A lower limb rehabilitation robot

Abstract

The present invention provides a lower limb rehabilitation robot, comprising a main support frame capable of moving on the ground, an active support frame slidably connected to the main support frame, an electric push rod arranged between the main support frame and the active support frame, and a control unit arranged on the main support frame; according to the data collected by the trunk pressure sensor, the foot pressure sensor, the hip gyroscope, the knee gyroscope, and the electromyography sensor and the index after data processing, the control unit executes a threshold adjustment strategy set to adjust the weight loss threshold, safety threshold and floating threshold of the electric push rod movement, and the threshold adjustment strategy set includes a threshold adjustment strategy group based on individual differences, a threshold dynamic adjustment strategy group based on rehabilitation progress, and a threshold dynamic adjustment strategy group based on real-time monitoring and feedback. The present invention can perform active adaptive adjustment of the trunk support strength for individual patients, and improve the safety and effectiveness of the patient's rehabilitation training.

Description

Technical Field

[0001] The invention relates to a lower limb rehabilitation device, in particular to a lower limb rehabilitation robot, and belongs to the technical field of rehabilitation devices. Background Art

[0002] Lower limb rehabilitation robots are important equipment to assist patients with lower limb motor dysfunction such as lower limb joint failure or muscle weakness symptoms in rehabilitation training. The lower limb rehabilitation robots in the prior art usually use weight loss technology to assist patients in completing rehabilitation training such as walking by reducing the weight on the patient's lower limbs. However, when the existing lower limb rehabilitation robots provide weight loss support for patients, the adjustment of their support strength is usually based on a fixed threshold, and it is impossible to make timely adjustments according to the changes in the individual rehabilitation status of different patients. As the rehabilitation training progresses, the patient's gait symmetry, balance ability, muscle strength level and other indicators may change. The fixed threshold setting may cause the training intensity to not match the patient's actual rehabilitation needs and affect the rehabilitation training effect. Due to individual differences among patients, safety is reduced and training risks are increased. Summary of the invention

[0003] Based on the above background, the purpose of the present invention is to provide a lower limb rehabilitation robot to solve the problems described in the background technology.

[0004] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0005] A lower limb rehabilitation robot, comprising a main support frame capable of moving on the ground, a movable support frame slidably connected to the main support frame, an electric push rod arranged between the main support frame and the movable support frame, a left hip unit, a left thigh unit, a left knee unit, a left calf unit and a left foot support unit arranged on one side of the movable support frame and connected in sequence, a right hip unit, a right thigh unit, a right knee unit, a right calf unit and a right foot support unit arranged on the other side of the movable support frame and connected in sequence, and a control unit arranged on the main support frame;

[0006] The movable support frame is arranged on the upper part of the main support frame, the bottom of the electric push rod is fixedly connected to the main support frame, the top of the electric push rod is the push rod end, and is fixedly connected to the movable support frame, the upper part of the movable support frame is provided with a trunk fixing strap for fixing the patient's trunk, the push rod end of the electric push rod is provided with a trunk pressure sensor for measuring the pressure data applied by the patient's trunk to the movable support frame, the left foot support unit and the right foot support unit are respectively provided with a foot pressure sensor, the left hip unit and the right hip unit are respectively provided with a hip gyroscope, the left knee unit and the right knee unit are respectively provided with a knee gyroscope, and the left thigh unit, the right thigh unit, the left calf unit and the right calf unit are respectively provided with an electromyographic sensor for collecting electromyographic signals of the patient's lower limbs;

[0007] The control unit is electrically connected to the electric push rod, the left hip unit, the left knee unit, the right hip unit, the right knee unit, the trunk pressure sensor, the foot pressure sensor, the hip gyroscope, the knee gyroscope and the electromyographic sensor, respectively. According to the data collected by the trunk pressure sensor, the foot pressure sensor, the hip gyroscope, the knee gyroscope and the electromyographic sensor and the indicators after data processing, the control unit executes a threshold adjustment strategy set to adjust the weight loss threshold, the safety threshold and the floating threshold for controlling the movement of the electric push rod. The threshold adjustment strategy set includes a threshold adjustment strategy group based on individual differences, a threshold dynamic adjustment strategy group based on rehabilitation progress and a threshold dynamic adjustment strategy group based on real-time monitoring and feedback.

