Multi-channel functional electrical stimulation and servo motor hybrid control experiment platform

Abstract

The invention discloses a multi-channel functional electrical stimulation and servo motor hybrid control experiment platform, and relates to the field of rehabilitation training. The rotation center of an exoskeleton joint of an existing knee joint exoskeleton system fused with functional electrical stimulation cannot be adjusted, and the existing knee joint exoskeleton system is difficult to adapt to patients with different leg lengths. The device comprises an experiment platform support for supporting an experiment subject to sit, an experiment platform controller, an electrical stimulation gel electrode, a driving mechanism and an adjusting mechanism. A driving mechanism is mounted on the driving mechanism mounting frame and is connected with the adjusting mechanism through a swing rod; an experimental platform controller is mounted on a driving mechanism mounting frame on the experimental platform bracket, is connected with the electrical stimulation gel electrode, integrates a multi-channel functional electrical stimulation controller and a servo motor controller, and controls the multi-channel electrical stimulation gel electrode and a servo motor of the driving mechanism at the same time; cooperative control of the multi-channel electrical stimulation gel electrode and the servo motor is realized. The platform is applied to the field of rehabilitation training experiment platforms.

Description

Technical Field

[0001] The invention relates to the field of rehabilitation training, and in particular to a hybrid control experimental platform of multi-channel functional electrical stimulation and servo motors. Background Art

[0002] Stroke is currently the second leading cause of death and the third leading combined cause of death and disability in the world. The high disability rate of stroke results in more than 63% of patients having moderate to severe motor cognitive impairment, and about 35% of stroke patients are unable to walk independently, which further causes negative emotions such as anxiety, depression, and irritability, bringing heavy economic burden and mental pressure to stroke patients. Therefore, the rehabilitation of lower limb motor function is one of the most urgent and strongest demands of stroke patients.

[0003] Conventional motor rehabilitation treatments for hemiplegic lower limbs after stroke include optimal limb positioning, mat activities, turning over exercises, sitting and balance exercises, standing and balance exercises, walking exercises, and stair exercises. However, traditional rehabilitation treatments rely heavily on the experience of rehabilitation physicians, making it difficult for stroke patients to obtain efficient and adequate rehabilitation treatments.

[0004] Functional electrical stimulation is a commonly used rehabilitation treatment method in clinical practice. It is a technology that uses low-frequency current pulses to stimulate the patient's muscles to contract and produce functional movements. It can enhance muscle strength, restore motor function and cause changes in neural plasticity. However, simple functional electrical stimulation therapy still has disadvantages such as difficulty in determining electrical stimulation parameters, rapid muscle fatigue and difficulty in achieving precise muscle force and joint movement control. In recent years, with the development of robotics technology, hybrid gait rehabilitation technology that integrates lower limb exoskeleton robots and functional electrical stimulation has shown outstanding advantages and application potential. It has the advantages of accurate and reliable motion control of lower limb exoskeleton robots and active muscle contraction induced by functional electrical stimulation.

[0005] However, due to the strong nonlinearity, time-varying and individual differences of the human musculoskeletal system, the design and parameter adjustment of hybrid controllers for functional electrical stimulation and lower limb exoskeletons pose great challenges. In order to ensure that the stability, accuracy and reliability of the hybrid controller meet clinical requirements, the performance of the hybrid controller must be fully experimentally verified before conducting clinical experiments. However, there is currently a lack of hybrid control experimental platforms with comprehensive testing functions.

[0006] Through literature search, it was found that the invention patent "Knee joint exoskeleton system integrating functional electrical stimulation" with Chinese patent publication number CN103655122A provides a solution, including a flexible knee joint exoskeleton, a DC servo motor driver, a multi-channel functional electrical stimulator and a controller; the DC servo motor driver is connected to the knee joint exoskeleton, and the controller is respectively connected to the DC servo motor driver and the multi-channel functional electrical stimulator;

[0007] The controller controls the knee exoskeleton through a DC servo motor driver and controls the multi-channel functional electrical stimulator at the same time. The knee exoskeleton and the multi-channel functional electrical stimulator work together, and the controller controls the synchronization of the two. Functional electrical stimulation is used to exert the autonomous strength of the patient's muscles. On this basis, the rehabilitation robot implements auxiliary functions and works together to provide the best knee rehabilitation training for paralyzed patients. The knee exoskeleton uses steel wire traction to drive the knee joint movement. The steel wire is connected to the spring and tension sensor to provide better force control and make it possible to actively control the rehabilitation movement.

