Hip-supported bar-wheel combination lower limb rehabilitation training robot

Abstract

This invention discloses a hip-supported rod-wheel hybrid lower limb rehabilitation training robot, comprising: a seat module, a telescopic cylinder module, and a track module. The telescopic cylinder module includes four telescopic cylinders, the upper ends of which are hinged to the seat module. The track module includes two track units, the front and rear top parts of which are respectively hinged to the lower ends of the four telescopic cylinders. The track units and seat module support the user, and the forward and backward movement degrees of freedom of the track units and the linear extension and retraction degrees of freedom of the corresponding telescopic cylinders are used to adapt to the user's hip, knee, and ankle rotational degrees of freedom. Gait generation is achieved through the coordinated movement of the track units and telescopic cylinders. This invention features a simple gait generation method, good human-machine motion matching, small footprint, ease of use, and high versatility and convenience.

Description

Technical Field

[0001] This invention relates to the field of lower limb rehabilitation training robot technology, and in particular to a hip-supported rod-wheel combined lower limb rehabilitation training robot. Background Technology

[0002] Spinal cord injury (SCI) is a serious disorder affecting lower limb motor function. Users primarily experience impairment due to damage to the spinal cord's neural pathways, preventing the effective transmission of control signals from the brain to the musculoskeletal system, thus hindering normal lower limb movement. Therefore, in clinical practice, the theory of motor neuron plasticity can be utilized to continuously subject the lower limbs to passive motor stimulation, thereby enabling the motor nerves to bypass the lesion area and re-establish pathways. However, the large SCI population in my country means that manual methods alone cannot effectively meet the ever-increasing demand for rehabilitation training services. Therefore, the use of robots to replace human doctors in implementing training programs in the field of SCI has become a key research focus in industry, academia, and research.

[0003] However, taking Lokomat, the most widely used lower limb rehabilitation training system, as an example, this system uses the coordination of a treadmill platform, a lower limb powered exoskeleton, and a suspended BWS weight support system to drive the user's lower limb movement. However, due to the strong motion coupling between these three components, the following problems exist: First, the complex suspended weight support system (BWS) has a complex gait generation method. Second, human-machine movement mismatch often occurs, leading to poor user training comfort and even sports injuries. Third, because the system uses a powered exoskeleton to drive the rotation of human joints to generate gait, users with different physical characteristics (height, weight, etc.) need to have their exoskeleton length adapted. This manual adjustment process is not only time-consuming, but the joint-driven gait generation method also makes the control system more complex, inconvenient to use, and lacks versatility. Fourth, the system is relatively bulky and occupies a lot of space, limiting its application in medical institutions and rehabilitation centers. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of the present invention is to propose a hip-supported rod-wheel combined lower limb rehabilitation training robot, which features a simple gait generation method, good human-machine motion matching, small footprint, ease of use, and high versatility and convenience.

[0005] The hip-supported rod-wheel hybrid lower limb rehabilitation training robot according to the present invention comprises:

[0006] Seat module, the seat module being used for a user to straddle so as to vertically support the user;

[0007] The telescopic cylinder module includes four telescopic cylinders, which can independently perform linear telescopic movements. The four telescopic cylinders are respectively arranged at the left front, left rear, right front, and right rear of the seat module. The upper ends of the four telescopic cylinders are hinged to the seat module, so that the four telescopic cylinders can independently rotate around the seat module in the sagittal plane.

[0008] The track module includes two track units, each of which has a forward and backward movement degree of freedom. The two track units are arranged at a left-right interval, and the front top and rear top parts of the two track units are respectively hinged to the lower ends of four telescopic cylinders, so that the four telescopic cylinders can independently rotate around the corresponding track unit in the sagittal plane.

[0009] The track unit and the seat module support the user, and the track unit's forward and backward movement degrees of freedom and the corresponding telescopic cylinder's linear telescopic degrees of freedom adapt to the user's hip, knee, and ankle rotational degrees of freedom. Gait generation is achieved through the coordinated movement of the track unit and the telescopic cylinder.

