Lower limb rehabilitation exoskeleton robot based on intention recognition and control system

Abstract

The present application relates to the technical field of rehabilitation robots, in particular to a lower limb rehabilitation exoskeleton robot based on intention recognition and a control system, which comprises two groups of connecting arms, the number of the two groups of connecting arms is two, an electric push rod is arranged in the connecting arm, and a connecting rod is fixedly connected with the output shaft of the electric push rod; through the setting of the auxiliary structure and the binding mechanism, the surface of the EMG sensor can be cleaned through the movement of the binding belt during the process of fixing the binding mechanism and the patient's leg, the influence of surface dirt adhesion on the detection of the electromyographic signal is reduced, the detection accuracy is improved, separate cleaning is not required, the operation is simple, and the binding belt can be reset under the action of the binding mechanism after use, so that the EMG sensor can be cleaned again, the surface residual dirt and sundries after use can be cleaned in time, the cleanliness of the EMG sensor is maintained, storage is facilitated, and the service life of the equipment is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robot technology, and in particular to a lower limb rehabilitation exoskeleton robot and control system based on intent recognition. Background Technology

[0002] People with motor dysfunction and elderly people with lower limb weakness rely on wheelchairs for daily mobility, but wheelchair-friendly environments are often unsatisfactory. Therefore, utilizing mechanical devices to assist them in assisted muscle strengthening exercises and forced movement therapy is particularly important. Currently, commercially available lower limb rehabilitation exoskeleton robots typically use EMG sensors to detect electromyographic signals. However, the detection end of EMG sensors is easily affected by dirt, which can impair the detection of electromyographic signals.

[0003] Therefore, a lower limb rehabilitation exoskeleton robot and control system based on intent recognition are proposed to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide an intention-based lower limb rehabilitation exoskeleton robot and control system to solve the above-mentioned problems, thereby improving the detection of electromyographic signals by addressing the issue that the detection end of the EMG sensor is easily affected by dirt.

[0005] This invention achieves the above-mentioned objective through the following technical solution: a lower limb rehabilitation exoskeleton robot and control system based on intent recognition, comprising: two sets of connecting arms, each set containing two arms; an electric push rod disposed inside each connecting arm; a connecting rod fixedly connected to the output shaft of the electric push rod; the lower end of the connecting rod extending out of the connecting arm; a connecting block disposed on the surface of each connecting arm; an EMG sensor disposed inside the connecting block; and an insertion cavity formed on the surface of the connecting block; a binding mechanism; wherein the binding mechanism includes a winding structure disposed inside the connecting block, the winding structure binding and fixing the entire device to the user's leg; the binding mechanism also includes a limiting structure disposed on the surface of the connecting block, the limiting structure being used to limit the winding structure; and an auxiliary structure disposed inside the connecting block, the auxiliary structure being used to clean the surface of the winding structure.

[0006] Preferably, the winding structure includes a winding rod rotatably connected inside the connecting block, two turntables are fixedly connected to the surface of the winding rod, and a spring located below the lower turntable is fixedly connected to the surface of the winding rod, with the other end of the spring fixedly connected to the inner wall of the connecting block.

[0007] Preferably, the winding structure further includes a connecting groove formed in the inner wall of the insertion cavity, and two symmetrically distributed limiting strips are fixedly connected to the inner wall of the insertion cavity. A guide groove is formed between the limiting strips and the insertion groove. A sliding groove is formed inside the connecting block, and one side of the EMG sensor extends into the interior of the guide groove.

[0008] Preferably, a guide rod is rotatably connected to the end of the connecting block away from the connecting arm. A binding strap is provided on the surface of the guide rod. One end of the binding strap passes through the sliding groove and is wound around the surface of the winding rod. The other end of the binding strap passes through the guide groove and is fixedly connected to the surface of the limiting structure. The surface of the binding strap is in contact with the surface of the EMG sensor. A through groove is opened on the surface of the binding strap.