[0008] Preferably, the threshold adjustment strategy group based on individual differences includes: correcting the weight loss threshold according to the patient's standard body mass index, correcting the safety threshold according to the patient's age, and correcting the weight loss threshold and the floating threshold according to the patient's gender.

[0009] Preferably, the threshold dynamic adjustment strategy group based on rehabilitation progress includes: adjusting the weight loss threshold and the floating threshold according to the patient's gait symmetry index, adjusting the safety threshold according to the patient's balance ability index, adjusting the weight loss threshold and the floating threshold according to the patient's muscle strength level index, and adjusting the weight loss threshold, safety threshold and floating threshold according to the rehabilitation stage.

[0010] Preferably, the threshold dynamic adjustment strategy group based on real-time monitoring and feedback includes: real-time adjustment of the weight loss threshold and the floating threshold according to the patient's weight distribution asymmetry index, real-time adjustment of the weight loss threshold and the floating threshold according to the patient's muscle activation, and real-time adjustment of the safety threshold according to the patient's joint angle deviation.

[0011] Preferably, the threshold adjustment strategy set also includes a threshold joint adjustment strategy, which includes: standardizing the patient's gait symmetry index, balance ability index, muscle strength level index and joint angle deviation to convert them into quantitative scores, determining the corresponding weight coefficient for each indicator, calculating the comprehensive rehabilitation score, and adjusting the weight loss threshold, floating threshold and safety threshold at the same time according to changes in the comprehensive rehabilitation score.

[0012] Preferably, the main support frame includes a main support gantry, a reinforcement bracket and two main support movable bases, the two bottom ends of the main support gantry are respectively fixedly connected to a main support movable base, the reinforcement bracket is arranged at the lower part of the main support gantry, and the two ends of the reinforcement bracket are respectively fixedly connected to the two sides of the main support gantry, and the bottom of the main support movable base is provided with movable wheels.

[0013] Preferably, the movable support frame includes a movable support plate, a strap support and a hip unit support, the two sides of the movable support plate are slidingly connected to the two sides of the main support gantry through a slide rail structure, the strap support is fixedly connected to the upper part of the movable support plate, the torso fixing strap is arranged at the end of the strap support, the hip unit support is arranged at the lower part of the movable support plate, and the left hip unit and the right hip unit are respectively fixedly connected to the end of a hip unit support.

[0014] Preferably, the left thigh unit, the right thigh unit, the left calf unit and the right calf unit are all provided with adjustment mechanisms for adjusting the length.

[0015] Preferably, the left hip unit and the right hip unit are respectively provided with hip motors, and the left knee unit and the right knee unit are respectively provided with knee motors.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] A lower limb rehabilitation robot of the present invention realizes intelligent dynamic adjustment of the weight loss threshold, safety threshold and floating threshold for controlling the movement of the electric push rod through strategies such as personalized threshold adjustment, dynamic threshold adjustment, real-time monitoring and feedback, and comprehensive evaluation and adjustment, so as to actively and adaptively adjust the trunk support strength for individual patients, thereby improving the safety and effectiveness of the patient's rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of a lower limb rehabilitation robot of the present invention;

[0020] Figure 2 It is a schematic diagram of the connection structure of the left hip unit, the left thigh unit, the left knee unit, the left calf unit and the left foot support unit in the present invention.

[0021] In the figure: 1. main support gantry; 2. reinforcement bracket; 3. main support moving base; 4. moving wheel; 5. movable support plate; 6. strap support; 7. hip unit support; 8. electric push rod; 9. left hip unit; 10. left thigh unit; 11. left knee unit; 12. left calf unit; 13. left foot support unit; 14. right hip unit; 15. right thigh unit; 16. right knee unit; 17. right calf unit; 18. right foot support unit; 19. control unit; 20. trunk fixing strap; 21. trunk pressure sensor; 22. foot pressure sensor; 23. hip gyroscope; 24. knee gyroscope; 25. electromyography sensor. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings. It should be understood that the implementation of the present invention is not limited to the following embodiments, and any form of modification and / or change made to the present invention will fall within the protection scope of the present invention.