[0010] The hip-supported rod-wheel lower limb rehabilitation training robot of this invention supports the user's feet and hips through two tracked units and a seat module, freeing the user's lower limbs from the constraints of existing exoskeletons. The robot adapts to the user's three rotational degrees of freedom (hip, knee, and ankle) through the forward and backward movement of the tracked units and the linear extension and retraction of the corresponding telescopic cylinders. Gait generation is achieved through the coordinated movement of the tracked units and the telescopic cylinders. The user's hip, knee, and ankle joints change angles with the movement of the tracked units, telescopic cylinders, and seat module, simulating the posture of real human walking, thereby achieving the effect of assisting in the rehabilitation of lower limb joint movement.

[0011] In summary, the hip-supported pole-wheel hybrid lower limb rehabilitation training robot of this invention can assist users in completing rehabilitation training that closely resembles the gait of healthy individuals, providing a highly personalized rehabilitation training program. This helps rehabilitation users recover lower limb function more quickly, increases rehabilitation efficiency, and reduces rehabilitation time and costs. Furthermore, the hip-supported pole-wheel hybrid lower limb rehabilitation training robot of this invention can also support the user at the hips and feet, achieving weight unloading at the hips. It can perform gait simulation training without the need for an exoskeleton and BWS system, has a small footprint, and is highly convenient and versatile.

[0012] In some embodiments, the seat module includes a seat, the seat includes a straddle support member, the front end of the straddle support member has a hip support portion and U-shaped gaps located on the left and right sides of the hip support portion, the hip support portion and the two U-shaped gaps forming a near-W-shaped structure in the cross-sectional direction.

[0013] In some embodiments, the seat module further includes four seat connectors, which are fixed to the left front, left rear, right front, and right rear of the bottom of the seat, and are respectively hinged to the upper ends of the four telescopic cylinders.

[0014] In some embodiments, each track unit includes a track, a wheel assembly, a track frame, and track side plates; the wheel assembly is disposed within the track for driving the track to move back and forth and for bearing weight; the track frame is connected to the wheel assembly; and the track side plates cover the left and right sides of the track.

[0015] In some embodiments, each track unit further includes a foot support plate fixed to the top outer surface of the track and hinged to the lower end of the corresponding telescopic cylinder.

[0016] In some embodiments, a support frame module is also included, the support frame module including a slide rail and a connecting rod, the slide rail extending in a vertical direction, one end of the connecting rod being fixed to the seat module and the other end being slidably connected to the slide rail.

[0017] In some embodiments, a control system is also included, which includes a detection module, a main control module, and a drive module. The detection module is used to measure pressure data of the user's soles and buttocks during gait training. The main control module controls the drive module based on the pressure data measured by the detection module, so that the drive module drives the track module and the telescopic cylinder module to move in coordination to achieve gait generation.

[0018] In some embodiments, before gait training, when the user sits on the seat module, the telescopic cylinder extends and is lifted from a seated position to an upright position by means of the seat module. When the plantar pressure data is zero, the main control module calculates the extension length of the telescopic cylinder and converts it into the user's height and weight, thereby automatically completing the adaptation of the user's physiological characteristics before gait training.

[0019] In some embodiments, the detection module is also used to measure the tilt amplitude of the upper part of the hip-supported rod-wheel combination lower limb rehabilitation training robot during the user's gait training, to ensure that the user's center of gravity shift does not exceed the safe use threshold.

[0020] In some embodiments, the detection module includes a plantar pressure sensor, a seat pressure sensor, and a tilt sensor. The plantar pressure sensor is mounted on the top of the track unit to collect and record pressure data of the user's feet during walking. The seat pressure sensor is disposed on the seat module to collect and record pressure data of the user's buttocks during walking. The tilt sensor is installed inside the seat module to detect the tilt amplitude of the upper part of the robot in real time during the user's gait training, ensuring that the user's center of gravity shift does not exceed the safe use threshold.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0023] Figure 1 This is a schematic diagram of the overall structure of the hip-supported rod-wheel combined lower limb rehabilitation training robot according to an embodiment of the present invention;

[0024] Figure 2 This is a top view schematic diagram of the hip-supported rod-wheel combined lower limb rehabilitation training robot according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the track unit of the hip-supported rod-wheel combined lower limb rehabilitation training robot according to an embodiment of the present invention;

[0026] Figure 4 This is a flowchart illustrating the control system of the hip-supported rod-wheel combined lower limb rehabilitation training robot according to an embodiment of the present invention.

