Reconstruction Methods for Adaptive Reconfigurable Virtual Exoskeleton Rehabilitation Robot Systems

Abstract

This invention belongs to the field of rehabilitation robot technology, specifically disclosing a reconstruction method for an adaptive reconfigurable virtual exoskeleton rehabilitation robot system. The reconstruction method includes: acquiring a first input command, the first input command including position data, the position data including position data of a first support device, position data of a second support device, and position data of a third support device, or a combination thereof; and controlling the movement of a first multi-axis robot, a second multi-axis robot, or a third multi-axis robot according to the first input command, so that a first, second, or third end effector connects to the first, second, or third support device. This method can enable rehabilitation training for various joints of the human body, such as the shoulder, elbow, wrist, hip, knee, and ankle joints.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robot technology, and in particular to a reconstruction method for an adaptive reconfigurable virtual exoskeleton rehabilitation robot system. Background Technology

[0002] Stroke, commonly known as cerebrovascular accident, is an acute cerebrovascular disease that is a common and difficult-to-treat condition that seriously endangers human health and life. It is characterized by high morbidity, high mortality, and high disability rates. Among stroke survivors, 70%-80% experience varying degrees of disability, with hemiplegia being the most common. Hemiplegia easily leads to upper and lower limb motor dysfunction, severely impacting patients' daily lives. Clinical studies show that with active and effective rehabilitation treatment, 90% of patients can regain the ability to walk and live independently; without rehabilitation, this figure drops to only 6%. Therefore, early rehabilitation training is crucial for stroke-related paralysis patients. Effective rehabilitation training can help patients maximize the improvement of motor function and reduce sequelae.

[0003] For stroke patients, traditional rehabilitation methods primarily involve regular visits to hospitals or rehabilitation centers, where therapists provide one-on-one or even one-to-many manual therapy. The effectiveness of rehabilitation largely depends on the physician's skill level, and the training intensity is difficult to guarantee. Domestic and international scholars have combined robotics technology with clinical rehabilitation medicine, proposing robot-based assisted training programs. Rehabilitation robots can leverage their advantages to perform repetitive, high-intensity tasks, reducing the burden on medical staff, increasing patients' access to rehabilitation treatment, and ensuring the intensity of rehabilitation training. Simultaneously, rehabilitation robots are highly precise and intelligent, automatically recording training data and providing objective and detailed evaluation parameters. This allows for further adjustments to treatment plans, improving rehabilitation training effectiveness and patient motivation, leading to a faster recovery.

[0004] Currently, rehabilitation robots are mainly divided into two categories based on their structural form: end-effector-guided robots and exoskeleton robots. Taking upper limb rehabilitation robots as an example, end-effector-guided robots use end effectors to drive the movement of the human hand, thereby achieving rehabilitation training for the entire upper limb. They focus on the movement trajectory of the end effector, and may introduce unnecessary rehabilitation movements for specific parts of the upper limb. Exoskeleton robots can be worn on the upper limb, and their joint axes coincide with the human body's joint axes, allowing for precise control of each joint in the upper limb to achieve independent single-joint movements and multi-joint compound movements. They can also limit the range of motion of each joint to avoid secondary injury to the affected limb. Considering that 88% of stroke survivors currently have limited upper limb motor function to some extent, and compared with lower limb rehabilitation, the complex anatomical structure of the upper limb makes recovery more complex. Therefore, upper limb exoskeleton rehabilitation robots are gradually becoming a research hotspot, focus, and challenge in the field of rehabilitation medicine engineering.

[0005] With the rapid development of technologies such as computers and sensors, research on exoskeleton rehabilitation robots has seen comprehensive advancements. Representative research in upper limb exoskeleton rehabilitation robots includes the cable-driven MEDARM exoskeleton developed by Queen's University in Canada, the ARMin series of exoskeletons from the University of Zurich in Switzerland, and the Armeo Power upper limb rehabilitation exoskeleton commercially available in collaboration with Hocoma AG, the CADEN-7 seven-DOF powered upper limb exoskeleton from the University of Washington, the HIT-5 system from Harbin Institute of Technology, and the ZJUESA system from Zhejiang University. These exoskeleton rehabilitation robots are all designed with typical biomimetic arm structures. The shoulder and elbow joints are mostly arranged to mimic the distribution characteristics of corresponding joints in the human upper limb. This requires that the axes / centers of the human and machine joints remain aligned or coincident throughout rehabilitation training. However, the position of the human shoulder joint (glenohumeral joint) is determined by the acromioclavicular joint, sternoclavicular joint, and humeral posture. It is difficult for the mechanical axis of the exoskeleton to align or coincide with the axis / center of the glenohumeral joint in real time, easily leading to human-machine incompatibility issues. Furthermore, the structure, transmission, and control of such devices require meticulous design, making them complex to wear and costly.