[0008] However, during use of the above-mentioned "knee exoskeleton system integrating functional electrical stimulation", the center of rotation of the exoskeleton joint cannot be adjusted, making it difficult to adapt to patients with different leg lengths; at the same time, the rotation movement of the exoskeleton joint has no locking function, and muscle isometric contraction experiments cannot be carried out. Summary of the invention

[0009] In order to solve the problem that the existing knee exoskeleton system is difficult to adapt to patients with different leg lengths due to the non-adjustable rotation center of the exoskeleton joint, and at the same time, the exoskeleton joint rotation movement has no locking function, and there is a problem that muscle isometric contraction experiments cannot be carried out, the present invention provides a multi-channel functional electrical stimulation and servo motor hybrid control experimental platform.

[0010] The technical solution of the present invention is:

[0011] A multi-channel functional electrical stimulation and servo motor hybrid control experimental platform, comprising an experimental platform bracket supporting an experimental subject to sit or stand, an experimental platform controller, an electrical stimulation gel electrode, a driving mechanism and an adjusting mechanism;

[0012] The experimental platform bracket includes a seat frame and a drive mechanism mounting frame, the seat frame is arranged between two drive mechanism mounting frames, a drive mechanism is fixedly installed above the drive mechanism mounting frame, and the drive mechanism is connected to the adjustment mechanism through a rocker rod;

[0013] An experimental platform controller is installed on the top plane of the driving mechanism mounting frame on the experimental platform bracket. The experimental platform controller is connected to the electrical stimulation gel electrode. The experimental platform controller integrates a multi-channel functional electrical stimulation controller and a servo motor controller, and simultaneously controls the multi-channel electrical stimulation gel electrode and the servo motor of the driving mechanism to achieve coordinated control of the multi-channel electrical stimulation gel electrode and the servo motor.

[0014] Furthermore, the driving mechanism includes a rocker arm, a servo motor, an electromagnetic clutch, a magnetic encoder, a transverse linear slider mechanism, a linear guide rail and a motor clutch support frame;

[0015] The output shaft of the servo motor is connected to the electromagnetic clutch and the swing rod, wherein the swing rod is connected to the end of the servo motor output shaft, and is used to transmit the output torque of the servo motor to the test subject's leg, and the magnetic encoder is installed at the end of the servo motor output shaft to detect the rotation angle of the servo motor;

[0016] The servo motor and the electromagnetic clutch are fixed to the motor clutch support frame by bolts, and the motor clutch support frame is fixed to the transverse linear slider mechanism by bolts. The motor clutch support frame performs linear motion on the linear guide rail to align with the central plane of the rotation axis of the knee joint of the experimental subject to adapt to the experimental subjects with different leg lengths.

[0017] Further, the adjustment mechanism includes a force sensor, a longitudinal linear slider mechanism, a human-machine connection mechanism and a ball hinge;

[0018] The force sensor is connected to the end of the swing rod and is used to detect the human-machine contact force or torque between the swing rod and the subject's leg. The longitudinal linear slider mechanism is fixed to the force sensor and is used to compensate for the non-coincidence error between the servo motor output shaft and the subject's knee joint. One end of the human-machine connection mechanism is connected to the longitudinal linear slider mechanism through a ball hinge, and the other end of the human-machine connection mechanism is connected to the subject's leg through a strap.

[0019] Furthermore, after the electromagnetic clutch is powered on, it locks the output shaft of the servo motor at any angle, and a functional electrical stimulation muscle isometric contraction control experiment at any angle is carried out. When the electrical stimulation clutch is powered off, the output shaft of the servo motor rotates freely, and a knee joint dynamic motion hybrid control experiment is carried out.