[0023] In the present invention, unless otherwise specified, all parts and percentages are weight units, and the equipment and raw materials used can be purchased from the market or are commonly used in the art. The methods in the following embodiments, unless otherwise specified, are conventional methods in the art. The components or equipment in the following embodiments, unless otherwise specified, are universal standard parts or components known to those skilled in the art, and their structures and principles are known to those skilled in the art through technical manuals or conventional experimental methods.

[0024] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present invention. However, one or more embodiments may also be implemented by those skilled in the art without these specific details.

[0025] like Figure 1 As shown, an embodiment of the present invention discloses a lower limb rehabilitation robot, including a main support frame capable of moving on the ground, a movable support frame slidably connected to the main support frame, an electric push rod 8 arranged between the main support frame and the movable support frame, a left hip unit 9, a left thigh unit 10, a left knee unit 11, a left calf unit 12 and a left foot support unit 13 arranged on one side of the movable support frame and connected in sequence, a right hip unit 14, a right thigh unit 15, a right knee unit 16, a right calf unit 17 and a right foot support unit 18 arranged on the other side of the movable support frame and connected in sequence, and a control unit 19 arranged on the main support frame.

[0026] The movable support frame is arranged on the upper part of the main support frame, the bottom of the electric push rod 8 is fixedly connected to the main support frame, the top of the electric push rod 8 is the push rod end, and is fixedly connected to the movable support frame, and the upper part of the movable support frame is provided with a torso fixing strap 20 for fixing the patient's torso.

[0027] The main support frame includes a main support gantry 1, a reinforcement bracket 2 and two main support mobile bases 3. The two bottom ends of the main support gantry 1 are respectively fixedly connected to a main support mobile base 3, the reinforcement bracket 2 is arranged at the lower part of the main support gantry 1, and the two ends of the reinforcement bracket 2 are respectively fixedly connected to the two sides of the main support gantry 1, and the bottom of the main support mobile base 3 is provided with a moving wheel 4.

[0028] The movable support frame includes a movable support plate 5, a strap support 6 and a hip unit support 7. The two sides of the movable support plate 5 are respectively slidably connected to the two sides of the main support gantry 1 through a slide rail structure. The slide rail structure is an existing mature technology, and the specific structure is not repeated. The strap support 6 is fixedly connected to the upper part of the movable support plate 5, the trunk fixing strap 20 is arranged at the end of the strap support 6, the hip unit support 7 is arranged at the lower part of the movable support plate 5, and the left hip unit 9 and the right hip unit 14 are respectively fixedly connected to the end of a hip unit support 7.

[0029] The left thigh unit 10, the right thigh unit 15, the left calf unit 12 and the right calf unit 17 are all provided with an adjustment mechanism for adjusting the length. The adjustment mechanism is an existing mature technology, and can adopt a manual adjustment locking mechanism or an electric adjustment locking mechanism, and its specific structure is not repeated here.

[0030] The left hip unit 9 and the right hip unit 14 are respectively provided with hip motors, and the left knee unit 11 and the right knee unit 16 are respectively provided with knee motors. The hip motor is used to change the angle between the hip unit and the thigh unit. The hip motor can be provided with a motion locking structure. Before there is no movement, its initial position of movement can be freely adjusted to correspond to the actual position of the patient. When movement is required, it can be locked, and the hip motor plays an auxiliary rotational movement role for the patient. The hip motor can also be provided with a damping structure to provide a damping function for the patient's active movement. The knee motor is used to change the angle between the thigh unit and the calf unit. The structure and principle of the knee motor are the same as those of the hip motor. Both the hip motor and the knee motor are existing technologies and can be selected and adjusted according to actual application needs. In this embodiment, a robot joint torque motor is used, with a rated power of more than 160W and a rotation speed of 0-30rpm.