[0027] Reference numerals: Hip-supported rod-wheel combined lower limb rehabilitation training robot 1000; Support frame module 1; Slide rail 101; Link 102; Seat module 2; Seat 201; Straddle support 2011; Hip support part 20111; U-shaped gap part 20112; Backrest part 2012; Armrest part 2013; Seat connector 202; Telescopic cylinder module 3; Telescopic cylinder 301; Drive motor 3011; Track unit 4; Track 401; Wheel assembly 402; Load-bearing wheel 4021; Drive wheel 4022; Induction wheel 4023; Traction wheel 4024; Load-bearing wheel connector 4025; Spring damping structure 4026; Track frame 403; Track side plate 404; Foot support plate 405; Detection module 500; Main control module 600; Drive module 700. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0029] The following is combined with Figures 1 to 4 This invention describes a hip-supported rod-wheel combination lower limb rehabilitation training robot 1000 according to an embodiment of the present invention.

[0030] like Figures 1 to 3 As shown, the hip-supported rod-wheel combined lower limb rehabilitation training robot 1000 of this invention includes a seat module 2, a telescopic cylinder module 3, and a track module. The seat module 2 is used for the user to straddle, providing vertical support for the user. The telescopic cylinder module 3 includes four telescopic cylinders 301, each capable of independent linear telescopic movement. The four cylinders 301 are respectively arranged at the left front, left rear, right front, and right rear of the seat module 2. The upper ends of the four cylinders 301 are hinged to the seat module 2, allowing them to rotate independently around the seat module 2 in the sagittal plane. The track module includes two track units 4, each with a forward and backward degree of freedom. The two track units 4 are arranged at a left-right interval, and their top front and top rear portions are respectively hinged to the lower ends of the four telescopic cylinders 301, allowing each of the four cylinders 301 to rotate independently around its corresponding track unit in the sagittal plane. The track unit 4 and seat module 2 support the user, and the track unit 4’s forward and backward movement degree of freedom and the corresponding telescopic cylinder 301’s linear telescopic degree of freedom adapt to the user’s hip, knee and ankle rotational degrees of freedom. The gait is generated through the coordinated movement of the track unit 4 and the telescopic cylinder 301.

[0031] Specifically, seat module 2 is designed for users to straddle, providing vertical support. Instead of using a complex suspension-type weight support system (BWS), seat module 2 supports the user's buttocks when straddling them, effectively unloading the user's weight and preventing pressure on the lower limbs. This reduces the passive torque exerted on the robot during training, minimizing the spatiotemporal lag between the robot actively applying movement and the user passively receiving it. It also avoids the pressure and even contusions on the user's soft tissues that can occur with joint-actuated exoskeletons when using a human-machine interface to constrain the user. This allows users to engage in longer rehabilitation training sessions with a more user-friendly interface. It solves the problems of poor comfort and soft tissue contusion associated with existing human-machine interfaces, thereby increasing users' willingness to train for extended periods and ultimately improving rehabilitation outcomes.

[0032] Four telescopic cylinders 301 can independently perform linear telescopic movements. These four cylinders 301 are respectively located at the front left, rear left, front right, and rear right of the seat module 2. The upper ends of the four cylinders 301 are hinged to the seat module 2, allowing each cylinder to rotate independently around the seat module 2 in the sagittal plane. For more details, see... Figure 1 As shown, the lower end of the telescopic cylinder 301 has a drive motor 3011. The drive motor 3011 and the ball screw work together to provide power to the telescopic cylinder 301, enabling the telescopic cylinder 301 to perform linear telescopic motion. The upper end of each telescopic cylinder 301 is hinged to the seat module 2, and the hinge axis between the upper end of each telescopic cylinder 301 and the seat module 2 extends in the left-right direction, so that the four telescopic cylinders 301 can rotate around the seat module 2 in the sagittal plane.

[0033] It should be noted that the telescopic cylinder module 3 can be an electric cylinder module, a hydraulic cylinder module, or a pneumatic cylinder module, etc. For example, Figure 1 The telescopic cylinder module 3 is an electric cylinder module, which includes four electric cylinders.

