Single lower limb rehabilitation exoskeleton test system and test method

Abstract

The application provides a single lower limb rehabilitation exoskeleton test system and a test method, and relates to the technical field of exoskeleton testing. The system comprises a control circuit, a push rod motor, a support structure, a first sensor and a processing circuit. The control circuit is connected with the support structure through the push rod motor to control the extension of the push rod motor, drive the support structure to approach the bottom of the walking stick of the single lower limb rehabilitation exoskeleton, and the bottom of the walking stick is provided with a second sensor. The first sensor is connected with the control circuit to send detection data to the control circuit when the support structure contacts the bottom of the walking stick, and the control circuit is used for controlling the contraction of the push rod motor to drive the support structure to move away from the bottom of the walking stick according to the detection data. The processing circuit is in communication connection with the control circuit and the second sensor. The control circuit controls the extension of the push rod motor to obtain first test data, and the processing circuit realizes the test of the single lower limb rehabilitation exoskeleton based on the first test data and second test data in the second sensor.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton testing technology, and more specifically, to a single lower limb rehabilitation exoskeleton testing system and testing method. Background Technology

[0002] A rehabilitation exoskeleton is a wearable rehabilitation device that uses actuators to control the movement of a patient's lower limbs for physical rehabilitation training. Rehabilitation exoskeletons are widely used in medical rehabilitation, assistive devices for the disabled, and other fields, and testing them has become a hot research topic.

[0003] In related technologies, rehabilitation exoskeletons can include: dual lower limb exoskeletons and single lower limb exoskeletons. Dual lower limb rehabilitation exoskeletons have preset rehabilitation training parameters, and patients train according to the preset gait. Single lower limb rehabilitation exoskeletons have sensors installed at multiple locations, and the data collected by the sensors controls the movement of the exoskeleton on the affected side. Due to the structural differences between dual and single lower limb exoskeletons, different testing systems are required for testing; currently, only testing systems for dual lower limb exoskeletons exist in the related technologies.

[0004] However, the relevant technologies cannot be used to test single lower limb exoskeletons. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of the prior art by providing a single lower limb rehabilitation exoskeleton testing system and method, thereby resolving the aforementioned technical problems in the related technologies.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0007] In a first aspect, embodiments of the present invention provide a single lower limb rehabilitation exoskeleton testing system, comprising: a control circuit, a push rod motor, a support structure, a first sensor, and a processing circuit;

[0008] The control circuit is connected to the support structure through the push rod motor to control the extension of the push rod motor, thereby driving the support structure to approach the bottom of the crutch of the single lower limb rehabilitation exoskeleton. A second sensor is provided at the bottom of the crutch.

[0009] The first sensor is connected to the control circuit to send detection data to the control circuit when the support structure is detected to be in contact with the bottom of the cane. The control circuit is used to control the push rod motor to retract according to the detection data, thereby driving the support structure away from the bottom of the cane.

[0010] The processing circuit is communicatively connected to the control circuit and the second sensor to analyze the first test data in the control circuit and the second test data in the second sensor to obtain a first test result; wherein, the first test data is used to characterize the data of the control circuit controlling the movement of the support structure through the push rod motor and the data collected by the first sensor, and the second test data is used to characterize the detection data of the second sensor.

[0011] Optionally, the testing system further includes: a reverse force structure;

[0012] The reverse force structure is connected to the push rod motor to apply pressure to the sole of the single lower limb rehabilitation exoskeleton after the push rod motor drives the support structure to contact the bottom of the cane; wherein, the sole is provided with a third sensor;

[0013] The processing circuit is used to perform tests based on the first test data in the control circuit and the third test data in the third sensor to obtain a second test result.

[0014] Optionally, the first sensor is a magnetic sensor, which is disposed around the bottom of the cane, and the detection surface of the magnetic sensor is parallel to the support surface of the support structure.

[0015] Optionally, the support structure is an angle-adjustable support structure.

[0016] Optionally, the testing system further includes a display; the display is connected to the processing circuit to display the first test result.

[0017] Secondly, embodiments of the present invention provide a single lower limb rehabilitation exoskeleton testing method, applied to the processing circuit of the single lower limb rehabilitation exoskeleton testing system described in the first aspect above, comprising:

[0018] Acquire first test data from the control circuit and second test data from the second sensor. The first test data is used to characterize the data of the control circuit controlling the movement of the support structure through the push rod motor and the data collected by the first sensor. The second test data is used to characterize the detection data of the second sensor.

[0019] The first test result is obtained by analyzing the first test data and the second test data.