[0009] Preferably, the limiting structure includes a connecting strip disposed on the surface of the connecting block, the cross-sectional area of ​​the connecting strip being larger than the opening area of ​​the guide groove, one side of the connecting strip being fixedly connected to one end of the binding strap, and an adsorption plate being embedded in one side of the connecting strip, the adsorption plate being a magnetic material component.

[0010] Preferably, a limiting block is slidably connected to the inner wall of the connecting strip. The limiting block has a right-angled trapezoidal cross-section. The upper end of the limiting block extends through the connecting strip, and an adjusting rod is fixedly connected to the lower end of the limiting block. A lever plate is fixedly connected to the lower end of the adjusting rod and slidably connected to the inner wall of the connecting strip. The end of the lever plate away from the adsorption plate extends through the connecting strip. A first spring is sleeved on the surface of the adjusting rod. The upper end of the first spring is fixedly connected to the inner wall of the connecting strip, and the lower end of the first spring is fixedly connected to the surface of the lever plate.

[0011] Preferably, the limiting structure further includes a slot formed on the surface of the connecting block, the slot matching the connecting strip, and the inner top wall of the slot having uniformly distributed limiting grooves, and a connecting plate embedded in the inner wall of the slot, the connecting plate being an iron metal component.

[0012] Preferably, the auxiliary structure includes an installation groove formed on the top of the connecting block and connected to the guide groove. A base plate is provided inside the installation groove, and an installation block is provided on the top of the base plate. Two symmetrically distributed rotating rods are rotatably connected between the installation block and the base plate. The top of the installation block extends through the installation groove, and a pull rod is rotatably connected to the top of the installation block. A snap-fit ​​groove is formed on the surface of the pull rod.

[0013] Preferably, the surfaces of the two rotating rods are provided with adhesive paper, which extends into the interior of the guide groove, and the surface of the adhesive paper is in contact with the surface of the binding strap.

[0014] Preferably, the auxiliary structure further includes a placement groove formed on the top of the connecting block, the placement groove matching the pull rod, a retaining plate slidably connected to the top of the connecting block, a pull plate fixedly connected to the side of the retaining plate away from the placement groove, a second spring fixedly connected between the pull plate and the inner wall of the connecting block, and the other side of the retaining plate extending into the interior of the placement groove.

[0015] The beneficial effects of this invention are:

[0016] By setting up auxiliary structures and binding mechanisms, the surface of the EMG sensor can be cleaned by the movement of the binding strap during the process of fixing the patient's leg with the binding mechanism. This reduces the impact of surface dirt adhesion on the detection of electromyographic signals, improves detection accuracy, eliminates the need for separate cleaning, and is easy to operate. At the same time, after use, the EMG sensor can be cleaned again during the binding strap reset process under the action of the binding mechanism, which can promptly remove dirt and debris remaining on the surface after use, keep the EMG sensor clean and facilitate storage, and effectively improve the service life of the equipment.

[0017] By setting up a binding mechanism, the position of the binding strap can be quickly adjusted under the action of the binding mechanism, which makes it easy to fix the patient's leg inside the insertion cavity. The operation is simple. At the same time, after use, the binding strap can cover the EMG sensor, avoiding the situation of dust sticking to the outer surface for a long time. The auxiliary structure can transfer the dirt and impurities that are cleaned and stuck to the surface of the binding strap to the surface of the adhesive paper in time during the movement of the binding strap, thereby keeping the surface of the binding strap clean.

