identify the gait of the patient's healthy side and the patient's affected side. At the same time, the main control device can compare the gait data of the healthy side and the gait data of the affected side and correct the gait of the affected side, thereby improving the learning accuracy of the affected side.

[0017] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a single lower limb exoskeleton device provided in an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram illustrating the installation of an external camera according to an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram illustrating the implementation principle of a single lower limb exoskeleton device provided in an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram illustrating the implementation principle of another single lower limb exoskeleton device provided in an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of fitting the gait on the affected side provided in an embodiment of the present invention;

[0025] Figure 6 This is a trend diagram of gait trajectory changes on the affected side provided in an embodiment of the present invention.

[0026] icon:

[0027] 10 - Camera on the healthy side; 20 - Camera on the affected side; 30 - Main control device. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Currently, existing single-limb exoskeleton technologies involve collecting motion data from the healthy lower limb using sensors on the healthy side, sending this data to a main controller, and then using the controller's algorithm to reconstruct the gait data from the healthy side onto the affected side, thus enabling the affected side to learn from the healthy side. However, existing methods rely on sensor-based data collection, which has limitations and results in lower learning accuracy for the affected side.

[0030] Based on this, the present invention provides a single lower limb exoskeleton device and system that can improve the learning accuracy of the affected side.

[0031] To facilitate understanding of this embodiment, a single lower limb exoskeleton device disclosed in this invention will first be described in detail. See also... Figure 1The schematic diagram of a single lower limb exoskeleton device shows that the device mainly includes the following parts: a healthy side camera 10, an affected side camera 20, and a main control device 30; the healthy side camera 10 is used to collect the movement trajectory of the patient's healthy side, obtain the healthy side gait data based on the movement trajectory, and send the healthy side gait data to the main control device 30; the affected side camera 20 is used to collect the movement trajectory of the patient's affected side, obtain the affected side gait data based on the movement trajectory, and send the affected side gait data to the main control device 30; the main control device 30 is used to compare the healthy side gait data and the affected side gait data, and correct the affected side gait data based on the comparison result.

[0032] In practice, the healthy side camera 10 captures the patient's healthy side gait, collects the movement trajectory of the patient's healthy side, and processes the movement trajectory to obtain healthy side gait data, which is then sent to the main control device 30. The main control device 30 analyzes the healthy side gait data and then drives the affected side to reproduce the healthy side gait. The affected side camera 20 then captures the patient's affected side movement trajectory, collects the movement trajectory of the patient's affected side, and processes the movement trajectory to obtain affected side gait data, which is then sent to the main control device 30. The main control device 30 can fit the healthy side gait data and the affected side gait data to obtain the gait difference between the affected and healthy sides, and then correct the affected side gait to improve the learning accuracy of the affected side and the rehabilitation progress during training.

[0033] The single lower limb exoskeleton device provided in this embodiment of the invention collects the movement trajectories of the healthy side and the patient's affected side through a camera on the healthy side and a camera on the affected side, which can more comprehensively identify the gait of the patient's healthy side and the patient's affected side; at the same time, the main control device can compare the gait data of the healthy side and the gait data of the affected side and correct the gait of the affected side, thereby improving the learning accuracy of the affected side.

[0034] In one embodiment, the healthy side camera 10 includes: an external healthy side camera and a built-in healthy side camera. The external healthy side camera is disposed on the rehabilitation straight track on the healthy side of the patient, and the built-in healthy side camera is disposed on the healthy side exoskeleton. The external healthy side camera is used to collect a first healthy side motion trajectory when the patient steps on the healthy side, and obtain first healthy side gait data based on the first healthy side motion trajectory. The built-in healthy side camera is used to collect a second healthy side motion trajectory when the patient steps on the healthy side, and obtain second healthy side gait data based on the second healthy side motion trajectory.

[0035] The affected-side camera 20 includes an external affected-side camera and a built-in affected-side camera. The external affected-side camera is positioned on the rehabilitation linear track on the patient's affected side, and the built-in affected-side camera is positioned on the affected-side exoskeleton. The external affected-side camera is used to capture the first affected-side motion trajectory when the patient steps on the affected side, and obtains first affected-side gait data based on the first affected-side motion trajectory. The built-in affected-side camera is used to capture the second affected-side motion trajectory when the patient steps on the affected side, and obtains second affected-side gait data based on the second affected-side motion trajectory. For details, see [link to details]. Figure 2 As shown, the external healthy side camera and the external affected side camera are set on both sides of the rehabilitation linear track used for patient rehabilitation training.

[0036] Furthermore, the device also includes a wireless transmission unit for receiving first healthy-side gait data transmitted by an external healthy-side camera and first affected-side gait data transmitted by an external affected-side camera.