[0020] Optionally, the second sensor and the processing circuit are wirelessly connected. The step of analyzing the first test data and the second test data to obtain a first test result for a single lower limb rehabilitation exoskeleton includes:

[0021] The first test result is obtained by analyzing the number of times the push rod motor extends in the first test data, the detection data collected by the first sensor, the number of times the bottom of the cane is triggered in the second test data, and the trigger result of each trigger.

[0022] The first test result is used to indicate whether the wireless communication between the second sensor and the processing circuit and the detection function of the second sensor are normal.

[0023] Optionally, the testing system further includes: a reverse force structure; the reverse force structure is connected to the push rod motor to apply pressure to the sole of the single lower limb rehabilitation exoskeleton after the push rod motor drives the support structure to contact the bottom of the crutch; wherein the sole is equipped with a third sensor; the third sensor and the processing circuit are wirelessly connected, and the method further includes:

[0024] The second test result is obtained by analyzing the number of times the push rod motor extends in the first test data, the detection data collected by the first sensor, the number of times the sole is triggered in the third test data of the third sensor, and the trigger result of each trigger.

[0025] The second test result is used to indicate whether the wireless communication between the third sensor and the processing circuit and the detection function of the third sensor are normal.

[0026] Optionally, the first test data includes: multiple sets of first sub-test data collected by the support structure at different angles; the second test data includes: multiple sets of second sub-test data collected by the support structure at different angles; the step of analyzing the first test data and the second test data to obtain the first test result includes:

[0027] Based on the analysis of the multiple sets of first sub-test data and the multiple sets of second sub-test data, it is determined whether the data collected by the second sensor is normal when the angle of the support structure is different.

[0028] Optionally, the step of analyzing the first test data and the second test data to obtain the first test result includes:

[0029] Plot a curve based on the first test data and the second test data;

[0030] The curve is displayed on a monitor.

[0031] The beneficial effects of this invention are as follows: This embodiment provides a single lower limb rehabilitation exoskeleton testing system, comprising: a control circuit, a push rod motor, a support structure, a first sensor, and a processing circuit; the control circuit is connected to the support structure via the push rod motor to control the extension of the push rod motor, causing the support structure to approach the bottom of the crutch of the single lower limb rehabilitation exoskeleton, wherein a second sensor is provided at the bottom of the crutch; the first sensor is connected to the control circuit to send detection data to the control circuit when it detects the support structure contacting the bottom of the crutch, and the control circuit controls the push rod motor to retract based on the detection data, causing the support structure to move away from the bottom of the crutch; the processing circuit is communicatively connected to both the control circuit and the second sensor to analyze the first test data in the control circuit and the second test data in the second sensor to obtain a first test result; wherein the first test data characterizes the data of the control circuit controlling the movement of the support structure via the push rod motor and the data collected by the first sensor, and the second test data characterizes the detection data of the second sensor. The extension of the push rod motor is controlled by a control circuit, and the detection data sent by the first sensor is received to obtain the first test data. The processing circuit can then perform tests on the single lower limb rehabilitation exoskeleton based on the first test data and the second test data from the second sensor. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A framework for a single lower limb rehabilitation exoskeleton testing system provided in an embodiment of the present invention. Figure 1 ;

[0034] Figure 2 This is a schematic diagram of the structure of a single lower limb rehabilitation exoskeleton testing system provided in an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the reverse force structure in a single lower limb rehabilitation exoskeleton testing system provided in an embodiment of the present invention;

[0036] Figure 4 A framework for a single lower limb rehabilitation exoskeleton testing system provided in an embodiment of the present invention. Figure 2 ;

[0037] Figure 5 This is a schematic diagram of the fixation structure in a single lower limb rehabilitation exoskeleton testing system provided in an embodiment of the present invention;

[0038] Figure 6 A schematic diagram showing the placement of a display in a single lower limb rehabilitation exoskeleton testing system provided in an embodiment of the present invention;

[0039] Figure 7 A flowchart illustrating a single lower limb rehabilitation exoskeleton testing method provided in this embodiment of the invention. Figure 1 ;

[0040] Figure 8 A flowchart illustrating a single lower limb rehabilitation exoskeleton testing method provided in this embodiment of the invention. Figure 2 ;

[0041] Figure 9 This application provides a schematic diagram of a first curve a according to an embodiment;

[0042] Figure 10 This is a schematic diagram of a first curve b provided in an embodiment of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0044] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0045] In the description of this application, it should be noted that if the terms "upper", "lower", etc. appear to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0046] Furthermore, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0047] It should be noted that, where there is no conflict, the features in the embodiments of this application can be combined with each other.