[0018] By decoding electromyographic signals, the wearer's movement intentions can be quickly and accurately identified. Through real-time monitoring of muscle activity, the intensity and duration of muscle activity can be flexibly adjusted, thereby improving the effectiveness of exercise training. By acquiring electroencephalogram (EEG) signals, long-term recording and storage of EEG signals can be achieved, facilitating secondary data development. By acquiring biosignals through inertial measurement units, machine vision, and brain-muscle fusion technology, the wearer's movement intentions can be more realistically reflected, enabling precise control of the lower limb rehabilitation exoskeleton robot. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a schematic diagram showing the distribution of the two connecting arms of the present invention;

[0021] Figure 3 This is a schematic diagram showing the connection between the electric push rod and the connecting arm of the present invention;

[0022] Figure 4 This is a schematic diagram showing the distribution of the binding mechanism of the present invention;

[0023] Figure 5 This is a schematic diagram showing the connection between the connecting plate and the connecting block of the present invention;

[0024] Figure 6 This is a schematic diagram showing the connection between the binding strap and the winding rod of the present invention;

[0025] Figure 7 This is a schematic diagram showing the connection between the adsorption plate and the connecting strip of the present invention;

[0026] Figure 8 This is a schematic diagram showing the distribution of the slide and slot of the present invention;

[0027] Figure 9 This is a schematic diagram showing the connection between the adhesive paper and the rotating rod of the present invention;

[0028] Figure 10 for Figure 8 Enlarged view of A in the middle;

[0029] Figure 11 A schematic diagram of the distribution of the limiting grooves in this invention;

[0030] Figure 12 A schematic diagram of the connection between the auxiliary structure and the connecting block of the present invention;

[0031] Figure 13 This is a schematic diagram of the control system for a lower limb exoskeleton robot.

[0032] Figure 14 Circuitry for the control system of a lower limb exoskeleton robot Figure 1 picture;

[0033] Figure 15 This is the circuitry for the control system of the lower limb exoskeleton robot. Figure 2 picture.

[0034] In the diagram: 1. Connecting arm; 101. Electric push rod; 102. Connecting rod; 2. Connecting block; 201. EMG sensor; 3. Binding mechanism; 31. Rewinding structure; 311. Rewinding rod; 312. Turntable; 313. Binding strap; 314. Spring; 315. Limiting strip; 316. Slide groove; 317. Guide rod; 32. Limiting structure; 321. Slot; 322. Connecting plate; 323. Connecting strip 324. Adjusting rod; 325. Limiting block; 326. Adsorption plate; 327. First spring; 328. Paddle plate; 329. Limiting groove; 4. Auxiliary structure; 401. Mounting groove; 402. Placement groove; 403. Clamping plate; 404. Pulling plate; 405. Second spring; 406. Mounting block; 407. Base plate; 408. Rotating rod; 409. Adhesive paper; 410. Pulling rod; 411. Snap-fit ​​groove;

[0035] AS1~AS6 are joint angle sensors, SE1~SE6 are servo motors, OLED is a display screen, FSR is a foot pressure sensor, OPENMV is a machine vision module, and S3~S6 are operation buttons.

[0036] F1 is the CPU, F2 is the decoupling circuit of the control chip, F3 is the reset circuit, F4 is the crystal oscillator circuit, F5 is the power indicator and start-up mode selection, F6 is the 3.3V voltage regulator circuit, F7 is the serial port download circuit, F8 is the angle sensor interface circuit, F9 is the JTAG online debugging interface circuit, F11 is the EEPROM circuit, F12 is the buzzer alarm circuit, and F13 is the servo motor interface circuit.

[0037] F14 is the servo drive circuit, F15 is the attitude calculation circuit, F16 is the OPENMV image data transmission interface circuit, F17 is the Bluetooth / WIFI interface circuit, F18 is the 0.96-inch OLED drive circuit, F19 is the FSR data processing circuit, F20 is the keyboard human-machine interaction circuit, F21 is the SD card interface circuit, and F22 is the EMG data acquisition circuit. Detailed Implementation