[0034] Both track units 4 have forward and backward movement degrees of freedom; the two track units 4 are arranged at a left-right interval, and the top front and top rear parts of the two track units 4 are respectively hinged to the lower ends of four telescopic cylinders 301, allowing the four telescopic cylinders 301 to rotate independently around their corresponding track units 4 in the sagittal plane. For details, see... Figure 1 As shown, the lower end of each telescopic cylinder 301 is hinged to the corresponding track unit 4. The hinge axis between the lower end of each telescopic cylinder 301 and the corresponding track unit 4 extends in the left-right direction, allowing each telescopic cylinder 301 to rotate around the seat module 2 in the sagittal plane. The four independently controlled telescopic cylinders 301 provide a mechanical limit in terms of size, meaning that the track unit 4 has a limit value for both forward and backward movement. Once the limit value is reached, it cannot continue to move forward or backward, thus ensuring user safety.

[0035] The hip-supported rod-wheel hybrid lower limb rehabilitation training robot 1000 of this invention supports the user's feet and hips through two track units 4 and a seat module 2, freeing the user's lower limbs from the constraints of existing exoskeletons. The robot adapts to the user's hip, knee, and ankle rotational degrees of freedom by using the forward and backward movement degrees of freedom of the track units 4 and the linear extension and retraction degrees of freedom of the corresponding telescopic cylinders 301. Gait generation is achieved through the coordinated movement of the track units 4 and the telescopic cylinders 301. The user's hip, knee, and ankle joints change angles with the movement of the track units 4, the telescopic cylinders 301, and the seat module 2, simulating the posture of real human walking, thereby achieving the effect of assisting in the rehabilitation of lower limb joint movement.

[0036] Therefore, the hip-supported lever-wheel lower limb rehabilitation training robot 1000 of this invention can achieve hip-supported weight unloading, without using a complex BWS system. The seat module 2 supports the user, reducing the passive torque applied to the hip-supported lever-wheel lower limb rehabilitation training robot 1000 during training. This reduces the spatiotemporal lag between the actively applying movement of the hip-supported lever-wheel lower limb rehabilitation training robot 1000 and the passively receiving movement of the user. It avoids the pressure or even contusion of the user's soft tissues caused by joint-actuated exoskeletons when using human-machine physical interfaces to constrain the user, thus allowing the user to achieve longer rehabilitation training in a more user-friendly human-machine interaction manner. This solves the problems of poor comfort and soft tissue contusion caused by existing human-machine physical interfaces, thereby increasing the user's willingness to train for extended periods and improving the final rehabilitation effect. By dynamically unloading the user's weight using the seat module 2, this design improves the versatility and convenience of the rehabilitation equipment, reduces the preparation time for robot rehabilitation training, and lowers equipment maintenance costs.

[0037] The hip-supported lever-wheel combined lower limb rehabilitation training robot 1000 of this invention does not suffer from the motion coupling problem of conventional treadmill + exoskeleton rehabilitation training systems. Furthermore, the hip-supported lever-wheel combined lower limb rehabilitation training robot 1000 can better achieve motion matching between the robot (a rigid body) and the human body (a relatively flexible body) through impedance control. This allows for adjustment of the active assistance applied to the user based on the user's training progress, achieving a better match between rigidity and flexibility, and thus enabling improved exercise prescription design. It solves the problem of inaccurate lower limb force line coordination in existing joint-driven rehabilitation training devices, which leads to unfriendly human-computer interaction.