[0031] No motor is provided between the calf unit and the foot support unit, and a hinge structure is directly adopted.

[0032] The left hip unit 9, the left thigh unit 10, the left knee unit 11, the left calf unit 12 and the left foot support unit 13, as well as the right hip unit 14, the right thigh unit 15, the right knee unit 16, the right calf unit 17 and the right foot support unit 18, are all existing mature technologies, and the specific structures will not be repeated here.

[0033] Next, the electric push rod 8 and the control unit 19 are described in detail. The push rod end of the electric push rod 8 is provided with a trunk pressure sensor 21. Figure 2 As shown, the left foot support unit 13 and the right foot support unit 18 are respectively provided with a foot pressure sensor 22, the left hip unit 9 and the right hip unit 14 are respectively provided with a hip gyroscope 23, and the left knee unit 11 and the right knee unit 16 are respectively provided with a knee gyroscope 24. The trunk pressure sensor 21 is used to measure the pressure data applied by the patient's trunk to the movable support frame. The foot pressure sensor 22 is used to measure the pressure data applied by the patient's foot to the left foot support unit 13 and the right foot support unit 18. The left thigh unit 10, the right thigh unit 15, the left calf unit 12 and the right calf unit 17 are respectively provided with an electromyographic sensor 25 for collecting electromyographic signals of the patient's lower limbs. The control unit 19 is electrically connected to the electric push rod 8, the left hip unit 9, the left knee unit 11, the right hip unit 14, the right knee unit 16, the trunk pressure sensor 21, the foot pressure sensor 22, the hip gyroscope 23, the knee gyroscope 24 and the electromyographic sensor 25.

[0034] In the prior art, the threshold for controlling the movement of the electric push rod 8 is usually set as a fixed threshold based on design calculations and preliminary tests, and the threshold remains unchanged during the patient training process. Even if the threshold is adjusted, it is manually adjusted to meet the patient's needs based on the patient's active feedback or doctor's diagnosis and treatment. This threshold setting method is difficult to adapt to different individual patients and the control of trunk support force at different rehabilitation stages.

[0035] Therefore, in this embodiment, based on the data collected by the trunk pressure sensor 21, the foot pressure sensor 22, the hip gyroscope 23, the knee gyroscope 24, and the electromyography sensor 25 and the indicators after data processing, the control unit 19 executes the threshold adjustment strategy set to adjust the threshold for controlling the movement of the electric push rod 8. In this embodiment, three thresholds for controlling the movement of the electric push rod 8 are set, namely, a weight loss threshold, a safety threshold, and a floating threshold.

[0036] The weight loss threshold refers to the maximum support force value applied by the electric push rod 8 when providing trunk support force for the patient. When the patient's weight sharing ability is lower than the threshold, the electric push rod 8 will provide corresponding support force to reduce the patient's weight burden. The weight loss threshold can be set to provide appropriate trunk support according to the patient's weight sharing ability and reduce the weight of the patient's lower limbs.

[0037] The safety threshold refers to the maximum additional force value detected by the trunk pressure sensor 21 when the patient loses strength and cannot maintain a normal posture. When the trunk pressure sensor 21 detects that the additional force reaches or exceeds the safety threshold, the system immediately determines that the patient is in a state of loss of strength and triggers the corresponding safety protection mechanism, quickly lifting the push rod to provide additional support to prevent the patient from falling.

[0038] The floating threshold refers to the support force threshold of the electric push rod 8 that is dynamically adjusted according to the patient's real-time condition.

[0039] The threshold adjustment strategy set includes a threshold adjustment strategy group based on individual differences, a threshold dynamic adjustment strategy group based on rehabilitation progress, and a threshold dynamic adjustment strategy group based on real-time monitoring and feedback. The specific description is as follows.