[0037] The main control device 30 includes a data processing unit and a motor drive unit. The data processing unit is used to fit the first healthy side gait data and the second healthy side gait data to obtain the healthy side gait, and to generate the patient's affected side gait based on the healthy side gait. The motor drive unit is used to drive the patient's affected side to take steps based on the gait. The data processing unit is also used to fit the first affected side gait data and the second affected side gait data to obtain the affected side gait.

[0038] For ease of understanding, the embodiments of the present invention provide the implementation principle of the above-described single lower limb exoskeleton device, see [link to documentation]. Figure 3 As shown, the patient walks on a designated rehabilitation straight track, wearing a single lower limb exoskeleton and using crutches as an aid to move forward. External cameras on the healthy side and the affected side are fixed on both sides of the rehabilitation straight track to identify the patient's movement trajectory. The patient's movement position should be within a circle with a radius of 4 meters centered on the camera.

[0039] The patient activates the single lower limb exoskeleton device and steps out onto the unaffected side. An external camera on the unaffected side can collect the patient's first unaffected side movement trajectory at marked points, such as the movement trajectory of the knee joint, hip joint, ankle joint, ankle step height, step length, and swing phase cadence. Then, the collected first unaffected side movement trajectory is processed by data filtering and NUITrack technology to obtain the gait data of the first unaffected side, and the first unaffected side gait data is uploaded to the main control device.

[0040] The data processing unit of the main control device can process the gait data of the first healthy side to obtain the movement gait of the affected side, and then drive the motor of the affected side through the motor drive unit to realize the reproduction of the gait trajectory of the healthy side on the affected side.

[0041] When the patient moves on the affected side, the external camera on the affected side can capture the movement trajectory of the first affected side, and perform data filtering and nuitrack technology processing on the captured movement trajectory of the first unaffected side to obtain the gait data of the first affected side, and then upload the gait data of the first affected side to the main control device.

[0042] The data processing unit of the main control device can compare the gait data of the first healthy side and the gait data of the first affected side, and continuously correct the trajectory learning accuracy of the affected side.

[0043] Further, see Figure 4 As shown, the built-in healthy side camera can capture the movement trajectory of the healthy side when stepping on the healthy side, collect the movement trajectory of the second healthy side, and obtain the second healthy side gait data after processing the second healthy side movement trajectory with NUITrack technology, and upload the second healthy side gait data to the main control device.

[0044] The built-in camera on the affected side can capture the movement trajectory of the affected side when stepping on the affected side, collect the movement trajectory of the second affected side, and process the movement trajectory of the second affected side using NUITrack technology to obtain the gait data of the second affected side, and then upload the gait data of the second affected side to the main control device.

[0045] The data processing unit of the main control device can fit the first and second healthy side gait data of the healthy side to obtain a healthy side gait that is closer to the patient's normal gait. At the same time, it can fit the first and second affected side gait data to obtain an affected side gait that is closer to the patient's normal gait.

[0046] In one implementation, the data processing unit of the main control device mainly includes the following steps when performing healthy side gait fitting:

[0047] First, obtain the patient's height and leg length data, and determine the maximum stride range on the patient's healthy side based on the height and leg length data.

[0048] In practice, the patient's height data is first obtained, and the initial maximum stride range of the patient's healthy side is obtained based on the pre-determined correspondence between height and healthy side gait range. Then, the patient's leg length data (including thigh length and calf length) is obtained, and the proportion is adjusted according to the leg length data to obtain the final maximum stride range of the patient's healthy side.

[0049] Secondly, the gait data of the first healthy side is compared with the maximum stride interval, and the gait data of the first healthy side that exceeds the maximum stride interval is removed.

[0050] In practice, after the patient has taken N steps, the gait data of the first healthy side captured by the external camera on the healthy side can be compared with the maximum stride range (including stride length / step height / movement angle, etc.), and the gait data of the first healthy side that exceeds the maximum stride range can be removed.

[0051] Then, the first healthy side gait data that are in the maximum stride range are smoothed to obtain the first patient's normal gait range.

[0052] In practice, after removing the first healthy side gait data that exceeds the maximum stride range, multiple (such as 7) consecutive first healthy side gait data within the maximum stride range can be smoothed to obtain the patient's normal gait range, i.e., the first patient's normal gait range.

[0053] Next, the gait data of the second healthy side is compared with the normal gait range of the first patient, and the gait data of the second healthy side that exceeds the normal gait range of the first patient is removed.

[0054] Finally, the healthy side gait data, which are consecutively within the normal gait range of the first patient, are smoothed to obtain the healthy side gait.

[0055] In practice, since the acquisition angle and acquisition distance of the built-in healthy side camera and the external healthy side camera are different, the same method as described above can be used to fit the second healthy side gait data acquired by the built-in healthy side camera. That is, the second healthy side gait data acquired by the built-in healthy side camera is compared with the normal gait range of the first patient, and the second healthy side gait data that exceeds the normal gait range of the first patient is removed. Then, multiple consecutive (such as 7) second healthy side gait data that are within the normal gait range of the first patient are smoothed to obtain the healthy side gait.