[0048] Figure 1 A framework for a single lower limb rehabilitation exoskeleton testing system provided in an embodiment of the present invention. Figure 1 , Figure 2 This is a schematic diagram of a single lower limb rehabilitation exoskeleton testing system provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the single lower limb rehabilitation exoskeleton testing system may include: a control circuit 10, a push rod motor 11, a support structure 12, a first sensor 13, and a processing circuit 14;

[0049] The control circuit 10 is connected to the support structure 12 via the push rod motor 11 to control the extension of the push rod motor 11, which drives the support structure 12 to approach the bottom of the crutch of the single lower limb rehabilitation exoskeleton 15. A second sensor 151 is provided at the bottom of the crutch.

[0050] In some implementations, the control circuit 10 may include buttons, allowing the tester to set parameters such as the frequency, period, and number of extensions of the push rod motor 11. Based on these set parameters, the control circuit 10 controls the extension of the push rod motor 11, which in turn drives the support structure 12 closer to the bottom of the cane of the single lower limb rehabilitation exoskeleton 15.

[0051] In addition, the second sensor 151 set at the bottom of the cane can be used as part of the single lower limb rehabilitation exoskeleton 15. In this embodiment of the application, the single lower limb rehabilitation exoskeleton 15 is tested, and the data collected by the second sensor 151 is the test data.

[0052] like Figure 1As shown, the first sensor 13 is connected to the control circuit 10 to send detection data to the control circuit 10 when the support structure 12 is detected to be in contact with the bottom of the cane. The control circuit 10 is used to control the push rod motor 11 to retract according to the detection data, so as to drive the support structure 12 away from the bottom of the cane.

[0053] Among them, such as Figure 2 As shown, the first sensor 13 can be positioned in the surrounding area near the bottom of the cane.

[0054] In some embodiments, as the push rod motor 11 extends, the support structure 12 approaches the bottom of the cane and then contacts the bottom of the cane; the first sensor 13 detects that the support structure 12 is in contact with the bottom of the cane and sends detection data to the control circuit 10. The control circuit 10 can receive the detection data and control the push rod motor 11 to retract according to the detection data, so that the push rod motor 11 can drive the support structure 12 away from the bottom of the cane.

[0055] It should be noted that after the control circuit 10 controls the push rod motor 11 to retract, it can control the push rod motor 11 to extend again according to the parameter information set by the tester, so as to achieve multiple contacts between the support structure 12 and the bottom of the cane, thereby obtaining a large amount of test data.

[0056] In this embodiment, a power module can be used to filter and overvoltage / overcurrent protection of the voltage supplied by the external power source, and then perform voltage conversion to provide a stable power supply to the external push rod motor.

[0057] like Figure 1 As shown, the processing circuit 14 is communicatively connected to the control circuit 10 and the second sensor 151, respectively, to analyze the first test data in the control circuit 10 and the second test data in the second sensor 151 to obtain the first test result; wherein, the first test data is used to characterize the data of the control circuit 10 controlling the movement of the support structure 12 through the push rod motor 11 and the data collected by the first sensor 13, and the second test data is used to characterize the detection data of the second sensor 151.

[0058] The control circuit 10 and the processing circuit 14 are connected via wired communication, while the second sensor 151 and the processing circuit 14 are connected via wireless communication.

[0059] In some implementations, the first test data is relatively accurate, while the accuracy of the second test data is uncertain. The first test result in this application embodiment can characterize whether the second test data detected by the second sensor 151 of the single lower limb rehabilitation exoskeleton 15 is accurate, and whether the communication between the second sensor 151 and the processing circuit 14 is normal.

[0060] In summary, this invention provides a single lower limb rehabilitation exoskeleton testing system, comprising: a control circuit 10, a push rod motor 11, a support structure 12, a first sensor 13, and a processing circuit 14. The control circuit 10 is connected to the support structure 12 via the push rod motor 11 to control the extension of the push rod motor 11, causing the support structure 12 to approach the bottom of the crutch of the single lower limb rehabilitation exoskeleton 15. A second sensor 151 is provided at the bottom of the crutch. The first sensor 13 is connected to the control circuit 10 to send detection data to the control circuit 10 when it detects that the support structure 12 is in contact with the bottom of the crutch. The control circuit 10 controls the retraction of the push rod motor 11 based on the detection data, causing the support structure 12 to move away from the bottom of the cane. The processing circuit 14 is communicatively connected to the control circuit 10 and the second sensor 151 to analyze the first test data in the control circuit 10 and the second test data in the second sensor 151 to obtain the first test result. The first test data characterizes the data from the control circuit 10 controlling the movement of the support structure 12 via the push rod motor 11 and the data collected by the first sensor 13. The second test data characterizes the detection data from the second sensor 151. By controlling the extension of the push rod motor 11 through the control circuit 10 and receiving the detection data sent by the first sensor 13 to obtain the first test data, the processing circuit 14 can perform testing on the single lower limb rehabilitation exoskeleton 15 based on the first test data and the second test data from the second sensor 151.