[0040] The threshold adjustment strategy groups based on individual differences are:

[0041] Strategy 1: Modify the weight loss threshold based on the patient's standard body mass index (BMI):

[0042] If BMI>25, weight loss threshold = baseline weight loss threshold × (1 + (BMI-25) × 0.02);

[0043] If BMI < 18.5, then weight loss threshold = baseline weight loss threshold × (1-(18.5-BMI) × 0.02);

[0044] Strategy 2: Modify the initial safety threshold according to the patient's age A:

[0045] If A>60, then safety threshold = baseline safety threshold × (1 + (A-60) × 0.01);

[0046] Strategy 3: Modify the weight loss threshold and floating threshold according to the patient's gender G:

[0047] If G = female, then the weight loss threshold = baseline weight loss threshold × 0.95, and the floating threshold = baseline floating threshold × 0.95.

[0048] For each individual patient, if the patient meets multiple strategies, the results of the weight loss threshold and floating threshold are superimposed according to multiple strategies. For example, if the patient has modified the weight loss threshold according to strategy one, and the patient meets strategy three, the weight loss threshold modification result based on strategy one is further modified according to strategy three.

[0049] The threshold dynamic adjustment strategy group based on rehabilitation progress is:

[0050] Strategy 4: Adjust the weight loss threshold and floating threshold according to the patient's gait symmetry index S:

[0051] If S increases by 10%, then the weight loss threshold = current weight loss threshold × 0.95, and the floating threshold = current floating threshold × 0.95;

[0052] Strategy 5: Adjust the safety threshold according to the patient's balance ability index B:

[0053] If B increases by 20%, then the safety threshold = current safety threshold × 0.9;

[0054] Strategy 6: Adjust the weight loss threshold and floating threshold according to the patient's muscle strength level index M:

[0055] If M increases by 15%, then the weight loss threshold = current weight loss threshold × 1.05, and the floating threshold = current floating threshold × 1.05;

[0056] Strategy 7: Adjust the threshold according to the rehabilitation stage P:

[0057] If P = early stage, then safety threshold = baseline safety threshold × 1.1, weight loss threshold = baseline weight loss threshold × 1.1;

[0058] If P = mid-term, then the weight loss threshold = baseline weight loss threshold × 0.95, and the floating threshold = baseline floating threshold × 0.95;

[0059] If P = late stage, then the weight loss threshold = baseline weight loss threshold × 1.05, and the floating threshold = baseline floating threshold × 1.05.

[0060] The threshold dynamic adjustment strategy group based on real-time monitoring and feedback is:

[0061] Strategy 8: Adjust the weight loss threshold and floating threshold in real time according to the patient's weight distribution asymmetry index D:

[0062] If D>0.2, then weight loss threshold = current weight loss threshold × (1-(D-0.2) × 0.1), floating threshold = current floating threshold × (1-(D-0.2) × 0.1);

[0063] Strategy 9: Adjust the weight loss threshold and floating threshold in real time according to the patient's muscle activation E;

[0064] If E<0.6, then weight loss threshold = current weight loss threshold × (1 + (0.6-E) × 0.1), floating threshold = current floating threshold × (1 + (0.6-E) × 0.1);

[0065] Strategy 10: Adjust the safety threshold in real time according to the patient's joint angle deviation J:

[0066] If J>0.8, the safety threshold=current safety threshold×(1-(J-0.8)×0.2).

[0067] In each of the above strategy groups, the indicators and indexes are collected and calculated using the following methods.

[0068] The force data of the patient's left and right feet are obtained through the foot pressure sensor 22 to calculate the force ratio and time symmetry of the left and right feet. The angular velocity data of the patient's left and right lower limb joints are obtained through the hip gyroscope 23 and the knee gyroscope 24 to calculate the amplitude and time symmetry of the left and right lower limb joint movements. The gait symmetry index S is calculated by combining the above data.

[0069] The force data of the patient's trunk is obtained by the trunk pressure sensor 21, and the balance ability index B is calculated by combining the force data of the patient's left foot and right foot obtained by the foot pressure sensor 22.

[0070] The muscle strength level index M is calculated after acquiring the patient's electromyographic signal through the electromyographic sensor 25.