[0006] Since 2000, Toth et al. in Hungary have developed the REHAROB series of robotic systems, consisting of two tandem industrial robots. By analyzing and decomposing the rehabilitation techniques used by therapists on patients, they extracted 45 different types of three-dimensional shoulder and elbow movements, enabling the robotic system to drive patients in continuous passive motion (CPM) movements. This series of robots uses unmodified industrial robots, and the human-machine interaction compliance and safety required for muscle strength training during rehabilitation treatment still need to be verified. Only a passive training mode for expanding joint range of motion has been developed, and the effect on muscle strength training remains unknown. However, their pioneering use of multiple robots for rehabilitation training provides a completely new approach to the research of exoskeleton rehabilitation robots.

[0007] Existing technologies, such as CN202111273830.8, describe a reconfigurable modular soft upper limb exoskeleton rehabilitation robot, which includes a hand grip bar, a flexible wrist structure, a lower arm pneumatic assembly, an elbow flexible structure, an upper arm pneumatic assembly, and a shoulder flexible structure connected in sequence. The wrist, elbow, and shoulder flexible structures are all deformable connectors. Each of the lower arm and upper arm pneumatic assemblies includes multiple pneumatic connection chains arranged in parallel. Each pneumatic connection chain includes multiple pneumatic modules arranged in series and detachably connected. This invention has a clever and reasonable structure. Through the cooperation between the components and the flexible combination and assembly of the pneumatic modules, it can improve the adaptability of the upper limb exoskeleton rehabilitation robot to different rehabilitation subjects and rehabilitation needs, improve wearing comfort and movement flexibility, and achieve flexible, smooth, and safe rehabilitation tasks.

[0008] CN202010119393.3 discloses a reconfigurable exoskeleton upper limb rehabilitation robot for different body types, comprising a shoulder joint internal / external rotation component, a scaphohumeral adjustment component, a shoulder joint flexion / extension and abduction / adduction component, an upper arm length adjustment component, an upper arm rotation component, an elbow joint flexion / extension component, a forearm rotation component, a forearm length adjustment component, and a wrist flexion / extension component connected sequentially. The robot has six degrees of freedom, corresponding to six active actuators enabling rehabilitation and compound movements of the upper limb in six degrees of freedom. The height-adjustable base accommodates people of different heights. The scaphohumeral adjustment component accommodates different patient heights and sitting postures. The forearm and upper arm length adjustment components accommodate patients with different forearm and upper arm lengths. This invention features reconfigurability, multiple passive adjustment mechanisms, ambidextrous use, and a lightweight exoskeleton structure, meeting the needs of patients with different conditions and reducing treatment costs.

[0009] The aforementioned prior art all involve improving and adjusting the components of a robot to achieve robot reconfiguration. This approach is limited to a single robot, resulting in limited reconfiguration configurations and a limited scope of application. Summary of the Invention

[0010] The purpose of this invention is to provide a reconstruction method for an adaptive reconfigurable virtual exoskeleton rehabilitation robot system. It adopts a multi-robot layout so that multiple robots can be adjusted to the corresponding form according to user needs, meeting the vast majority of users' rehabilitation training needs and having a wider range of application scenarios.

[0011] To achieve the above objectives, the present invention provides a reconstruction method for an adaptive reconfigurable virtual exoskeleton rehabilitation robot system, the technical solution of which is as follows:

[0012] A method for reconfiguring an adaptive reconfigurable virtual exoskeleton rehabilitation robot system, the system comprising:

[0013] A first multi-axis robot, the first multi-axis robot having a first end effector;

[0014] A second multi-axis robot, the second multi-axis robot having a second end effector;

[0015] A third multi-axis robot, wherein the third multi-axis robot has a third end effector;

[0016] A first support device is detachably connected to the first execution end.

[0017] The second support device is detachably connected to the second execution end.

[0018] The third support device is detachably connected to the third execution end.