[0020] Furthermore, the experimental platform controller, electrical stimulation gel electrode, pendulum arm, servo motor, electromagnetic clutch, magnetic encoder, transverse linear slider mechanism, linear guide rail, force sensor, longitudinal linear slider mechanism, human-machine connection mechanism and ball hinge are arranged symmetrically on the left and right sides, and the posture of the left and right knee joints of the experimental subjects are controlled at the same time.

[0021] Furthermore, the longitudinal linear slider mechanism includes a slide rail and a slider, which are vertically slidably connected to each other, wherein the slider is fixedly connected to one side of the ball hinge, and when the slider moves vertically up and down on the slide rail, the ball hinge is driven to move, and the ball hinge drives the human-machine connection mechanism to move.

[0022] Furthermore, the swing rod is an L-shaped structure as a whole, and includes a transverse rod and a longitudinal rod, the top end of the longitudinal rod is connected to the output shaft of the servo motor, and the bottom of the longitudinal rod is vertically connected to one end of the transverse rod through a set of bolt assemblies.

[0023] Furthermore, a group of adjustment holes are equidistantly opened on both sides of the rod surface of the transverse rod, and the tail threaded rod of the force sensor is inserted into the mounting hole in the transverse rod of the swing rod and fixedly connected to adjust the distance of the force sensor on the swing rod.

[0024] Furthermore, the drive mechanism mounting frame includes a group of support columns and a group of docking frames, the two ends of the docking frames are vertically connected to two adjacent support columns to form a main frame body, and a rib plate is installed between the bottom of each docking frame and the support column;

[0025] A motor clutch support frame of the driving mechanism is installed on the top of the main frame.

[0026] Furthermore, the human-machine connection mechanism is an arc-shaped structure as a whole, and the inwardly concave arc surface of the human-machine connection mechanism supports the calf of the tester.

[0027] Compared with the prior art, the present invention has the following effects:

[0028] 1. The rotation axis of the test joint of the present invention is adaptive. By adopting two sets of linear slider mechanisms, the output shaft of the servo motor and the rotation axis of the test knee joint are aligned, and the non-coincidence error between the motor output shaft and the knee joint rotation axis can be adaptively compensated, which effectively reduces the stress of the experimental device on the test joint and makes the joint movement smoother, thereby improving the safety and comfort of the experimental device.

[0029] 2. The motor output shaft of the present invention has a self-locking function, and the opening and locking of the rotational motion of the servo motor output shaft is realized through an electromagnetic clutch. Therefore, the hybrid control experimental platform proposed in the present invention not only supports the joint dynamic motion hybrid control experiment, but also supports the functional electrical stimulation muscle isometric contraction control experiment, thereby being able to comprehensively detect the dynamic / static control performance of the functional electrical stimulation and servo motor hybrid control algorithm.

[0030] 3. The experimental platform controller of the present invention integrates a multi-channel functional electrical stimulation controller and a servo motor controller, which can simultaneously control the multi-channel functional electrical stimulation and the servo motor, thereby realizing the coordinated control of the multi-channel functional electrical stimulator and the servo motor.

[0031] 4. The servo motor and electromagnetic clutch of the present invention are fixed to the motor clutch support frame by bolts, and the motor clutch support frame is fixed to the transverse linear slider mechanism by bolts. Therefore, the motor clutch support frame can perform linear motion on the linear guide rail and can be aligned with the center plane of the rotation axis of the knee joint of the experimental subject to adapt to the experimental subjects with different leg lengths.

[0032] 5. The output shaft of the servo motor of the present invention is connected to the electromagnetic clutch and the rocker arm. When the electromagnetic clutch is energized, the output shaft of the servo motor can be locked at any angle, so that functional electrical stimulation muscle isometric contraction control experiments at any angle can be carried out. When the electromagnetic clutch is de-energized, the output shaft of the servo motor can rotate freely, so that knee joint dynamic motion hybrid control experiments can be carried out. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the structure of the present invention;

[0034] Figure 2 yes Figure 1 A schematic diagram of the connection between the driving mechanism and the regulating mechanism;

[0035] Figure 3 yes Figure 1 A partial enlarged view of part A;

[0036] Figure 4 yes Figure 2 A partial enlarged view of part B in FIG.