[0071] The force data of the patient's left and right feet are acquired through the foot pressure sensor 22 to calculate the weight distribution asymmetry index D.

[0072] The muscle activation degree E is calculated after acquiring the patient's electromyographic signal through the electromyographic sensor 25.

[0073] The angular velocity data of the patient's left and right lower limb joints are acquired through the hip gyroscope 23 and the knee gyroscope 24, thereby calculating the joint angle deviation J.

[0074] This embodiment also introduces a multi-dimensional comprehensive evaluation to achieve joint adjustment of thresholds. The threshold joint adjustment strategy is:

[0075] Strategy 11: Standardize the patient's gait symmetry index S, balance ability index B, muscle strength level index M and joint angle deviation J to convert them into quantitative scores, determine the corresponding weight coefficient for each index, calculate the comprehensive rehabilitation score CRS, and adjust the weight loss threshold, floating threshold and safety threshold according to the changes in CRS;

[0076] If the CRS increases by 10%, the weight loss threshold decreases by 5%, the floating threshold decreases by 5%, and the safety threshold decreases by 5%;

[0077] If the CRS increases by 20%, the weight loss threshold decreases by 10%, the floating threshold decreases by 10%, and the safety threshold decreases by 10%;

[0078] If the CRS decreases by 10%, the weight loss threshold increases by 5%, the floating threshold increases by 5%, and the safety threshold increases by 5%;

[0079] If the CRS decreases by 20%, the weight loss threshold increases by 10%, the floating threshold increases by 10%, and the safety threshold increases by 10%.

[0080] By introducing a threshold joint adjustment strategy, multi-dimensional thresholds can be adjusted in a linked manner to adapt to the improvement of patients' rehabilitation abilities.

[0081] The chronological order of all the above strategies is as follows: at the beginning of rehabilitation training, the baseline thresholds are initially adjusted according to strategies one to three based on individual differences of patients; during training, the thresholds are dynamically adjusted according to strategies four to seven based on the rehabilitation progress of patients; after each training cycle, the thresholds are jointly adjusted according to strategy eleven based on CRS; during real-time training, the thresholds are dynamically adjusted according to strategies eight to ten based on real-time monitoring data (i.e., weight distribution asymmetry index D, muscle activation E, and joint angle deviation J).

[0082] Through strategies one to three, individual differences of patients are fully considered to achieve individual targeted threshold settings. Through strategies four to seven, the patient's rehabilitation progress is tracked in real time, and the support force is adjusted in time to ensure that the training difficulty matches the patient's ability. Through strategy eleven, a comprehensive evaluation of multiple dimensions is introduced to comprehensively consider multiple aspects of the patient's rehabilitation status and achieve coordinated optimization of the threshold. Through strategies eight to ten, based on real-time monitoring data, the patient's abnormal status is promptly discovered and responded to, and refined threshold adjustments based on real-time monitoring and feedback are performed. The combination of the above adjustment strategy groups forms a complete threshold adjustment framework, which realizes dynamic optimization of thresholds at different time points and levels, thereby adapting to changes in different individual patients during the rehabilitation process.