[0038] 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 only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] In practical implementation: such as Figure 1-15 As shown, a lower limb rehabilitation exoskeleton robot and control system based on intent recognition includes: two sets of connecting arms 1, each set consisting of two arms; an electric push rod 101 is installed inside the connecting arm 1; a connecting rod 102 is fixedly connected to the output shaft of the electric push rod 101; the lower end of the connecting rod 102 extends out of the connecting arm 1; a connecting block 2 is installed on the surface of the connecting arm 1; an EMG sensor 201 is installed inside the connecting block 2; and an insertion cavity is opened on the surface of the connecting block 2; a binding mechanism 3; wherein the binding mechanism 3 includes a winding structure 31 installed inside the connecting block 2, the winding structure 31 binding and fixing the entire device to the user's leg; the binding mechanism 3 also includes a limiting structure 32 installed on the surface of the connecting block 2, the limiting structure 32 being used to limit the winding structure 31; and an auxiliary structure 4 installed inside the connecting block 2, the auxiliary structure 4 being used to clean the surface of the winding structure 31.

[0040] The control module of this system mainly includes an STM32F103ZET6 control chip U1, a CH340USB-to-serial chip U2, an AT24C02 memory chip U3, a LU968520 servo motor driver chip U4, an MPU6050 gyroscope chip U5, an HMC5883 yaw angle correction chip U6, an SSD_1306 OLED display chip U7, an HC-05 Bluetooth chip U8, an LM393 operational amplifier chip U9, a 74HC573 latch chip U10, a startup mode selection interface P1, and a power interface P2. It consists of a serial port conversion interface P3, angle sensor interfaces P4-P9, motor power interface P10, motor ground interface P11, motor PWM interface P12, EEG data communication WIFI interface P13, OPENMV interface P14, SD card interface P15, P18, EMG analog input interface P16, EMG power interface P17, EMG digital input interface P18, JTAG download chip JTAG1, buzzer LS1, crystal oscillator Y1, Y2, reset button S1, power button S2, and function buttons S3-S6, etc. The main control chip STM32F103ZET6 has PA0, PA4, PA6, and PA7 connected to one end of buttons S3-S6 and one end of indicator lights D1-D4, respectively. PA1 is connected to the OUTA pin of U9. PA2 and PA3 are connected to the cathode of D8 and the anode of D7. PA5 is connected to one end of resistors R8 and R11. PA8 is connected to the LE pin of U10. PA9 and PA10 are connected to pins 1 and 3 of P3, respectively. PA13-PA15, PB3, and PB4 are connected to the TMS, TCK, TDI, TDO / SWO, and TRST pins of JTAG1, and one end of resistors R16, R17, R15, R18, and R14, respectively. PB6 and PB7 are connected to the SCL and SDA pins of U3-U6, respectively. Connect the D0 and D1 pins of U7, PB10 and PB11 to pins 1 and 3 of P13 respectively, PC0~PC5 to pins 6, 5, 4, 3, 2 and 1 of P16 respectively, PC10 and PC11 to pins 4 and 3 of P14 respectively, PD8~PD13 to pins 2 of P4~P9 respectively, PD15 connected in series with R43 and connected to PIO9 of U8, PE8~PE11 to pins 6, 3, 5, 4 of P15 and pins 7 and 8, 13 and 14, 11 and 12, 9 and 10 of P18 respectively, PF0~PF11 to pins 1, 3, 5, 7, 9, 11, 2, 4, 6, 8, 10 and 12 of P19 respectively.U4's DJ0~DJ5 are connected to P12's pins 6, 5, 4, 3, 2, and 1 respectively, HC-05 mode switch button SW1, NPN transistor Q1, PNP transistors TP1 and TP2, voltage regulator chips VR1 and VR2, capacitors C1~C39, resistors R1~R57, and LEDs D1~D13.