[0061] The control system can also control the push rod motor 11 to extend or retract in specific modes, such as a single mode or a cyclic reciprocating mode. The control system can also control the push rod motor to pause or stop its movement.

[0062] Optionally, the testing system further includes: a reverse force structure connected to the push rod motor 11, which applies pressure to the sole of the single lower limb rehabilitation exoskeleton 15 after the push rod motor 11 drives the support structure 12 to contact the bottom of the cane; wherein, the sole is equipped with a third sensor; the processing circuit 14 is used to perform tests based on the first test data in the control circuit 10 and the third test data in the third sensor to obtain a second test result.

[0063] Figure 3 This is a schematic diagram of the reverse force structure in a single lower limb rehabilitation exoskeleton testing system provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the reverse force structure includes a swing rod 161 and a reverse force push rod 162. The swing rod 161 is connected to the push rod motor 11. The middle part of the swing rod 161 is also connected to the base 19 through the support base rod 18 to support the reverse force structure.

[0064] In addition, the sole can be the sole of the healthy side shoe 20 in the single lower limb rehabilitation exoskeleton 15. The healthy side shoe 20 can also be set on the base 19. The base 19 is also equipped with a column 21 and a control circuit 10. The control circuit 10 is sleeved on the column 21 through a push rod platform 22. The push rod platform 22 is equipped with a push rod motor 11. The base 19 is also equipped with a sensor bracket 23. The sensor bracket 23 is equipped with a first sensor 13.

[0065] Figure 4 A framework for a single lower limb rehabilitation exoskeleton testing system provided in an embodiment of the present invention. Figure 2 ,like Figure 4 As shown, the processing circuit 14 is connected to the third sensor 152.

[0066] In some embodiments, after the push rod motor 11 drives the support structure 12 to contact the bottom of the cane, the counterforce structure based on the lever principle applies pressure to the sole of the single lower limb rehabilitation exoskeleton 15. The third sensor 152 installed on the sole is triggered, and the processing circuit 14 can acquire the first test data in the control circuit 10 and the third test data in the sole. The third sensor 152 may belong to the single lower limb rehabilitation exoskeleton 15.

[0067] It is worth noting that the first test data is relatively accurate, while the accuracy of the third test data is uncertain. The first test result in this application embodiment can characterize whether the second test data detected by the third sensor 152 of the single lower limb rehabilitation exoskeleton 15 is accurate, and whether the communication between the second sensor 151 and the processing circuit 14 is normal.

[0068] In this embodiment, the single lower limb rehabilitation exoskeleton 15 is first fixed above the single lower limb rehabilitation exoskeleton testing system, ensuring its main unit is perfectly embedded in the device slot. The corresponding counterweight device is then fixed to the affected side of the single lower limb rehabilitation exoskeleton 15 via a binding connection. Next, the crutch of the single lower limb rehabilitation exoskeleton 15 is fixed to the front using a fixing device. Then, the lower support structure 12 is assembled to support the motor drive at the bottom of the crutch. A reverse force structure is installed below it, applying pressure to the healthy side shoe through a lever principle. Simultaneously, the control circuit 10, processing circuit 14, and power system are assembled.

[0069] Figure 5 This is a schematic diagram of the fixation structure in a single lower limb rehabilitation exoskeleton testing system provided in an embodiment of the present invention, as shown below. Figure 5 and Figure 2As shown, the fixing structure may include: a lower fixing cover 24, a rotating shaft 25, an upper fixing cover 26, a screw 27, and a support block 28. One end of the skeleton is placed in the U-shaped groove of the lower fixing cover 24. The upper fixing cover 26 is rotated to approach the lower fixing cover 24. The threaded rod of the rotating screw 27 presses the upper fixing cover 26 to achieve a tight state, thus fixing the fixing structure to the skeleton of the single lower limb rehabilitation exoskeleton 15. In addition, the fixing structure can be fixedly mounted on the platform 29, thereby fixing the skeleton of the single lower limb rehabilitation exoskeleton 15 to the platform 29. The support block 28 is mounted on the platform 29 to support the skeleton of the single lower limb rehabilitation exoskeleton 15. A crutch bracket 30 is also provided on the platform 29 for fixing the crutch 31. Furthermore, a thigh counterweight 32 is provided at the thigh bone of the affected side of the single lower limb rehabilitation exoskeleton 15, and a lower leg counterweight 33 is provided at the lower leg bone.