[0083] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A lower limb rehabilitation robot, characterized in that: The lower limb rehabilitation robot comprises a main support frame capable of moving on the ground, a movable support frame slidably connected to the main support frame, an electric push rod arranged between the main support frame and the movable support frame, a left hip unit, a left thigh unit, a left knee unit, a left calf unit and a left foot support unit arranged on one side of the movable support frame and connected in sequence, a right hip unit, a right thigh unit, a right knee unit, a right calf unit and a right foot support unit arranged on the other side of the movable support frame and connected in sequence, and a control unit arranged on the main support frame; The movable support frame is arranged on the upper part of the main support frame, the bottom of the electric push rod is fixedly connected to the main support frame, the top of the electric push rod is the push rod end, and is fixedly connected to the movable support frame, the upper part of the movable support frame is provided with a trunk fixing strap for fixing the patient's trunk, the push rod end of the electric push rod is provided with a trunk pressure sensor for measuring the pressure data applied by the patient's trunk to the movable support frame, the left foot support unit and the right foot support unit are respectively provided with a foot pressure sensor, the left hip unit and the right hip unit are respectively provided with a hip gyroscope, the left knee unit and the right knee unit are respectively provided with a knee gyroscope, and the left thigh unit, the right thigh unit, the left calf unit and the right calf unit are respectively provided with an electromyographic sensor for collecting electromyographic signals of the patient's lower limbs; The control unit is electrically connected to the electric push rod, the left hip unit, the left knee unit, the right hip unit, the right knee unit, the trunk pressure sensor, the foot pressure sensor, the hip gyroscope, the knee gyroscope and the electromyographic sensor respectively. According to the data collected by the trunk pressure sensor, the foot pressure sensor, the hip gyroscope, the knee gyroscope and the electromyographic sensor and the indicators after the data processing, the control unit executes the threshold adjustment strategy set to adjust the weight loss threshold, the safety threshold and the floating threshold for controlling the movement of the electric push rod. The threshold adjustment strategy set includes a threshold adjustment strategy group based on individual differences, a threshold dynamic adjustment strategy group based on rehabilitation progress and a threshold dynamic adjustment strategy group based on real-time monitoring and feedback; The main support frame includes a main support gantry, a reinforcement bracket and two main support movable bases, the two bottom ends of the main support gantry are respectively fixedly connected to a main support movable base, the reinforcement bracket is arranged at the lower part of the main support gantry, and the two ends of the reinforcement bracket are respectively fixedly connected to the two sides of the main support gantry, and the bottom of the main support movable base is provided with movable wheels; the movable support frame includes a movable support plate, a strap support and a hip unit support, the two sides of the movable support plate are respectively slidably connected to the two sides of the main support gantry through a slide rail structure, the strap support is fixedly connected to the upper part of the movable support plate, the torso fixing strap is arranged at the end of the strap support, the hip unit support is arranged at the lower part of the movable support plate, and the left hip unit and the right hip unit are respectively fixedly connected to the end of a hip unit support; The left thigh unit, the right thigh unit, the left calf unit and the right calf unit are all provided with an adjustment mechanism for adjusting the length; The left hip unit and the right hip unit are respectively provided with hip motors, and the left knee unit and the right knee unit are respectively provided with knee motors.

2. A lower limb rehabilitation robot according to claim 1, characterized in that: The threshold adjustment strategy group based on individual differences includes: correcting the weight loss threshold according to the patient's standard body mass index, correcting the safety threshold according to the patient's age, and correcting the weight loss threshold and floating threshold according to the patient's gender.

3. A lower limb rehabilitation robot according to claim 1, characterized in that: The threshold dynamic adjustment strategy group based on rehabilitation progress includes: adjusting the weight loss threshold and the floating threshold according to the patient's gait symmetry index, adjusting the safety threshold according to the patient's balance ability index, adjusting the weight loss threshold and the floating threshold according to the patient's muscle strength level index, and adjusting the weight loss threshold, safety threshold and floating threshold according to the rehabilitation stage.

4. A lower limb rehabilitation robot according to claim 1, characterized in that: The threshold dynamic adjustment strategy group based on real-time monitoring and feedback includes: real-time adjustment of the weight loss threshold and the floating threshold according to the patient's weight distribution asymmetry index, real-time adjustment of the weight loss threshold and the floating threshold according to the patient's muscle activation, and real-time adjustment of the safety threshold according to the patient's joint angle deviation.

5. The lower limb rehabilitation robot according to claim 1, characterized in that: The threshold adjustment strategy set also includes a threshold joint adjustment strategy, which includes: standardizing the patient's gait symmetry index, balance ability index, muscle strength level index and joint angle deviation to convert them into quantitative scores, determining the corresponding weight coefficient for each indicator, calculating the comprehensive rehabilitation score, and adjusting the weight loss threshold, floating threshold and safety threshold at the same time according to the changes in the comprehensive rehabilitation score.

Images