[0041] like Figure 1-15 As shown, the winding structure 31 includes a winding rod 311 rotatably connected inside the connecting block 2. Two turntables 312 are fixedly connected to the surface of the winding rod 311. A spring 314 located below the lower turntable 312 is fixedly connected to the surface of the winding rod 311. The other end of the spring 314 is fixedly connected to the inner wall of the connecting block 2. The winding structure 31 also includes a connecting groove formed in the inner wall of the insertion cavity. Two symmetrically distributed limiting strips 315 are fixedly connected to the inner wall of the insertion cavity. A guide groove is formed between the limiting strips 315 and the insertion groove. The interior of block 2 is provided with a sliding groove 316. One side of the EMG sensor 201 extends into the interior of the guide groove. The end of the connecting block 2 away from the connecting arm 1 is rotatably connected to a guide rod 317. The surface of the guide rod 317 is provided with a binding strap 313. One end of the binding strap 313 passes through the sliding groove 316 and is wound around the surface of the winding rod 311. The other end of the binding strap 313 passes through the guide groove and is fixedly connected to the surface of the limiting structure 32. The surface of the binding strap 313 is in contact with the surface of the EMG sensor 201. The surface of the binding strap 313 is provided with a through groove.

[0042] Pulling the strap 313 causes it to slide out from the inside of the slide groove 316 and guide groove. The guide rod 317 is used to guide the strap 313 at a turning angle. During this process, the surface of the strap 313 can clean the surface of the EMG sensor 201, reducing the impact of surface dirt and preventing the detection of electromyographic signals from being affected by surface dirt during use, thus improving the performance. At the same time, pulling the strap 313 can drive the winding rod 311 to rotate, which in turn drives the spring 314 to rotate and tighten. This means that after the strap 313 is released, the spring 314 can be used to drive the sensor to rotate. The bandage 313 is wound up and reset. The through groove allows the bandage 313 to enter the guide groove after being pulled out to a certain length, so that the EMG sensor 201 can be located inside the through groove. This allows the EMG sensor 201 to make better contact with the patient's skin and avoids the bandage 313 affecting the detection of electromyographic signals by the EMG sensor 201. During storage, the part of the bandage 313 without the through groove can block the exposed part of the EMG sensor 201, thereby reducing the adhesion of external dust and impurities to the surface of the EMG sensor 201 and providing a good environment for the operation of the EMG sensor 201.

[0043] like Figure 1-15As shown, the limiting structure 32 includes a connecting strip 323 disposed on the surface of the connecting block 2. The cross-sectional area of ​​the connecting strip 323 is larger than the opening area of ​​the guide groove. One side of the connecting strip 323 is fixedly connected to one end of the binding strap 313. An adsorption plate 326 is embedded and installed on one side of the connecting strip 323. The adsorption plate 326 is a magnetic material component. A limiting block 325 is slidably connected to the inner wall of the connecting strip 323. The cross-sectional shape of the limiting block 325 is a right trapezoid. The upper end of the limiting block 325 extends through the connecting strip 323. An adjusting rod 324 is fixedly connected to the lower end of the limiting block 325. The lower end of the adjusting rod 324 is fixedly connected to the connecting strip 323. The inner wall is slidably connected to the lever 328. The end of the lever 328 away from the adsorption plate 326 extends through the connecting strip 323. The surface of the adjusting rod 324 is fitted with a first spring 327. The upper end of the first spring 327 is fixedly connected to the inner wall of the connecting strip 323, and the lower end of the first spring 327 is fixedly connected to the surface of the lever 328. The limiting structure 32 also includes a slot 321 opened on the surface of the connecting block 2. The slot 321 matches the connecting strip 323, and the inner top wall of the slot 321 is provided with uniformly distributed limiting grooves 329. The inner wall of the slot 321 is embedded with a connecting plate 322, which is a component made of iron metal material.