[0037] Figure 5 yes Figure 3 A partial enlarged view of part C in FIG.

[0038] In the figure: 1. experimental platform bracket, 2. experimental platform controller, 3. electric stimulation gel electrode, 4. driving mechanism, 5. adjusting mechanism, 11. seat frame, 12. driving mechanism mounting frame, 41. rocker arm, 42. servo motor, 43. electromagnetic clutch, 44. magnetic encoder, 45. transverse linear slider mechanism, 46. linear guide rail, 47. motor clutch support frame, 51. force sensor, 52. longitudinal linear slider mechanism, 53. human-machine connection mechanism, 54. ball hinge. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0040] Specific implementation method 1: Combination Figure 1 and Figure 2The present embodiment is described. A multi-channel functional electrical stimulation and servo motor hybrid control experimental platform of the present embodiment includes an experimental platform support 1 for supporting an experimental subject to sit or stand, an experimental platform controller 2, an electrical stimulation gel electrode 3, a driving mechanism 4 and an adjusting mechanism 5;

[0041] The experimental platform bracket 1 includes a seat frame 11 and a drive mechanism mounting frame 12, the seat frame 11 is arranged between two drive mechanism mounting frames 12, a drive mechanism 4 is fixedly installed above the drive mechanism mounting frame 12, and the drive mechanism 4 is connected to the adjustment mechanism 5 through a rocker 41;

[0042] An experimental platform controller 2 is installed on the top plane of the driving mechanism mounting frame 12 on the experimental platform bracket 1. The experimental platform controller 2 is connected to the electrical stimulation gel electrode 3. The experimental platform controller 2 integrates a multi-channel functional electrical stimulation controller and a servo motor controller, and simultaneously controls the multi-channel electrical stimulation gel electrode 3 and the servo motor 42 of the driving mechanism 4, thereby realizing coordinated control of the multi-channel electrical stimulation gel electrode 4 and the servo motor 42.

[0043] The output shaft of the servo motor 42 is connected to the electromagnetic clutch 43 and the rocker 41. The electromagnetic clutch 43 can lock the output shaft of the servo motor 42 when it is powered on, and the output shaft of the servo motor 42 can rotate freely when the electromagnetic clutch 43 is powered off.

[0044] Specific implementation method 2: Combination Figure 2 and Figure 3 The present embodiment is described as a multi-channel functional electrical stimulation and servo motor hybrid control experimental platform, wherein the driving mechanism 4 includes a swing rod 41, a servo motor 42, an electromagnetic clutch 43, a magnetic encoder 44, a transverse linear slider mechanism 45, a linear guide rail 46 and a motor clutch support frame 47;

[0045] The output shaft of the servo motor 42 is connected to the electromagnetic clutch 43 and the swing rod 41, wherein the swing rod 41 is connected to the end of the output shaft of the servo motor 42, and is used to transmit the output torque of the servo motor 42 to the test subject's leg, and the magnetic encoder 44 is installed at the end of the output shaft of the servo motor 42 to detect the rotation angle of the servo motor 42;

[0046] The servo motor 42 and the electromagnetic clutch 43 are fixed to the motor clutch support frame 47 by bolts, and the motor clutch support frame 47 is fixed to the horizontal linear slider mechanism 45 by bolts. The motor clutch support frame 47 performs linear motion on the linear guide rail 46 to align with the central plane of the rotation axis of the knee joint of the experimental subject to adapt to the experimental subjects with different leg lengths.

[0047] The servo motor 42 and the electromagnetic clutch 43 are fixed to the transverse linear slide mechanism 45, and the transverse linear slide mechanism 7 is installed on the linear guide rail 46. The transverse linear slide mechanism 45 can be used to align the output shaft of the servo motor 42 with the center plane of the rotation axis of the knee joint of the experimental subject, thereby adapting to subjects with different leg lengths.