[0019] The reconstruction method includes:

[0020] Obtain a first input instruction, the first input instruction including position data, the position data including one or a combination of position data of a first support auxiliary, position data of a second support auxiliary, and position data of a third support auxiliary;

[0021] According to the first input instruction, control the movement of the first multi-axis robot, the second multi-axis robot or the third multi-axis robot so that the first end effector, the second end effector or the third end effector is connected to the first support device, the second support device or the third support device.

[0022] Further, the step of controlling the movement of the first multi-axis robot, the second multi-axis robot, or the third multi-axis robot according to the first input command, so that the first end effector, the second end effector, or the third end effector is connected to the first support device, the second support device, or the third support device, specifically includes:

[0023] Determine the location data of the first execution end, the second execution end, or the third execution end;

[0024] Based on the position data of the first execution end, the second execution end, or the third execution end and the position data, determine the first trajectory of the first execution end moving to the position connected to the first support bracket, the first trajectory of the second execution end moving to the position connected to the second support bracket, or the first trajectory of the third execution end moving to the position connected to the third support bracket;

[0025] The first, second, or third multi-axis robot is controlled to move according to the first, second, or third trajectory, so that the first, second, or third end effector is connected to the first, second, or third support device.

[0026] Furthermore, after controlling the first multi-axis robot, the second multi-axis robot, or the third multi-axis robot to move according to the first input instruction, so that the first end effector, the second end effector, or the third end effector is connected to the first support device, the second support device, or the third support device, the method further includes:

[0027] Obtain a second input command, the second input command including the movement trajectory of the first support device, the second support device, or the third support device;

[0028] According to the second input instruction, the position data of the first support assistive device, the position data of the second support assistive device, and the position data of the third support assistive device are used as the starting point of the motion trajectory. The first multi-axis robot, the second multi-axis robot, or the third multi-axis robot is controlled to move according to the motion trajectory to complete the rehabilitation training.

[0029] Furthermore, the first multi-axis robot includes:

[0030] First base;

[0031] A first driving component is disposed on the first base;

[0032] The first axis is disposed at the output end of the first drive component;

[0033] A second axis is disposed on the first axis;

[0034] A second drive component is disposed on the second axis;

[0035] The third axis is disposed at the output end of the second drive component;

[0036] The fourth axis is connected at one end to the third axis and at the other end to the first execution end.

[0037] Furthermore, the second multi-axis robot includes:

[0038] Second base;

[0039] A third drive component is disposed on the second base;

[0040] The fifth axis is located at the output end of the third drive component;

[0041] The sixth axis is disposed on the fifth axis;

[0042] A fourth drive component is disposed on the sixth axis;

[0043] The seventh axis is located at the output end of the fourth drive component;

[0044] The eighth axis is connected at one end to the seventh axis and at the other end to the second execution end.

[0045] Furthermore, the second execution terminal includes:

[0046] Mounting components are disposed at one end of the eighth axis;

[0047] A rotary drive assembly, the rotary drive assembly being disposed on the mounting assembly;

[0048] A mating component is disposed at the output end of the rotary drive component.

[0049] Furthermore, the first support device includes:

[0050] A carrying strap for detachably securing the person's back;

[0051] A first adapter component is disposed on the outer side of the shoulder strap. The first adapter component cooperates with the first end effector to realize the detachable connection between the first multi-axis robot and the first support device.

[0052] Furthermore, the second support device includes:

[0053] Upper limb binding strap, the upper limb binding strap being used to detachably secure a portion of the upper limb of the human body;

[0054] The second adapter component is disposed on the outer side of the upper limb strap, and the second adapter component cooperates with the second end effector to realize the detachable connection between the second multi-axis robot and the second support device.

[0055] Furthermore, the third support device includes:

[0056] Lower limb binding straps, which are used to detachably secure a portion of the lower limbs of the human body;

[0057] The third adapter component is disposed on the outer side of the lower limb strap, and the third adapter component cooperates with the third end effector to realize the detachable connection between the third multi-axis robot and the third support device.

[0058] Furthermore, sensor components are provided on the first, second, and third support supports.

[0059] The beneficial effects of this invention are:

[0060] The reconstruction method proposed in this invention is based on an innovative adaptive reconfigurable virtual exoskeleton rehabilitation robot system. This method can realize multiple configurations in one system. According to user needs, it can target rehabilitation movements of major limb joints, such as shoulder, elbow, wrist, hip, knee, and ankle joints. It can realize collaborative robot layout configurations adapted to these joints and switch to these configurations. Attached Figure Description

[0061] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0062] Figure 1 A schematic diagram of a conventional upper limb exoskeleton robot in operation according to the prior art is shown.