[0044] Pulling the connecting strip 323 allows the bandage 313 to be unrolled and wrapped around the patient's leg. Simultaneously, the connecting strip 323 is inserted into the slot 321 and slides along it until the bandage 313 secures the patient's leg. During insertion, the inner wall of the slot 321 presses against the inclined surface of the limiting block 325, causing it to retract into the connecting strip 323. The movement of the limiting block 325 also moves the adjusting rod 324, causing the lever 328 to move downwards, which in turn stretches the first spring 327. When the lever 328 reaches the limiting groove 329, the first spring 327 causes the limiting block 325 to retract. The connecting strip 323 is inserted into the limiting groove 329, thereby preventing the connecting strip 323 from being reset by the spring 314 by the cooperation of the side of the limiting block 325 away from the inclined surface with the inner wall of the limiting groove 329, thus fixing the position of the connecting strip 323. At the same time, during the process of the connecting strip 323 being inserted into the slot 321, the magnetic material component's adsorption plate 326 comes into contact with the ferrous metal component's connecting plate 322 to generate an adsorption force, which strengthens the limiting effect. When it is necessary to release, the limiting block 325 is separated from the limiting groove 329 by pressing down the lever 328, and the connecting strip 323 is pulled in the opposite direction along the slot 321 to separate it, thus releasing the limiting effect on the position of the binding strap 313.

[0045] like Figure 1-15As shown, the auxiliary structure 4 includes a mounting groove 401 located on the top of the connecting block 2 and connected to the guide groove. A base plate 407 is disposed inside the mounting groove 401, and a mounting block 406 is disposed on the top of the base plate 407. Two symmetrically distributed rotating rods 408 are rotatably connected between the mounting block 406 and the base plate 407. The top of the mounting block 406 extends through the mounting groove 401, and a pull rod 410 is rotatably connected to the top of the mounting block 406. A snap-fit ​​groove 411 is formed on the surface of the pull rod 410, and adhesive surfaces are formed on the surfaces of the two rotating rods 408. Dust paper 409 extends into the interior of the guide groove. The surface of the dust paper 409 contacts the surface of the binding strap 313. The auxiliary structure 4 also includes a placement groove 402 opened on the top of the connecting block 2. The placement groove 402 matches the pull rod 410. A retaining plate 403 is slidably connected to the top of the connecting block 2. A pull plate 404 is fixedly connected to the side of the retaining plate 403 away from the placement groove 402. A second spring 405 is fixedly connected between the pull plate 404 and the inner wall of the connecting block 2. The other side of the retaining plate 403 extends into the interior of the placement groove 402.

[0046] During the pulling and unwinding of the cable tie 313 and its resetting process, the cable tie 313 can contact the surface of the adhesive paper 409 and clean the surface of the cable tie 313 under the action of the adhesive paper 409, thereby reducing dust and impurities on the surface of the cable tie 313 and maintaining a good cleaning effect on the surface of the EMG sensor 201. During the movement of the cable tie 313, it can drive the adhesive paper 409 to move synchronously, so that the adhesive paper 409 is transmitted along the two rotating rods 408, so that the adhesive paper 409 can clean the surface of the cable tie 313. When disassembly is required, pulling the pull plate 404 separates the clamping plate 403 from the clamping groove 411, thereby engaging the limit of the pull rod 410. During this process, the second spring 405 is compressed, and the pull rod 410 is rotated to be perpendicular to the mounting block 406, so the mounting block 406 can be removed through the pull rod 410, thereby allowing the adhesive paper 409 to be replaced. The staff can disassemble and replace it regularly to maintain a good performance.

[0047] In use, the patient's leg is placed inside the insertion cavity. Pulling the connecting strip 323 allows the binding strap 313 to be unrolled and wrapped around the patient's leg. Simultaneously, the connecting strip 323 is inserted into the slot 321 and slides along it until the binding strap 313 secures the patient's leg. During this process, the position of the connecting strip 323 is limited by the cooperation of the limiting block 325, adjusting rod 324, first spring 327, lever 328, and limiting groove 329. Furthermore, as the connecting strip 323 is inserted into the slot 321, it is attracted by the magnetic material component's adsorption plate 326. The connecting plate 322 of the ferrous metal component generates an adsorption force upon contact, which enhances the limiting effect. When it is necessary to loosen, the limiting block 325 is separated from the limiting groove 329 by pressing down the push plate 328, and the connecting strip 323 is pulled in the opposite direction along the slot 321 to separate it from the limiting effect on the position of the binding strap 313. At the same time, during the pulling and resetting of the binding strap 313, the surface of the binding strap 313 can be cleaned by the auxiliary structure 4, which can maintain a good cleaning effect on the surface of the EMG sensor 201. The staff can disassemble and replace the adhesive paper 409 regularly to maintain a good performance.