[0070] Optionally, the first sensor 13 is a magnetic sensor, which is disposed around the bottom of the cane, and the detection surface of the magnetic sensor is parallel to the support surface of the support structure 12.

[0071] The detection surface of the magnetic sensor is parallel to the support surface of the support structure 12, which can accurately detect whether the support surface of the support structure 12 is in contact with the bottom of the cane.

[0072] Optionally, the support structure 12 is an angle-adjustable support structure 12.

[0073] In some embodiments, the support structure 12 may include a support surface and a support base. The support base is connected to the push rod motor 11. The support base is connected to one end of a plurality of telescopic members. The other end of the plurality of telescopic members is connected to the support surface. The other end of the plurality of telescopic members is connected to different areas of the support surface. The angle of the telescopic surface can be changed by manually adjusting the extension or shortening of at least one of the telescopic members.

[0074] For example, the angle of the support structure 12 can be 0°, 45°, or 135°.

[0075] Of course, the support structure 12 can also be other angle-adjustable structures, and this application embodiment does not impose specific limitations on this.

[0076] Optional, such as Figure 4 As shown, the test system also includes a display 34; the display 34 is connected to the processing circuit 14 to display the first test result.

[0077] The display 34 and the processing circuit 14 can be integrated into one unit or they can be divided into independent parts. This application embodiment does not impose specific limitations on this.

[0078] In addition, the display 34 can also display a second test result. The first test result and the second test result can be displayed on the same interface or on different interfaces.

[0079] Figure 6 This is a schematic diagram showing the placement of the display in a single lower limb rehabilitation exoskeleton testing system according to an embodiment of the present invention. Figure 6 As shown, the display 34 can be positioned close to the processing circuit 14.

[0080] This application embodiment also provides a single lower limb rehabilitation exoskeleton testing method, applied to the processing circuit 14 in the above-mentioned single lower limb rehabilitation exoskeleton testing system.

[0081] Figure 7 A flowchart illustrating a single lower limb rehabilitation exoskeleton testing method provided in this embodiment of the invention. Figure 1 ,like Figure 7 As shown, this single lower limb rehabilitation exoskeleton testing method may include:

[0082] S101, Acquire the first test data from the control circuit and the second test data from the second sensor.

[0083] The first test data is used to characterize the data of the control circuit controlling the movement of the support structure through the push rod motor and the data collected by the first sensor, while the second test data is used to characterize the detection data of the second sensor.

[0084] In this embodiment, the control circuit controls the movement of the support structure via a push rod motor. The data obtained by the first sensor represents the number of times the push rod motor extends. The data collected by the first sensor is the detection data sent to the control circuit when the first sensor detects that the support structure is in contact with the bottom of the crutch. This detection data represents the number of times the support structure and the bottom of the crutch are in contact. The second sensor is a single lower limb rehabilitation exoskeleton, and the second test data represents the number of times the second sensor detects that the support structure is in contact with the bottom of the crutch.

[0085] In some implementations, the control circuit can send first test data to the processing circuit, which can then receive the first test data and subsequently read second test data from the second sensor. Alternatively, the second sensor can actively send second test data to the processing circuit, which in turn can receive the second test data. This application does not impose specific limitations on this aspect.

[0086] S102. Analyze the first test data and the second test data to obtain the first test result.

[0087] In this application embodiment, a preset formula or preset calculation rule can be used to analyze the first test data and the second test data to obtain the first test result. The first test data is relatively accurate, while the accuracy of the second test data is uncertain. The first test result in this application embodiment can characterize whether the second test data detected by the second sensor of the single lower limb rehabilitation exoskeleton is accurate, and whether the communication between the second sensor and the processing circuit is normal.

[0088] In practical applications, the processing circuit can be connected to a display to show the first test results.

[0089] In summary, this application provides a method for testing a single lower limb rehabilitation exoskeleton, comprising: acquiring first test data from a control circuit and second test data from a second sensor; the first test data characterizing data from the control circuit controlling the movement of the support structure via a push rod motor and data collected by the first sensor; and the second test data characterizing the detection data from the second sensor; and analyzing the first and second test data to obtain a first test result. By using the first test data from the control circuit and the second test data from the second sensor, the method enables testing of the data and communication collected by the second sensor of the single lower limb rehabilitation exoskeleton, solving the problem in related technologies where testing of single lower limb rehabilitation exoskeletons is impossible.