[0048] Specific implementation method three: Combination Figure 4 This embodiment is described as a multi-channel functional electrical stimulation and servo motor hybrid control experimental platform. The adjustment mechanism 5 includes a force sensor 51, a longitudinal linear slider mechanism 52, a human-machine connection mechanism 53, and a ball hinge 54;

[0049] The force sensor 51 is connected to the end of the swing rod 41, and is used to detect the human-machine contact force or torque between the swing rod 41 and the subject's leg. The longitudinal linear slider mechanism 52 is fixed to the force sensor 51, and is used to compensate for the non-coincidence error between the output shaft of the servo motor 4 and the subject's knee joint. One end of the human-machine connection mechanism 53 is connected to the longitudinal linear slider mechanism 52 through a ball hinge 54, and the other end is connected to the subject's leg through a strap.

[0050] Specific implementation method four: Combination Figure 5 The present embodiment is described as a multi-channel functional electrical stimulation and servo motor hybrid control experimental platform. After the electromagnetic clutch 43 is energized, the output shaft of the servo motor 42 can be locked at any angle to conduct functional electrical stimulation muscle isometric contraction control experiments at any angle. When the electrical stimulation clutch 43 is de-energized, the output shaft of the servo motor 42 can rotate freely to conduct knee joint dynamic motion hybrid control experiments.

[0051] Specific implementation method five: Combination Figure 5 The present embodiment is described as a multi-channel functional electrical stimulation and servo motor hybrid control experimental platform, wherein the experimental platform controller 2, electrical stimulation gel electrode 3, rocker arm 41, servo motor 42, electromagnetic clutch 43, magnetic encoder 44, transverse linear slider mechanism 45, linear guide rail 46, force sensor 5, longitudinal linear slider mechanism 52, human-machine connection mechanism 53 and ball hinge 54 are arranged symmetrically on the left and right sides, and can control the left and right knee joints of the experimental subject at the same time.

[0052] The longitudinal linear slider mechanism 52 is fixed to the force sensor 5 to compensate for the misalignment error between the output shaft of the servo motor 42 and the subject's knee joint. One end of the human-machine connection mechanism 53 is connected to the longitudinal linear slider mechanism 52 through a ball hinge 54, and the other end is connected to the subject's leg through a strap.

[0053] Specific implementation method six: Combination Figure 1 and Figure 2The present embodiment is described as a multi-channel functional electrical stimulation and servo motor hybrid control experimental platform. The swing rod 41 is an L-shaped structure as a whole, and the swing rod 41 includes a transverse rod and a longitudinal rod. The top end of the longitudinal rod is connected to the output shaft of the servo motor 42, and the bottom of the longitudinal rod is vertically connected to one end of the transverse rod through a group of bolt assemblies.

[0054] The longitudinal rod of the swing rod 4 is driven by a servo motor to swing, and the transverse rod of the swing rod 4 is used to connect the force sensor 51 .

[0055] Specific implementation method seven: Combination Figure 4 The present embodiment is described as a multi-channel functional electrical stimulation and servo motor hybrid control experimental platform, wherein the longitudinal linear slider mechanism 52 comprises a slide rail and a slider, wherein the slide rail and the slider are vertically slidably connected, wherein the slider is fixedly connected to one side of a ball hinge 54, and when the slider moves vertically up and down on the slide rail, the ball hinge 54 is driven to move, and the ball hinge 54 drives the human-machine connection mechanism 53 to move.

[0056] Specific implementation method eight: Combination Figure 1 and Figure 2 The present embodiment is described as a multi-channel functional electrical stimulation and servo motor hybrid control experimental platform. A group of adjustment holes are equidistantly opened on both sides of the rod surface of the transverse rod, and the force sensor 51 is installed in the adjustment hole of the transverse rod.

[0057] Specific implementation method nine: Combination Figure 4 The present embodiment is described as a multi-channel functional electrical stimulation and servo motor hybrid control experimental platform. The drive mechanism mounting frame 12 includes a group of support columns and a group of docking frames. The two ends of the docking frames are vertically connected to two adjacent support columns to form a main frame. A rib plate is installed between the bottom of each docking frame and the support column.