[0048] The exoskeleton robot control system is first powered on. Press and hold the power switch; the entire system will initialize, including initializing the display screen, WiFi / Bluetooth function, EEG sensor, EMG sensor 201, angle sensor, FSR, MPU6050, HMC5883, and servo motor initial positions. System initialization is complete when indicator light D2 starts flashing continuously.

[0049] The basic behavior of the lower limb exoskeleton robot can be debugged or run by pressing the button. First, by pressing and holding the S5 button, the system will start working.

[0050] Then, use the S4 function key to switch between speed adjustment mode and posture adjustment mode. When the S4 key is in speed adjustment mode, you can adjust the walking speed in real time by pressing S5 and S6. When the S4 key is in posture adjustment mode, you can switch between walking and squatting postures by pressing S5 and S6.

[0051] When an emergency call is needed, pressing the S3 button will emit a sharp, urgent buzzer sound. After successful debugging, imagine the action you need the lower limb robot to perform. The EEG sensor will identify the required action, while the EMG sensor 201 provides human-machine interaction data to the controller through changes in electromyography, FSR detection of pressure changes at different positions, and angle sensor feedback of angle values. The controller continuously adjusts the rotation position of the servo motors until the lower limb exoskeleton robot successfully executes the required action. When traversing different road surfaces (including asphalt, cement, rubber, and mud), OPENMV will identify the road conditions and select the most suitable movement speed and walking mode for the current road surface. In addition, OPENMV will detect whether there are obstacles in front (including roadblocks, railings, walls, mud pits, people, animals, etc.). When an obstacle is detected, the buzzer will sound three alarms. If the obstacle is not moved away within 5 seconds, the buzzer will continue to sound three alarms until the obstacle is moved away. When an external object collides with the lower limb exoskeleton robot, the buzzer will sound a continuous, sharp alarm until the reset button is pressed and the buzzer will stop sounding.

[0052] It should be noted that the electric actuator 101 mentioned above is a device with relatively mature existing technology. The specific model can be selected according to actual needs. At the same time, the electric actuator 101 can be powered by the built-in power supply or by the mains power. The specific power supply method should be selected according to the situation, which will not be elaborated here.

[0053] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A lower limb rehabilitation exoskeleton robot based on intent recognition, characterized in that, include: There are two sets of connecting arms (1), and each set of connecting arms (1) has two connecting arms (1). An electric push rod (101) is provided inside the connecting arm (1). The output shaft of the electric push rod (101) is fixedly connected to a connecting rod (102). The lower end of the connecting rod (102) extends out of the connecting arm (1). A connecting block (2) is provided on the surface of the connecting arm (1). An EMG sensor (201) is provided inside the connecting block (2). An insertion cavity is opened on the surface of the connecting block (2). lashing mechanism (3); The binding mechanism (3) includes a winding structure (31) disposed inside the connecting block (2), which binds the entire device to the user's leg. The binding mechanism (3) further includes a limiting structure (32) disposed on the surface of the connecting block (2), the limiting structure (32) being used to limit the winding structure (31); An auxiliary structure (4) is disposed inside the connecting block (2) and is used to clean the surface of the winding structure (31); The winding structure (31) also includes a connecting groove opened on the inner wall of the insertion cavity. Two symmetrically distributed limiting strips (315) are fixedly connected to the inner wall of the insertion cavity. A guide groove is formed between the limiting strips (315) and the insertion groove. A sliding groove (316) is opened inside the connecting block (2). One side of the EMG sensor (201) extends into the inside of the guide groove. The auxiliary structure (4) includes an installation groove (401) opened on the top of the connecting block (2) and connected to the guide groove. The installation groove (401) is provided with a base plate (407). The top of the base plate (407) is provided with an installation block (406). The installation block (406) and the base plate (407) are rotatably connected by two symmetrically distributed rotating rods (408). The top of the installation block (406) extends through the installation groove (401), and the top of the installation block (406) is rotatably connected with a pull rod (410). The surface of the pull rod (410) is provided with a snap-fit ​​groove (411).