[0056] In one implementation, the data processing unit of the main control device mainly includes the following steps when performing gait fitting on the affected side:

[0057] First, obtain the patient's height and leg length data, and determine the maximum stride range on the patient's healthy side based on the height and leg length data.

[0058] In practice, the patient's height data is first obtained to determine the initial maximum step range on the unaffected side; then, the patient's leg length data (including thigh and calf length) is obtained, and the step range on the unaffected side is adjusted proportionally to obtain the final maximum step range on the unaffected side.

[0059] Secondly, the gait data of the first affected side were compared with the maximum stride interval, and the gait data of the first affected side that exceeded the maximum stride interval were removed.

[0060] Then, the gait data of the first affected side that are in the maximum stride interval are smoothed to obtain the normal gait interval of the second patient.

[0061] In practice, the patient's affected side is monitored for N steps. The gait data of the first affected side captured by the external camera on the affected side is smoothed. Specifically, this involves comparing the first affected side gait data with the maximum step range and removing gait data that exceeds the maximum step range. Then, multiple consecutive (e.g., 7) gait data points within the maximum step range are smoothed to obtain the patient's normal gait range, i.e., the second normal gait range. Subsequently, the patient changes their movement trajectory so that the movement trajectory of the affected side fluctuates within the second normal gait range.

[0062] Next, the gait data of the second affected side were compared with the normal gait range of the second patient, and the gait data of the second affected side that exceeded the normal gait range of the second patient were removed.

[0063] Finally, the gait data of the second affected side, which are within the normal gait range of the second patient, are smoothed to obtain the gait of the affected side.

[0064] In practice, since the acquisition angle and acquisition distance of the built-in affected side camera and the external affected side camera are different, the same method as described above can be used to fit the second affected side gait data acquired by the built-in affected side camera. That is, the second affected side gait data acquired by the built-in healthy side camera is compared with the normal gait range of the second patient, and the second affected side gait data that exceeds the normal gait range of the second patient is removed. Then, multiple consecutive (such as 7) second affected side gait data that are within the normal gait range of the second patient are smoothed to obtain the affected side gait.

[0065] For ease of understanding, this embodiment of the invention also provides a schematic diagram of fitting the gait on the affected side, see [link / reference]. Figure 5 As shown, the main steps include:

[0066] (1) Input your height to get the maximum range of the healthy side's gait.

[0067] (2) Input the thigh length and calf length to adjust the maximum range of the healthy side gait.

[0068] (3) Drive the learning of the affected side so that the movement trajectory of the affected side is within the maximum range.

[0069] Specifically, the patient's affected side is driven to learn based on the gait of the patient's healthy side, so that the movement trajectory of the patient's affected side fluctuates within the maximum stride range of the patient's healthy side.

[0070] (4) Monitor N steps on the affected side and smooth the gait data on the affected side to obtain the patient's normal gait range.

[0071] (5) Change the movement trajectory of the affected side so that the movement trajectory of the affected side is within the patient's normal gait range.

[0072] Specifically, the system monitors N steps taken by the patient on the affected side, and smooths the gait data of these N steps captured by the camera on the affected side to obtain the patient's normal gait range. Then, the patient alters their movement trajectory, causing the movement trajectory of the affected side to fluctuate within the range of the second patient's normal gait range.

[0073] (6) Continuously monitor the steps taken on the affected side N times, and smooth the gait data of the affected side to obtain a more refined range of the patient's own normal gait.

[0074] Specifically, the patient continues to take N steps on the affected side, and the gait data of the affected side captured by the camera on the affected side is smoothed to obtain a more refined range of the patient's normal gait. Then, the patient changes their movement trajectory, making the movement trajectory of the affected side more precise and personalized.

[0075] (7) Monitor the movement trajectory of the patient's healthy side and issue a warning when the movement trajectory of the patient's healthy side is abnormal.

[0076] Specifically, while correcting the movement trajectory of the patient's affected side, the system can also issue a warning when the movement trajectory of the patient's healthy side is abnormal, in order to urge the healthy side to move normally, thereby making the gait of the affected side closer to its own normal gait.

[0077] Furthermore, to enable users to more intuitively obtain the patient's rehabilitation effect, the main control device in this embodiment of the invention also includes: a trend analysis unit, used to perform gait analysis on the affected side and the healthy side. Specifically, the main control device can save the affected side and the healthy side gait and, through methods such as... Figure 6 The trend chart showing the change in the gait trajectory of the affected side provides a preliminary indication of the patient's rehabilitation progress.