[0063] Figure 2 A perspective view of an adaptive reconfigurable virtual exoskeleton rehabilitation robot system according to an embodiment of the present invention is shown during rehabilitation in a seated position.

[0064] Figure 3 A perspective view of an adaptive reconfigurable virtual exoskeleton rehabilitation robot system according to an embodiment of the present invention is shown during rehabilitation in a standing position.

[0065] Figure 4 A perspective view of a second multi-axis robot is shown, representing an adaptive reconfigurable virtual exoskeleton rehabilitation robot system according to an embodiment of the present invention.

[0066] Figure 5 A flowchart of a reconstruction method for an adaptive reconfigurable virtual exoskeleton rehabilitation robot system according to an embodiment of the present invention is shown.

[0067] Figure 6 A partial flowchart of a reconstruction method for an adaptive reconfigurable virtual exoskeleton rehabilitation robot system according to an embodiment of the present invention is shown.

[0068] Figure 7 A partial flowchart of a reconstruction method for an adaptive reconfigurable virtual exoskeleton rehabilitation robot system according to an embodiment of the present invention is shown.

[0069] In the figure, 1 is the first multi-axis robot, 101 is the first base, 102 is the first drive assembly, 103 is the first axis, 104 is the second axis, 105 is the second drive assembly, 106 is the third axis, and 107 is the fourth axis; 2 is the second multi-axis robot, 201 is the second base, 202 is the third drive assembly, 203 is the fifth axis, 204 is the sixth axis, 205 is the fourth drive assembly, 206 is the seventh axis, and 207 is the eighth axis; 3 is the third multi-axis robot, 4 is the first support device, 401 is the shoulder strap, 402 is the first adapter assembly; 5 is the second support device, 501 is the upper limb strap, 502 is the second adapter assembly; 6 is the third support device, 601 is the lower limb strap, 602 is the third adapter assembly; 7 is the first end effector, 8 is the second end effector, 801 is the mounting assembly, 802 is the rotation drive assembly, 803 is the mating assembly, and 9 is the third end effector. Detailed Implementation

[0070] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0071] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do 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 the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0072] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0073] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0074] Example 1: Adaptive Reconfigurable Virtual Exoskeleton Rehabilitation Robot System

[0075] like Figure 1 The diagram shown illustrates the operation of a conventional upper limb exoskeleton robot in the prior art. In existing technologies, the robot body is attached to two points—the hind arm and forearm—for wearability. The robot is designed to mimic the human arm, exhibiting similar movement characteristics, and can assist patients in performing a wide range of upper limb rehabilitation training tasks.

[0076] Unlike existing technologies, embodiments of the present invention provide an adaptive reconfigurable virtual exoskeleton rehabilitation robot system, such as... Figure 2 and Figure 3 As shown, the adaptive reconfigurable virtual exoskeleton rehabilitation robot system includes:

[0077] A first multi-axis robot 1, the first multi-axis robot 1 having a first end effector 7;

[0078] A second multi-axis robot 2, the second multi-axis robot 2 having a second end effector 8;

[0079] A third multi-axis robot 3, the third multi-axis robot 3 having a third end effector 9;

[0080] The first support bracket 4 is detachably connected to the first execution end 7;

[0081] The second support bracket 5 is detachably connected to the second execution end 8;

[0082] The third support device 6 is detachably connected to the third execution end 9.

[0083] The system designed in this embodiment of the invention employs multi-robot collaborative work. Specifically, it consists of three robots and three support devices. The three support devices are simply fixed to the upper body, upper limbs, and lower limbs of the human body, respectively. According to rehabilitation needs, the joints to be rehabilitated corresponding to each support device can be easily adjusted. After the support devices are adjusted to their corresponding positions, each robot works to connect its end effector with the corresponding support device. The connection method includes magnetic attraction, snap-fit, etc. After the connection is completed, the movement of each robot helps the user achieve rehabilitation.

[0084] Therefore, in this embodiment, two collaborative robots are worn on the hindarm and forearm of the upper limb, respectively. By controlling the two robots to cooperate with each other, specific rehabilitation training tasks can be achieved. The structure of this system differs from that of a typical exoskeleton. It physically connects multiple collaborative robots through the arms and can achieve "virtual connection" with the help of algorithms. It possesses the mobility of an exoskeleton robot and the ease of wearing an end-effector robot.