2. The lower limb rehabilitation exoskeleton robot based on intent recognition according to claim 1, characterized in that: The winding structure (31) includes a winding rod (311) rotatably connected inside the connecting block (2). Two turntables (312) are fixedly connected to the surface of the winding rod (311). A spring (314) located below the turntable (312) is fixedly connected to the surface of the winding rod (311). The other end of the spring (314) is fixedly connected to the inner wall of the connecting block (2).

3. The lower limb rehabilitation exoskeleton robot based on intent recognition according to claim 1, characterized in that: The connecting block (2) is rotatably connected to a guide rod (317) at one end away from the connecting arm (1). The surface of the guide rod (317) is provided with a binding strap (313). One end of the binding strap (313) passes through the slide groove (316) and is wound around the surface of the winding rod (311). The other end of the binding strap (313) passes through the guide groove and is fixedly connected to the surface of the limiting structure (32). The surface of the binding strap (313) is in contact with the surface of the EMG sensor (201). The surface of the binding strap (313) is provided with a through groove.

4. The lower limb rehabilitation exoskeleton robot based on intent recognition according to claim 2, characterized in that: The limiting structure (32) includes a connecting strip (323) disposed on the surface of the connecting block (2). The cross-sectional area of ​​the connecting strip (323) is larger than the opening area of ​​the guide groove. One side of the connecting strip (323) is fixedly connected to one end of the binding strap (313). An adsorption plate (326) is embedded and installed on one side of the connecting strip (323). The adsorption plate (326) is a magnetic material component.

5. The lower limb rehabilitation exoskeleton robot based on intent recognition according to claim 4, characterized in that: The inner wall of the connecting strip (323) is slidably connected to a limiting block (325). The cross-sectional shape of the limiting block (325) is a right trapezoid. The upper end of the limiting block (325) extends through the connecting strip (323). The lower end of the limiting block (325) is fixedly connected to an adjusting rod (324). The lower end of the adjusting rod (324) is fixedly connected to a lever (328) that is slidably connected to the inner wall of the connecting strip (323). The end of the lever (328) away from the adsorption plate (326) extends through the connecting strip (323). A first spring (327) is sleeved on the surface of the adjusting rod (324). The upper end of the first spring (327) is fixedly connected to the inner wall of the connecting strip (323), and the lower end of the first spring (327) is fixedly connected to the surface of the lever (328).

6. The lower limb rehabilitation exoskeleton robot based on intent recognition according to claim 5, characterized in that: The limiting structure (32) also includes a slot (321) opened on the surface of the connecting block (2). The slot (321) matches the connecting strip (323), and the inner top wall of the slot (321) is provided with uniformly distributed limiting grooves (329). The inner wall of the slot (321) is embedded with a connecting plate (322), which is a component made of iron metal material.

7. The lower limb rehabilitation exoskeleton robot based on intent recognition according to claim 1, characterized in that: The surfaces of the two rotating rods (408) are provided with adhesive paper (409), which extends into the interior of the guide groove, and the surface of the adhesive paper (409) is in contact with the surface of the binding strap (313).

8. A lower limb rehabilitation exoskeleton robot based on intent recognition according to claim 7, characterized in that: The auxiliary structure (4) also includes a placement groove (402) opened on the top of the connecting block (2), the placement groove (402) is matched with the pull rod (410), the top of the connecting block (2) is slidably connected with a card plate (403), a pull plate (404) is fixedly connected to the side of the card plate (403) away from the placement groove (402), a second spring (405) is fixedly connected between the pull plate (404) and the inner wall of the connecting block (2), and the other side of the card plate (403) extends into the interior of the placement groove (402).

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