[0090] Optionally, there is a wireless communication connection between the second sensor and the processing circuit; the process in S102 above, which analyzes the first test data and the second test data to obtain the first test result for the single lower limb rehabilitation exoskeleton, may include:

[0091] The first test result is obtained by analyzing the number of times the push rod motor extends in the first test data, the detection data collected by the first sensor, the number of times the bottom of the cane is triggered in the second test data, and the result of each trigger.

[0092] The first test result is used to indicate whether the wireless communication between the second sensor and the processing circuit and the detection function of the second sensor are normal.

[0093] It's worth noting that the control circuit can include multiple buttons, which can be used to set the frequency, period, and number of extensions of the actuator motor. The control circuit can then control the extension of the actuator motor according to the set frequency, period, and number of extensions. For example, the frequency can be set to 30 seconds per extension, the number of extensions to 600, and the corresponding period to 18,000 seconds. When the control circuit controls the actuator motor to extend once, the number of extensions in the first test data can be incremented by 1. Typically, the number of actuator motor extensions counted within the set period is consistent with the number of extensions set via the multiple buttons.

[0094] In this embodiment of the application, the number of times the bottom of the cane is triggered in the second test data can be represented as M, and the number of times the push rod motor extends in the first test data can be represented as N. The period and frequency corresponding to the first test data and the second test data are the same, so N and M are the same.

[0095] It should be noted that if the first test data shows that the push rod motor extends once every x seconds, then within the first x seconds, if the control system receives the detection data sent by the first sensor, then П1 = 1; if it does not receive the detection data sent by the first sensor, then П1 = 0; and so on, the value of П2 in the second x seconds, the value of П3 in the third x seconds, and so on can be obtained. The obtained first test data can include: M and П1 + П2 ... + ПM.

[0096] Correspondingly, the periods and frequencies corresponding to the first test data and the second test data are the same. In the first x seconds, if the second sensor detects that the bottom of the cane is triggered, then φ1 = 1; if the bottom of the cane is not triggered, then φ1 = 0. And so on, the value of φ2 in the second x seconds, the value of φ3 in the third x seconds, and so on can be obtained. The obtained first test data can include: N and φ1 + φ2 ... φN.

[0097] In some implementations, A = ((∑φ1+φ2.....φN) / N) - ((∑П1+П2.....ПM) / M). It is determined whether A is within a preset value range. If A is within the preset value range, it is determined that the wireless communication between the second sensor and the processing circuit is normal, the second sensor's detection function is normal, and when the set number of tests is greater than or equal to the preset number of tests, it can also be determined that the fatigue test of the overall performance meets the requirements, and the test passes. Alternatively, if A is greater than the maximum value in the preset value range, it is analyzed whether the difference between the first test data and the second test data is a concentrated difference or an intermittent difference. If it is a concentrated difference, it is determined that the second sensor at the bottom of the cane cannot work normally at the current angle of the support structure. If it is an intermittent difference, it is determined that there is a problem with the wireless communication between the second sensor and the processing circuit, for example, a transmission failure in the Bluetooth module between the two.

[0098] Optionally, the testing system may further include: a reverse force structure; the reverse force structure is connected to a push rod motor to apply pressure to the sole of the single lower limb rehabilitation exoskeleton after the push rod motor drives the support structure to contact the bottom of the crutch; wherein the sole is equipped with a third sensor; the third sensor and the processing circuit are wirelessly connected, and the method further includes:

[0099] The second test result is obtained by analyzing the number of times the push rod motor extends in the first test data, the detection data collected by the first sensor, the number of times the sole is triggered in the second test data, and the trigger result of each trigger.

[0100] The second test result is used to indicate whether the wireless communication between the third sensor and the processing circuit is normal, as well as whether the detection function of the third sensor is normal.

[0101] In this embodiment of the application, the period and frequency corresponding to the first test data and the third test data are the same. In the first x seconds, if the third sensor detects that the sole of the shoe is triggered, then W1 = 1; if the sole of the shoe is not triggered, then W1 = 0. And so on, the value of W2 in the second x seconds, the value of W3 in the third x seconds, and so on can be obtained. The obtained first test data may include: N and W1 + W2.....WM.

[0102] In some implementations, B = ((∑φ1+φ2.....φN) / N)-((∑W1+W2.....WM) / M). Similarly, it is determined whether B is within a preset value range. If B is within the preset value range, it is determined that the wireless communication between the third sensor and the processing circuit is normal, the detection function of the third sensor is normal, and when the set number of times is greater than or equal to the preset number of times, it can also be determined that the fatigue test of the overall performance meets the requirements and the test is passed. In addition, if B is greater than the maximum value in the preset value range, it is analyzed whether the difference between the first test data and the third test data is a concentrated difference or an intermittent difference. If it is a concentrated difference, it is determined that the third sensor of the sole is not working properly. If it is an intermittent difference, it is determined that there is a problem with the wireless communication between the third sensor and the processing circuit, for example, the Bluetooth module between the two may have a transmission failure.