[0085] In this embodiment, due to the ease of wearing the supportive device, multi-position rehabilitation training can be achieved, such as... Figure 2 and Figure 3 As shown, Figure 2 What is shown is rehabilitation training in a seated position. Figure 3 What is shown is rehabilitation training in a standing position. Figure 3 In the states shown, each multi-axis robot is in a state where it is not connected to the corresponding support device. In actual use, the multi-axis robot moves to connect its end effector to the corresponding support device, and then performs the rehabilitation training process after connection.

[0086] Furthermore, this embodiment employs multiple robots working collaboratively, without any interconnection between them. Therefore, during rehabilitation training, one or more robots can be selectively used to perform rehabilitation training on the required joint areas. In other words, this invention can increase or decrease the number of collaborative robots. By reconfiguring the configured collaborative robot group, rapid system reconstruction can be achieved to complete the specified rehabilitation application task. For example, as... Figure 3 As shown, the corresponding functions can be achieved with only two multi-axis robots.

[0087] In some embodiments, a specific structure of the first multi-axis robot is provided, such as... Figure 2 As shown, the first multi-axis robot 1 includes:

[0088] First base 101;

[0089] A first driving component 102 is disposed on the first base 101;

[0090] The first shaft 103 is disposed at the output end of the first drive component 102;

[0091] The second shaft 104 is disposed on the first shaft 103;

[0092] The second drive component 105 is disposed on the second shaft 104;

[0093] The third axis 106 is disposed at the output end of the second drive component 105;

[0094] The fourth axis 107 is connected at one end to the third axis 106 and at the other end to the first execution end 7.

[0095] The working principle of the first multi-axis robot 1 is as follows:

[0096] The first drive assembly 102 drives the first axis 103 to rotate. During the movement of the first axis 103, one end of the second axis 104 rotates around the axis of the first axis 103, causing the second drive assembly 105 to move as well. Similarly, when the second drive assembly 105 is working, one end of the fourth axis 107 also rotates around the axis of the third axis 106. Thus, in this structural layout, the first execution end 7 has multiple degrees of freedom, that is, its motion trajectory is spatially expressed as moving along the three directions of x, y and z axes, so that the first execution end 7 of the first multi-axis robot 1 can find the first support assist 4 and connect with it, and then drive the first support assist 4 to move again through the first execution end 7 to realize the upper body auxiliary rehabilitation training function.

[0097] In some embodiments, a specific structure of a second multi-axis robot is provided, such as... Figure 4 As shown, the second multi-axis robot 2 includes:

[0098] Second base 201;

[0099] The third driving component 202 is disposed on the second base 201;

[0100] The fifth axis 203 is disposed at the output end of the third drive component 202;

[0101] The sixth axis 204 is disposed on the fifth axis 203;

[0102] The fourth drive component 205 is disposed on the sixth axis 204;

[0103] The seventh axis 206 is disposed at the output end of the fourth drive component 205;

[0104] The eighth axis 207 is connected at one end to the seventh axis 206 and at the other end to the second execution end 8.

[0105] The working principle of the second multi-axis robot is as follows:

[0106] The third drive component 202 drives the fifth axis 203 to rotate. During the movement of the fifth axis 203, one end of the sixth axis 204 rotates around the axis of the fifth axis 203, causing the fourth drive component 205 to move as well. Similarly, when the fourth drive component 205 is working, one end of the eighth axis 207 also rotates around the axis of the seventh axis 206. Thus, in this structural layout, the second end effector 8 has multiple degrees of freedom, that is, its motion trajectory is spatially expressed as moving along the three directions of x, y and z axes. This allows the second end effector 8 of the second multi-axis robot 2 to find and connect with the second support device 5, and then drive the second support device 5 to move again through the first end effector 8 to achieve the function of upper body auxiliary rehabilitation training.

[0107] The structure of the third multi-axis robot 3 can be the same as that of the second multi-axis robot 2, and will not be described in detail here. It should be noted that although the structural principle of the third multi-axis robot 3 is the same as that of the second multi-axis robot 2, the stroke and range of motion of its third end effector 9 are not the same. The stroke and range of motion of the third end effector 9 can be determined according to the actual situation, for example, it can be determined according to the length range of the lower limbs of an average person.