[0038] This invention presents a novel rod-wheel hybrid lower limb rehabilitation training robot 1000 with hip support, proposing a novel rod-wheel hybrid gait generation architecture. Through a simplified electromechanical structure, it achieves a functional replacement for existing rehabilitation training equipment, such as Locomat. The aim is to leverage the periodic passive lower limb movement stimulation of this new gait generation mechanism to allow motor nerves to bypass the lesion area and re-establish pathways. The hip-supported rod-wheel hybrid lower limb rehabilitation training robot 1000, through its new mechanical structure design, achieves a novel rehabilitation training device with a completely new gait generation method while maintaining all the training functions of existing equipment. The hip-supported rod-wheel hybrid lower limb rehabilitation training robot 1000 adapts to the user's hip, knee, and ankle degrees of freedom through the linear translational degrees of freedom of two telescopic cylinders 301 and one rotational degree of freedom of a track unit 4. Although there is no difference in the degrees of freedom of movement compared to a joint-driven exoskeleton, this architecture greatly simplifies the electromechanical structure design, resulting in a significant simplification of the gait generation method. The 1000 hip-supported lever-wheel lower limb rehabilitation training robot does not use the common joint-to-joint gait generation method, but instead employs a lever-wheel-joint gait generation mechanism. This results in reduced training space requirements and lower costs, expanding the application of robotics technology in the rehabilitation field. It is expected to enter hospital rehabilitation departments as an intelligent robotic rehabilitation physician, alleviating the mismatch between the large number of SCI patients and the limited number of rehabilitation physicians. It also solves the problem of overly complex electromechanical systems caused by the gait generation method of conventional rehabilitation training systems using treadmills and powered exoskeletons.

[0039] In summary, the hip-supported pole-wheel hybrid lower limb rehabilitation training robot 1000 of this invention can assist users in completing rehabilitation training that closely resembles the gait of healthy individuals, providing a highly personalized rehabilitation training program. This helps rehabilitation users recover lower limb function more quickly, increases rehabilitation efficiency, and reduces rehabilitation time and costs. Furthermore, the hip-supported pole-wheel hybrid lower limb rehabilitation training robot 1000 of this invention can also support the user at the hips and feet, achieving weight unloading at the hips. It can perform gait simulation training without the need for an exoskeleton and BWS system, has a small footprint, and is highly convenient and versatile.

[0040] In some embodiments, the seat module 2 includes a seat 201, which includes a straddle support 2011. The front end of the straddle support 2011 has a hip support portion 20111 and U-shaped openings 20112 located on the left and right sides of the hip support portion 20111. The hip support portion 20111 and the two U-shaped openings 20112 form a near-W-shaped structure in the cross-sectional direction. In this way, the user can straddle the hip support portion 20111 from the front end of the seat module 2, and the user's two lower limbs can pass through the corresponding two U-shaped openings 20112, which is very convenient to use.

[0041] Specifically, the front end of the straddle support 2011 adopts a hip support 20111 similar to a bicycle seat shape instead of a suspended weight support system (BWS). The straddle support 2011, in cooperation with the telescopic cylinder 301, can dynamically support the user's weight from the hips, thereby reducing the reverse torque of the human body during training and ensuring training safety. The straddle support 2011 is similar to cutting out two U-shaped gaps 20112 from an ordinary seat cushion. When the user performs rehabilitation training in an upright posture, the legs can be located in the U-shaped gaps 20112, so that the user's center of gravity is located as close as possible to the center of the seat 201, and the weight can be unloaded by supporting the hips.

[0042] In some embodiments, the seat 201 further includes a backrest 2012 and armrests 2013, which are fixed to the straddle support 2011. The backrest 2012, together with the straddle support 2011, can restrain the user's upper body during gait training; the armrests 2013 can support the user's body, maintain balance, and ensure the user's training safety.

[0043] In some embodiments, the seat module 2 further includes four seat connectors 202, which are fixed to the left front, left rear, right front and right rear of the bottom of the seat 201. The four seat connectors 202 are respectively hinged to the upper ends of the four telescopic cylinders 301, making the connection convenient and reliable.

[0044] In some embodiments, each track unit 4 includes a track 401, a wheel assembly 402, a track frame 403, and a track side plate 404; the wheel assembly 402 is disposed inside the track 401 and is used to drive the track 401 to move back and forth and to bear weight; the track frame 403 is connected to the wheel assembly 402; and the track side plate 404 covers the left and right sides of the track 401.