[0103] Optionally, the first test data includes: multiple sets of first sub-test data collected from the support structure at different angles; the second test data includes: multiple sets of second sub-test data collected from the support structure at different angles; based on the analysis of the first and second test data, the first test result is obtained, including:

[0104] Based on the analysis of multiple sets of first sub-test data and multiple sets of second sub-test data, it was determined whether the data collected by the second sensor was normal when the angle of the supporting structure was different.

[0105] Each support structure at different angles has a corresponding set of first sub-test data and a set of second sub-test data. Based on the first set of first sub-test data and the second set of second sub-test data, it can be determined whether the working status of the second sensor is normal at the corresponding angle.

[0106] For example, when the angle of the supporting structure is the first angle, a set of first sub-test data y1 and a set of second sub-test data y2 are collected. Based on the analysis of y1 and y2, it is determined whether the data collected by the second sensor is normal when the angle of the supporting structure is the first angle. When the angle of the supporting structure is the second angle, a set of first sub-test data y3 and a set of second sub-test data y4 are collected. Based on the analysis of y3 and y4, it is determined whether the data collected by the second sensor is normal when the angle of the supporting structure is the second angle.

[0107] In summary, it is possible to test whether the second sensor in a single lower limb rehabilitation exoskeleton is functioning properly when the angle of the supporting structure is different.

[0108] Optional, Figure 8 A flowchart illustrating a single lower limb rehabilitation exoskeleton testing method provided in this embodiment of the invention. Figure 2 ,like Figure 8As shown, the process of analyzing the first test data and the second test data to obtain the first test result in S102 above may include:

[0109] S201. Plot a curve based on the first test data and the second test data.

[0110] In some implementations, a first curve is plotted based on the values ​​of φ1, φ2...φN in the first test data and the values ​​of П1, П2...ПM in the second test data. The first curve is the test curve corresponding to the second sensor located at the bottom of the cane.

[0111] S202, Display the curve on the monitor.

[0112] In this embodiment of the application, a first curve is displayed on the screen. The tester can observe the first curve to determine whether there is a difference between the first test data and the second test data. If there is no difference, the test is considered passed. If there is a difference, the tester determines whether the difference between the first test data and the second test data is a concentrated difference or an intermittent difference based on the first curve. If it is a concentrated difference, the tester determines that the second sensor at the bottom of the cane cannot work properly at the current angle of the support structure. If it is an intermittent difference, the tester determines that there is a problem with the wireless communication between the second sensor and the processing circuit, and the test fails.

[0113] Figure 9 This application provides a schematic diagram of a first curve a, as shown in the embodiment. Figure 9 As shown, there is a discontinuous difference between the first test data and the second test data. The expected value, i.e., the first test data, is: 1, 1, 1, 1, 1, 1, 1, 1...; the actual value, i.e., the second test data, is: 1, 0, 1, 0, 1, 1, 1, 1...

[0114] Figure 10 A schematic diagram of a first curve b is provided for an embodiment of this application, as shown below. Figure 10 As shown, there is a concentrated difference between the first test data and the second test data. The expected value, i.e., the first test data, is: 1, 1, 1, 1, 1, 1, 1, 1, 1...; the actual value, i.e., the second test data, is: 1, 1, 1, 1, 1, 0, 0, 0, 0...

[0115] Figure 9 The first curve a and Figure 10 The first curve b in the diagram consists of two different curves. The first curve a corresponds to the curve when there is a discontinuous difference between the first test data and the second test data, while the first curve b corresponds to the curve when there is a concentrated difference between the first test data and the second test data.

[0116] Optionally, a second curve can be plotted based on the first and third test data, and displayed on a monitor. This second curve corresponds to the test curve of the third sensor installed on the sole of the shoe.

[0117] Similarly, by displaying a second curve on the monitor, the tester can observe the second curve to determine whether there is a difference between the first and third test data. If there is no difference, the test is considered passed. If there is a difference, the second curve determines whether the difference between the first and third test data is a concentrated difference or an intermittent difference. If it is a concentrated difference, the third sensor on the sole of the shoe cannot work properly. If it is an intermittent difference, it is determined that there is a problem with the wireless communication between the third sensor and the processing circuit, and the test fails.