[0108] In some embodiments, the structural principles of each execution terminal can be consistent. It should be noted that consistent structural principles do not necessarily mean consistent dimensions; the dimensions of each execution terminal can be different. For example... Figure 4 As shown, the second execution terminal 8 includes:

[0109] Mounting component 801 is disposed at one end of the eighth axis 207;

[0110] A rotary drive assembly 802 is disposed on the mounting assembly 801;

[0111] The mating component 803 is disposed at the output end of the rotary drive component 802.

[0112] The specific selection of the mating component 803 is determined based on the selection of the second support fixture. For example, if the second support fixture can be a magnetically attracted object, then the mating component 803 can be an electromagnet. If the second support fixture is a slot-type component, then the mating component 803 is a component adapted to the slot (such as a rod), and under the action of the multi-axis robot's motion and rotation drive component 802, it achieves combination with the slot-type component.

[0113] The rotary drive assembly 802 can be specifically implemented as a rotary motor.

[0114] Mounting component 801 can be specifically implemented as a rod.

[0115] In some embodiments, such as Figure 2 As shown, the first support device 4 includes:

[0116] A carrying strap 401 for detachably securing to the human body;

[0117] The first adapter component 402 is disposed on the outer side of the shoulder strap 401. The first adapter component 402 cooperates with the first end effector 7 to realize the detachable connection between the first multi-axis robot 1 and the first support device 4.

[0118] In some embodiments, such as Figure 2 As shown, the second support device 5 includes:

[0119] Upper limb binding strap 501, the upper limb binding strap 501 is used to detachably fix a portion of the upper limb of the human body;

[0120] The second adapter component 502 is disposed on the outer side of the upper limb strap 501. The second adapter component 502 cooperates with the second end effector 8 to realize the detachable connection between the second multi-axis robot 2 and the second support device 5.

[0121] In some embodiments, such as Figure 2 As shown, the third support device 6 includes:

[0122] Lower limb binding strap 601, the lower limb binding strap 601 is used to detachably fix a portion of the lower limb of the human body;

[0123] The third adapter component 602 is disposed on the outer side of the lower limb binding strap 601. The third adapter component 602 cooperates with the third end effector 9 to realize the detachable connection between the third multi-axis robot 3 and the third support device 6.

[0124] It should be noted that the specific structural selection of the first adapter component 402, the second adapter component 502, and the third adapter component 602 should be compatible with the first execution end 7, the second execution end 8, and the third execution end 9. For example, when the first execution end 7, the second execution end 8, and the third execution end 9 are selected as electromagnets, the first adapter component 402, the second adapter component 502, and the third adapter component 602 can be selected as magnetic blocks. When the first execution end 7, the second execution end 8, and the third execution end 9 are selected as insertion rods, the first adapter component 402, the second adapter component 502, and the third adapter component 602 can be selected as slot-type components that are compatible with insertion rods.

[0125] In some embodiments, sensor components are provided on the first support bracket 4, the second support bracket 5, and the third support bracket 6.

[0126] Specifically, the sensor assembly includes one or a combination of a pressure sensor and a pose sensor.

[0127] It should be noted that the sensor components include, but are not limited to, pressure sensors and posture sensors, and one or more of each sensor type can be set to collect corresponding rehabilitation parameters, such as pressure, joint posture, etc., to guide rehabilitation training.

[0128] In some embodiments, the adaptive reconfigurable virtual exoskeleton rehabilitation robot system further includes a camera component. The camera component is used to capture images of rehabilitation training, which can be used as a data source for subsequently extracting the user's movement trajectory and the movement trajectories of each robot, thereby ensuring effective collaboration among multiple robots through an intelligent control system.

[0129] Example 2: Reconstruction Method of Adaptive Reconfigurable Virtual Exoskeleton Rehabilitation Robot System

[0130] This invention proposes a reconstruction method for an adaptive reconfigurable virtual exoskeleton rehabilitation robot system. This reconstruction method is based on the adaptive reconfigurable virtual exoskeleton rehabilitation robot system described in any of the embodiments in Example 1, such as... Figure 5 As shown, it specifically includes the following steps:

[0131] Step S100: Obtain a first input instruction. The first input instruction includes position data, which includes one or a combination of the position data of the first support device, the position data of the second support device, and the position data of the third support device.