[0045] Specifically, such as Figure 3As shown, the wheel assembly 402 includes a load-bearing wheel 4021, a drive wheel 4022, an inducer wheel 4023, and a trailing wheel 4024. The load-bearing wheel 4021 is located at the bottom of the track 401 and is connected to the spring damping structure 4025 via a load-bearing wheel connector 4026, achieving system weighing and damping. The drive wheel 4022 is located at the front of the track 401, fitting into the inner groove of the track 401, providing power and serving as the power source for the track unit 4. It provides forward / backward power to the hip-supported rod-wheel combined lower limb rehabilitation training robot 1000. The drive wheel 4022 is driven by a built-in brushless motor or by a hydraulic or pneumatic motor, resulting in more precise drive and accurate control of the hip-supported rod-wheel combined lower limb rehabilitation training robot 1000 for forward / backward movement. Wheel 4023 is located at the rear of track 401, contacting the inner groove of track 401, guiding the direction of track 401 and maintaining appropriate tension, ensuring that track 401 maintains proper tension; trailing wheel 4024 is located at the upper part of track 401, used to prevent track 401 from interfering with load-bearing wheel 4021; track 401 covers track frame 403, load-bearing wheel 4021, spring damping structure 4026, drive wheel 4022, idler wheel 4023, trailing wheel 4024 are connected to track frame 403, track frame 403 is used to support the mechanical weight and external forces of the entire track 401, ensuring the correct relative position of each part of track unit 4; track side plate 404 covers the left and right sides of track 401, ensuring the shape and integrity of track 401, and providing additional support to prevent track 401 from falling off.

[0046] In some embodiments, each track unit 4 further includes a foot support plate 405, which is fixed to the top outer surface of the track 401 and hinged to the lower end of the corresponding telescopic cylinder 301. The foot support plate 405 can fix the user's foot, thereby restraining the user's foot and allowing the user's foot to move back and forth with the track 401; the foot support plate 405 can also provide support when the user needs to stand.

[0047] Specifically, the foot support plate 405 includes a fixed part and a foot support part that are fixedly connected to each other; wherein, the fixed part is fixed to the top outer surface of the track 401, and the foot support part is located directly below the U-shaped gap 20112 to support the foot, thereby improving the user's comfort.

[0048] In some embodiments, a support frame module 1 is also included. The support frame module 1 includes a slide rail 101 and a connecting rod 102. The slide rail 101 extends in the vertical direction. One end of the connecting rod 102 is fixed to the seat module 2 and the other end is slidably connected to the slide rail 101, so that the seat module 2 and the connecting rod 102 can move synchronously along the slide rail 101 in the vertical axis direction, and cannot shift left or right, forward or backward or tilt, thereby ensuring the safety of the user during training.

[0049] like Figure 4 As shown, in some embodiments, a control system is also included. The control system includes a detection module 500, a main control module 600, and a drive module 700. The detection module 500 measures the pressure data of the user's soles and buttocks during gait training. The main control module 600 controls the drive module 700 based on the pressure data measured by the detection module 500, so that the drive module 700 drives the track module and the telescopic cylinder module 3 to move in coordination, thereby generating gait. Compared with the complex gait generation methods of the prior art, this embodiment simplifies the gait generation method.

[0050] In some embodiments, before gait training, when the user sits on the seat module 2, the telescopic cylinder 301 extends and is lifted from a sitting position to an upright position with the help of the seat module 2. When the plantar pressure data is zero, the main control module 600 calculates the extension length of the telescopic cylinder 301 and converts it into the user's height and weight, thereby automatically completing the adaptation of the user's physiological characteristics before gait training.

[0051] Understandably, the seat module 2 eliminates the need for manual body shape adaptation for users of different heights, as is required when using exoskeleton gait training. Instead, it can easily adjust the user's load weight and automatically adapt to the user's height simply by changing the extension length of the telescopic cylinder 301. This avoids the problem of manually adjusting the exoskeleton length segment by segment to adapt to the user's physiological characteristics, which is necessary when using joint-driven exoskeletons. This greatly shortens the initial preparation time for gait training equipment and solves the long-standing problem of physiological characteristic adaptation that has plagued users.

[0052] In some embodiments, the detection module 500 is also used to measure the tilt amplitude of the upper part of the hip-supported rod-wheel combination lower limb rehabilitation training robot 1000 during the user's gait training, to ensure that the user's center of gravity shift does not exceed the safe use threshold, and to ensure the user's safety during gait training.

[0053] In some embodiments, the detection module 500 includes a plantar pressure sensor, a seat pressure sensor, and a tilt sensor. The plantar pressure sensor is mounted on the top of the track unit 4 to collect and record the pressure data of the user's feet during walking. The seat pressure sensor is mounted on the seat module 2 to collect and record the pressure data of the user's buttocks during walking. The tilt sensor is mounted inside the seat module 2 to detect the tilt amplitude of the upper part of the robot in real time during the user's gait training, ensuring that the user's center of gravity shift does not exceed the safe use threshold and ensuring the user's safety during gait training.