[0058] A motor clutch support frame 47 of the driving mechanism 4 is installed on the top of the main frame.

[0059] Specific implementation method ten: Combination Figure 1 —5 describes the present embodiment, which is a multi-channel functional electrical stimulation and servo motor hybrid control experimental platform. The human-machine connection mechanism 53 is an overall arc-shaped structure, and the inner concave arc surface of the human-machine connection mechanism 53 is symmetrically opened and closed with a strip hole structure. The rope is passed through the strip hole on the human-machine connection mechanism 53, and the legs of the subject are wrapped by the human-machine connection mechanism 53 and the rope, so that the calf of the subject is bound and supported by the human-machine connection mechanism 53.

[0060] Working principle:

[0061] The experimental platform controller 2 integrates a multi-channel functional electrical stimulation controller and a servo motor controller, which can simultaneously control the multi-channel functional electrical stimulation and the servo motor 42, and realize the coordinated control of the multi-channel functional electrical stimulator and the servo motor. The servo motor 42 and the electromagnetic clutch 43 are fixed to the motor clutch support frame 47 by bolts, and the motor clutch support frame 47 is fixed to the horizontal linear slider mechanism 45 by bolts, so that the motor clutch support frame 47 can perform linear motion on the linear guide rail 46 so as to align with the central plane of the rotation axis of the knee joint of the experimental subject to adapt to the experimental subjects with different leg lengths. The output shaft of the servo motor 42 is connected to the electromagnetic clutch 43 and the swing rod 41. When the electromagnetic clutch 43 is energized, the output shaft of the servo motor 42 can be locked at any angle, so that the functional electrical stimulation muscle isometric contraction control experiment at any angle can be carried out. When the electromagnetic clutch 51 is powered off, the output shaft of the servo motor 42 can rotate freely, so that the knee joint dynamic motion hybrid control experiment can be carried out.

[0062] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A multi-channel functional electrical stimulation and servo motor hybrid control experimental platform, characterized in that: It includes an experimental platform support (1) for supporting an experimental subject to sit or stand, an experimental platform controller (2), an electric stimulation gel electrode (3), a driving mechanism (4) and an adjusting mechanism (5); The experimental platform bracket (1) comprises a seat frame (11) and a drive mechanism mounting frame (12), wherein the seat frame (11) is arranged between two drive mechanism mounting frames (12), a drive mechanism (4) is fixedly mounted above the drive mechanism mounting frame (12), and the drive mechanism (4) is connected to the adjustment mechanism (5) via a rocker rod (41); An experimental platform controller (2) is installed on the top plane of the driving mechanism mounting frame (12) on the experimental platform bracket (1), and the experimental platform controller (2) is connected to the electrical stimulation gel electrode (3). The experimental platform controller (2) integrates a multi-channel functional electrical stimulation controller and a servo motor controller, and simultaneously controls the multi-channel electrical stimulation gel electrode (3) and the servo motor (42) of the driving mechanism (4), thereby realizing coordinated control of the multi-channel electrical stimulation gel electrode (4) and the servo motor (42).

2. A multi-channel functional electrical stimulation and servo motor hybrid control experimental platform according to claim 1, characterized in that: The driving mechanism (4) comprises a swing rod (41), a servo motor (42), an electromagnetic clutch (43), a magnetic encoder (44), a transverse linear slider mechanism (45), a linear guide rail (46) and a motor clutch support frame (47); The output shaft of the servo motor (42) is connected to the electromagnetic clutch (43) and the swing rod (41), wherein the swing rod (41) is connected to the end of the output shaft of the servo motor (42) and is used to transmit the output torque of the servo motor (42) to the leg of the subject, and the magnetic encoder (44) is installed at the end of the output shaft of the servo motor (42) to detect the rotation angle of the servo motor (42); The servo motor (42) and the electromagnetic clutch (43) are fixed to the motor clutch support frame (47) by bolts, and the motor clutch support frame (47) is fixed to the transverse linear slider mechanism (45) by bolts. The motor clutch support frame (47) performs linear motion on the linear guide rail (46) so as to align with the central plane of the rotation axis of the knee joint of the experimental subject, so as to adapt to the experimental subjects with different leg lengths.