[0132] In the specific implementation of this step, the first input command can be input by the user. For example, if the joints to be trained are the shoulder and knee joints, the second and third support devices can be fixed at these two joints respectively. Then, the position data of the second and third support devices are input. The first support device plays the role of supporting the user's back, so the first support device is in the default position at this time. These position data are to facilitate the connection between each support device and the corresponding execution end to complete the system reconstruction. That is, the present invention can efficiently complete the system reconstruction based on the collaboration of multiple robots according to different rehabilitation sites, realize the collaborative robot layout configuration adapted to these joints and the process of conversion to this configuration.

[0133] For example, the position data of the support aids (the collective name of the first support aid, the second support aid, and the third support aid) can be obtained by setting up a camera component, using the support aids as feature points, and after the support aids are worn, extracting the position coordinates of each support aid from the images captured by the camera component as the first input command.

[0134] Step S200: According to the first input instruction, control the movement of the first multi-axis robot, the second multi-axis robot or the third multi-axis robot so that the first execution end, the second execution end or the third execution end is connected to the first support auxiliary device, the second support auxiliary device or the third support auxiliary device.

[0135] This step can be implemented by a processor, which is signal-connected to a first, second, or third multi-axis robot to issue control signals that enable it to move according to the processor's control.

[0136] In some embodiments, such as Figure 6 As shown, the step of controlling the movement of the first multi-axis robot, the second multi-axis robot, or the third multi-axis robot according to the first input command, so that the first, second, or third end effector is connected to the first, second, or third support fixture, specifically includes:

[0137] Step S201: Determine the position data of the first execution end, the second execution end, or the third execution end.

[0138] For example, the position data of the first, second, or third execution end is set to a fixed initial position, that is, after the first, second, or third multi-axis robot completes rehabilitation training, it will automatically return to its original position (i.e., the fixed initial position). Therefore, during a new round of configuration transformation, the position data of each execution end can be easily obtained to better execute subsequent steps S202 and S203.

[0139] Step S202: Based on the position data of the first execution end, the second execution end, or the third execution end and the position data, determine the first trajectory of the first execution end moving to the position connected to the first support device, the first trajectory of the second execution end moving to the position connected to the second support device, or the first trajectory of the third execution end moving to the position connected to the third support device.

[0140] If the position data of the first, second, or third end effector has been determined in step S201, then the previously determined position data of the first, second, and third support attachments are used as examples. For instance, the position data are all selected as coordinate points. Based on the two determined coordinate points and the robot's motion characteristics, each first trajectory is set.

[0141] Step S203: Control the movement of the first multi-axis robot, the second multi-axis robot, or the third multi-axis robot according to the first trajectory, the second trajectory, or the third trajectory, so that the first end effector, the second end effector, or the third end effector is connected to the first support device, the second support device, or the third support device.

[0142] With the first trajectory already determined, the corresponding multi-axis robot is controlled to move according to the preset first trajectory, so as to connect the multi-axis robot with the corresponding support device and thus complete the reconstruction.

[0143] In some embodiments, such as Figure 7 As shown, after controlling the first multi-axis robot, the second multi-axis robot, or the third multi-axis robot to move according to the first input command, so that the first end effector, the second end effector, or the third end effector is connected to the first support device, the second support device, or the third support device, the method further includes:

[0144] Step S300: Obtain a second input instruction, the second input instruction including the movement trajectory of the first support device, the second support device, or the third support device.

[0145] It should be noted that the second input command is the movement required for training the corresponding joint, such as periodic pushing, pulling, and twisting movements forming the movement trajectory. For example, the movement trajectory of the first support device for the back is generally a pushing and pulling motion, and the movement trajectory can be a straight line. The upper and lower limb joints corresponding to the second and third support devices include movements such as twisting, and their movement trajectories can generally be curved. The specific movement trajectory is determined by the requirements of the rehabilitation training.

[0146] Step S400: According to the second input instruction, using the position data of the first support assistive device, the position data of the second support assistive device, and the position data of the third support assistive device as the starting point of the motion trajectory, control the first multi-axis robot, the second multi-axis robot, or the third multi-axis robot to move according to the motion trajectory to complete the rehabilitation training.

[0147] The above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also fall within the scope of the present invention, and the patent protection scope of the present invention should be defined by the claims.