[0078] The single lower limb exoskeleton device provided in this embodiment of the invention can more comprehensively identify the patient's healthy or affected side through a camera, eliminating the need for the sensor device originally located on the healthy side. Furthermore, under binocular camera conditions, it can perform linked training on both healthy and affected sides to calibrate the gait of the affected side in real time, thereby improving the learning accuracy of the affected side.

[0079] This invention provides a single lower limb exoskeleton system, including: a single lower limb exoskeleton device, and a mobile terminal device connected to the single lower limb exoskeleton device.

[0080] The system provided in this embodiment of the invention has the same implementation principle and technical effects as the aforementioned device embodiment. For the sake of brevity, any parts not mentioned in the system embodiment can be referred to the corresponding content in the aforementioned device embodiment.

[0081] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A single lower limb exoskeleton device, characterized in that, include: Healthy side camera, affected side camera, and main control device; The camera on the healthy side is used to collect the movement trajectory of the patient's healthy side, obtain the gait data of the healthy side based on the movement trajectory, and send the gait data of the healthy side to the main control device; The camera on the affected side is used to collect the movement trajectory of the patient's affected side, obtain gait data of the affected side based on the movement trajectory, and send the gait data of the affected side to the main control device; The main control device is used to compare the healthy side gait data and the affected side gait data, and correct the affected side gait data based on the comparison results; The healthy side camera includes an external healthy side camera and a built-in healthy side camera. The external healthy side camera is mounted on the rehabilitation straight track on the patient's healthy side, and the built-in healthy side camera is mounted on the healthy side exoskeleton. The external healthy side camera is used to collect a first healthy side movement trajectory when the patient steps on the healthy side, and to obtain first healthy side gait data based on the first healthy side movement trajectory. The built-in healthy side camera is used to collect a second healthy side movement trajectory when the patient steps on the healthy side, and to obtain second healthy side gait data based on the second healthy side movement trajectory. The main control device is also used to: acquire the patient's height data and leg length data, and determine the maximum stride range of the patient's healthy side based on the height data and leg length data; compare the first healthy side gait data with the maximum stride range, and remove the first healthy side gait data that exceeds the maximum stride range; and smooth multiple consecutive first healthy side gait data that are within the maximum stride range to obtain the first normal gait range of the patient. The second healthy side gait data is compared with the first patient's normal gait range, and the second healthy side gait data that exceeds the first patient's normal gait range is removed; the second healthy side gait data that are consecutively within the first patient's normal gait range are smoothed to obtain the healthy side gait.

2. The single lower limb exoskeleton device according to claim 1, characterized in that, The affected-side camera includes an external affected-side camera and a built-in affected-side camera. The external affected-side camera is set on the rehabilitation linear track on the affected side of the patient, and the built-in affected-side camera is set on the affected-side exoskeleton. The external affected side camera is used to collect the first affected side movement trajectory when the patient steps on the affected side, and to obtain the first affected side gait data based on the first affected side movement trajectory; The built-in affected-side camera is used to collect the second affected-side movement trajectory when the patient steps on the affected side, and to obtain the second affected-side gait data based on the second affected-side movement trajectory.

3. The single lower limb exoskeleton device according to claim 2, characterized in that, The main control device includes: a data processing unit and a motor drive unit; The data processing unit is used to fit the first healthy side gait data and the second healthy side gait data to obtain the healthy side gait, and to generate the movement gait of the patient's affected side based on the healthy side gait; The motor drive unit is used to drive the patient's affected side to take steps based on the movement gait.

4. The single lower limb exoskeleton device according to claim 3, characterized in that, The data processing unit is also used to fit the first affected side gait data and the second affected side gait data to obtain the affected side gait.

5. The single lower limb exoskeleton device according to claim 2, characterized in that, The main control device is also used to: compare the first affected side gait data with the maximum stride interval, and remove the first affected side gait data that exceeds the maximum stride interval; The second patient's normal gait range is obtained by smoothing multiple consecutive gait data of the first affected side that are within the maximum stride range. The second affected side gait data is compared with the normal gait range of the second patient, and the second affected side gait data that exceeds the normal gait range of the second patient is removed; The affected side gait is obtained by smoothing multiple consecutive gait data points of the second patient that fall within the normal gait range of the second patient.

6. The single lower limb exoskeleton device according to claim 5, characterized in that, The main control device also includes a trend analysis unit, used to perform gait analysis on the affected side gait and the healthy side gait.

7. The single lower limb exoskeleton device according to claim 2, characterized in that, Also includes: A wireless transmission unit is used to receive first healthy side gait data sent by the external healthy side camera and first affected side gait data sent by the external affected side camera.

8. A single lower limb exoskeleton system, characterized in that, The device includes the single lower limb exoskeleton device according to any one of claims 1 to 7, and further includes a mobile terminal device connected to the single lower limb exoskeleton device.

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