[0054] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0055] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A hip-supported rod-wheel hybrid lower limb rehabilitation training robot, characterized in that, include: Seat module, the seat module being used for a user to straddle so as to vertically support the user; The telescopic cylinder module includes four telescopic cylinders, which can independently perform linear telescopic movements. The four telescopic cylinders are respectively arranged at the left front, left rear, right front, and right rear of the seat module. The upper ends of the four telescopic cylinders are hinged to the seat module, so that the four telescopic cylinders can independently rotate around the seat module in the sagittal plane. The track module includes two track units, each of which has a forward and backward movement degree of freedom. The two track units are arranged at a left-right interval, and the front top and rear top parts of the two track units are respectively hinged to the lower ends of four telescopic cylinders, so that the four telescopic cylinders can independently rotate around the corresponding track unit in the sagittal plane. The track unit and the seat module support the user, and the track unit’s forward and backward movement degree of freedom and the corresponding telescopic cylinder’s linear telescopic degree of freedom adapt to the user’s hip, knee and ankle rotational degrees of freedom. The gait is generated through the movement coordination of the track unit and the telescopic cylinder. It also includes a control system, which includes a detection module, a main control module, and a drive module. The detection module is used to measure the pressure data of the user's feet and buttocks during gait training. The main control module controls the drive module according to the pressure data measured by the detection module, so that the drive module drives the track module and the telescopic cylinder module to move in coordination to realize gait generation. Before gait training, when the user sits on the seat module, the telescopic cylinder extends and is lifted from a sitting position to an upright position with the help of the seat module. When the plantar pressure data is zero, the main control module calculates the extension length of the telescopic cylinder and converts it into the user's height and weight, thereby automatically completing the adaptation of the user's physiological characteristics before gait training. The detection module is also used to measure the tilt amplitude of the upper part of the hip-supported rod-wheel combination lower limb rehabilitation training robot during the user's gait training, to ensure that the user's training center of gravity shift does not exceed the safe use threshold. The detection module includes a plantar pressure sensor, a seat pressure sensor, and a tilt sensor. The plantar pressure sensor is installed on the top of the track unit to collect and record the pressure data of the user's feet during walking. The seat pressure sensor is installed on the seat module to collect and record the pressure data of the user's buttocks during walking. The tilt sensor is installed inside the seat module to detect the tilt of the upper part of the robot in real time during the user's gait training, ensuring that the user's center of gravity shift does not exceed the safe use threshold.

2. The hip-supported rod-wheel combined lower limb rehabilitation training robot according to claim 1, characterized in that, The seat module includes a seat, the seat includes a straddle support member, the front end of the straddle support member has a hip support portion and U-shaped gaps located on the left and right sides of the hip support portion, the hip support portion and the two U-shaped gaps form a near W-shaped structure in the cross-sectional direction.

3. The hip-supported rod-wheel combined lower limb rehabilitation training robot according to claim 2, characterized in that, The seat module also includes four seat connectors, which are fixed to the left front, left rear, right front and right rear of the bottom of the seat. The four seat connectors are respectively hinged to the upper ends of the four telescopic cylinders.

4. The hip-supported rod-wheel combined lower limb rehabilitation training robot according to claim 1, characterized in that, Each track unit includes a track, a wheel assembly, a track frame, and track side plates; the wheel assembly is disposed within the track for driving the track to move back and forth and for bearing weight; the track frame is connected to the wheel assembly; and the track side plates cover the left and right sides of the track.

5. The hip-supported rod-wheel combined lower limb rehabilitation training robot according to claim 4, characterized in that, Each track unit also includes a foot support plate, which is fixed to the top outer surface of the track and hinged to the lower end of the corresponding telescopic cylinder.

6. The hip-supported rod-wheel combined lower limb rehabilitation training robot according to claim 1, characterized in that, It also includes a support frame module, which includes a slide rail and a connecting rod. The slide rail extends in the vertical direction, and one end of the connecting rod is fixed to the seat module and the other end is slidably connected to the slide rail.

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