Claims

1. A method for reconstructing an adaptive reconfigurable virtual exoskeleton rehabilitation robot system, characterized in that, The system includes: A first multi-axis robot, the first multi-axis robot having a first end effector; A second multi-axis robot, the second multi-axis robot having a second end effector; A third multi-axis robot, wherein the third multi-axis robot has a third end effector; A first support device is detachably connected to the first execution end. The second support device is detachably connected to the second execution end. The third support device is detachably connected to the third execution end. The reconstruction method includes: Obtain a first input instruction, the first input instruction including position data, the position data including one or a combination of position data of a first support auxiliary, position data of a second support auxiliary, and position data of a third support auxiliary; According to the first input instruction, control the movement of the first multi-axis robot, the second multi-axis robot or the third multi-axis robot so that the first end effector, the second end effector or the third end effector is connected to the first support device, the second support device or the third support device; The step of controlling the movement of the first multi-axis robot, the second multi-axis robot, or the third multi-axis robot according to the first input command, so that the first, second, or third end effector is connected to the first, second, or third support device, specifically includes: Determine the location data of the first execution end, the second execution end, or the third execution end; Based on the position data of the first execution end, the second execution end, or the third execution end and the position data, determine the first trajectory of the first execution end moving to the position connected to the first support bracket, the first trajectory of the second execution end moving to the position connected to the second support bracket, or the first trajectory of the third execution end moving to the position connected to the third support bracket; The first, second, or third multi-axis robot is controlled to move according to the first, second, or third trajectory, so that the first, second, or third end effector is connected to the first, second, or third support device. After controlling the first multi-axis robot, the second multi-axis robot, or the third multi-axis robot to move according to the first input command, so that the first, second, or third end effector is connected to the first, second, or third support device, the method further includes: Obtain a second input command, the second input command including the movement trajectory of the first support device, the second support device, or the third support device; According to the second input instruction, the position data of the first support auxiliary, the position data of the second support auxiliary, and the position data of the third support auxiliary are used as the starting point of the motion trajectory, and the first multi-axis robot, the second multi-axis robot, or the third multi-axis robot is controlled to move according to the motion trajectory.

2. The reconstruction method of the adaptive reconfigurable virtual exoskeleton rehabilitation robot system as described in claim 1, characterized in that, The first multi-axis robot includes: First base; A first driving component is disposed on the first base; The first axis is disposed at the output end of the first drive component; A second axis is disposed on the first axis; A second drive component is disposed on the second axis; The third axis is disposed at the output end of the second drive component; The fourth axis is connected at one end to the third axis and at the other end to the first execution end.

3. The reconstruction method of the adaptive reconfigurable virtual exoskeleton rehabilitation robot system as described in claim 1, characterized in that, The second multi-axis robot includes: Second base; A third drive component is disposed on the second base; The fifth axis is located at the output end of the third drive component; The sixth axis is disposed on the fifth axis; A fourth drive component is disposed on the sixth axis; The seventh axis is located at the output end of the fourth drive component; The eighth axis is connected at one end to the seventh axis and at the other end to the second execution end.

4. The reconstruction method of the adaptive reconfigurable virtual exoskeleton rehabilitation robot system as described in claim 3, characterized in that, The second execution terminal includes: Mounting components are disposed at one end of the eighth axis; A rotary drive assembly, the rotary drive assembly being disposed on the mounting assembly; A mating component is disposed at the output end of the rotary drive component.

5. The reconstruction method of the adaptive reconfigurable virtual exoskeleton rehabilitation robot system as described in claim 1, characterized in that, The first support device includes: strap; A first adapter component is disposed on the outer side of the shoulder strap. The first adapter component cooperates with the first end effector to realize the detachable connection between the first multi-axis robot and the first support device.

6. The reconstruction method of the adaptive reconfigurable virtual exoskeleton rehabilitation robot system as described in claim 1, characterized in that, The second support device includes: Upper limb binding; The second adapter component is disposed on the outer side of the upper limb strap, and the second adapter component cooperates with the second end effector to realize the detachable connection between the second multi-axis robot and the second support device.

7. The reconstruction method of the adaptive reconfigurable virtual exoskeleton rehabilitation robot system as described in claim 1, characterized in that, The third load-bearing auxiliary device includes: Lower limb bindings; The third adapter component is disposed on the outer side of the lower limb strap, and the third adapter component cooperates with the third end effector to realize the detachable connection between the third multi-axis robot and the third support device.

8. The reconstruction method of the adaptive reconfigurable virtual exoskeleton rehabilitation robot system as described in claim 1, characterized in that, Sensor components are provided on the first, second, and third support supports.

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