[0118] In the embodiments of this application, the first curve and the second curve can be displayed simultaneously, or either the first curve or the second curve can be displayed. The embodiments of this application do not impose specific limitations on this.

[0119] In summary, based on the first test data in the control circuit and the second test data in the second sensor, the data acquisition and communication of the second sensor in the single lower limb rehabilitation exoskeleton were tested; based on the first test data in the control circuit and the third test data in the third sensor, the data acquisition and communication of the third sensor in the single lower limb rehabilitation exoskeleton were tested; it can also test whether the working status of the second sensor in the single lower limb rehabilitation exoskeleton is normal when the angle of the supporting structure is different, and it can also perform fatigue testing of the overall performance.

[0120] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A single lower limb rehabilitation exoskeleton testing system, characterized in that, include: Control circuit, push rod motor, support structure, first sensor, processing circuit and reverse force structure; The control circuit is connected to the support structure through the push rod motor to control the extension of the push rod motor, thereby driving the support structure to approach the bottom of the crutch of the single lower limb rehabilitation exoskeleton. The bottom of the crutch is provided with a second sensor, and the second sensor and the processing circuit are wirelessly connected. The first sensor is connected to the control circuit to send detection data to the control circuit when the support structure is detected to be in contact with the bottom of the cane. The control circuit is used to control the push rod motor to retract according to the detection data, thereby driving the support structure away from the bottom of the cane. The processing circuit is communicatively connected to the control circuit and the second sensor to analyze the first test data in the control circuit and the second test data in the second sensor to obtain a first test result; wherein, the first test data is used to characterize the data of the control circuit controlling the movement of the support structure through the push rod motor and the data collected by the first sensor, and the second test data is used to characterize the detection data of the second sensor; The reverse force structure is connected to the push rod motor to apply pressure to the sole of the single lower limb rehabilitation exoskeleton after the push rod motor drives the support structure to contact the bottom of the cane; wherein, the sole is provided with a third sensor, and the third sensor and the processing circuit are wirelessly connected. The processing circuit is used to analyze the number of times the push rod motor extends in the first test data, the detection data collected by the first sensor, and the number of times the sole is triggered and the result of each trigger in the third test data of the third sensor to obtain the second test result. The second test result is used to indicate whether the wireless communication between the third sensor and the processing circuit and the detection function of the third sensor are normal.

2. The testing system according to claim 1, characterized in that, The first sensor is a magnetic sensor, which is disposed around the bottom of the cane, and the detection surface of the magnetic sensor is parallel to the support surface of the support structure.

3. The testing system according to claim 1, characterized in that, The support structure is an angle-adjustable support structure.

4. The testing system according to claim 1, characterized in that, The testing system further includes a display; the display is connected to the processing circuit to display the first test result.

5. A single lower limb rehabilitation exoskeleton testing method, characterized in that, The processing circuit applied to the single lower limb rehabilitation exoskeleton testing system of claim 1 above, the method comprising: Acquire first test data from the control circuit and second test data from the second sensor. The first test data is used to characterize the data of the control circuit controlling the movement of the support structure through the push rod motor and the data collected by the first sensor. The second test data is used to characterize the detection data of the second sensor. Based on the analysis of the first test data and the second test data, the first test result is obtained; The second test result is obtained by analyzing the number of times the push rod motor extends in the first test data, the detection data collected by the first sensor, and the number of times the sole is triggered and the result of each trigger in the third test data of the third sensor. The second test result is used to indicate whether the wireless communication between the third sensor and the processing circuit and the detection function of the third sensor are normal.

6. The method according to claim 5, characterized in that, The step of analyzing the first test data and the second test data to obtain the first test result includes: The first test result is obtained by analyzing the number of times the push rod motor extends in the first test data, the detection data collected by the first sensor, the number of times the bottom of the cane is triggered in the second test data, and the trigger result of each trigger. The first test result is used to indicate whether the wireless communication between the second sensor and the processing circuit and the detection function of the second sensor are normal.

7. The method according to claim 5, characterized in that, The first test data includes: multiple sets of first sub-test data collected from the support structure at different angles; the second test data includes: multiple sets of second sub-test data collected from the support structure at different angles; the step of analyzing the first test data and the second test data to obtain the first test result includes: Based on the analysis of the multiple sets of first sub-test data and the multiple sets of second sub-test data, it is determined whether the data collected by the second sensor is normal when the angle of the support structure is different.

8. The method according to claim 5, characterized in that, The step of analyzing the first test data and the second test data to obtain the first test result includes: Plot a curve based on the first test data and the second test data; The curve is displayed on a monitor.

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