3. A multi-channel functional electrical stimulation and servo motor hybrid control experimental platform according to claim 1, characterized in that: The adjustment mechanism (5) comprises a force sensor (51), a longitudinal linear slider mechanism (52), a human-machine connection mechanism (53) and a ball hinge (54); The force sensor (51) is connected to the end of the swing rod (41) and is used to detect the human-machine contact force or torque between the swing rod (41) and the subject's leg. The longitudinal linear slider mechanism (52) is fixed to the force sensor (51) and is used to compensate for the misalignment error between the output shaft of the servo motor 4 and the subject's knee joint. One end of the human-machine connection mechanism (53) is connected to the longitudinal linear slider mechanism (52) through a ball hinge (54), and the other end of the human-machine connection mechanism (53) is connected to the subject's leg through a strap.

4. A multi-channel functional electrical stimulation and servo motor hybrid control experimental platform according to claim 2, characterized in that: When the electromagnetic clutch (43) is powered on, it locks the output shaft of the servo motor (42) at any angle, and a functional electrical stimulation muscle isometric contraction control experiment at any angle is carried out. When the electrical stimulation clutch (43) is powered off, the output shaft of the servo motor (42) rotates freely, and a knee joint dynamic motion hybrid control experiment is carried out.

5. A multi-channel functional electrical stimulation and servo motor hybrid control experimental platform according to claim 4, characterized in that: The experimental platform controller (2), the electrical stimulation gel electrode (3), the swing arm (41), the servo motor (42), the electromagnetic clutch (43), the magnetic encoder (44), the transverse linear slider mechanism (45), the linear guide rail (46), the force sensor (5), the longitudinal linear slider mechanism (52), the human-machine connection mechanism (53) and the ball hinge (54) are arranged symmetrically on the left and right sides, and the postures of the left and right knee joints of the experimental subject are controlled simultaneously.

6. A multi-channel functional electrical stimulation and servo motor hybrid control experimental platform according to claim 5, characterized in that: The longitudinal linear slider mechanism (52) comprises a slide rail and a slider, the slide rail and the slider are vertically slidably connected, wherein the slider is fixedly connected to one side of a ball hinge (54), and when the slider moves vertically up and down on the slide rail, the ball hinge (54) is driven to move, so that the ball hinge (54) drives the human-machine connection mechanism (53) to move.

7. A multi-channel functional electrical stimulation and servo motor hybrid control experimental platform according to claim 2, characterized in that: The swing rod (41) is an L-shaped structure as a whole, and comprises a transverse rod and a longitudinal rod, the top end of the longitudinal rod is connected to the output shaft of the servo motor (42), and the bottom of the longitudinal rod is vertically connected to one end of the transverse rod through a set of bolt assemblies.

8. A multi-channel functional electrical stimulation and servo motor hybrid control experimental platform according to claim 7, characterized in that: A group of adjustment holes are equidistantly provided on both sides of the rod surface of the transverse rod, and the threaded rod at the tail of the force sensor (51) is inserted into the mounting hole in the transverse rod of the swing rod (41) for fixed connection, so as to adjust the distance of the force sensor (51) on the swing rod (41).

9. The multi-channel functional electrical stimulation and servo motor hybrid control experimental platform according to claim 1, characterized in that: The drive mechanism mounting frame (12) comprises a group of support columns and a group of docking frames, the two ends of the docking frames are vertically connected to two adjacent support columns to form a main frame body, and a rib plate is installed between the bottom of each docking frame and the support column; A motor clutch support frame (47) of the driving mechanism (4) is installed on the top of the main frame.

10. The multi-channel functional electrical stimulation and servo motor hybrid control experimental platform according to claim 3, characterized in that: The human-machine connection mechanism (53) is an arc-shaped structure as a whole, and the inwardly concave arc surface of the human-machine connection mechanism (53) supports the lower leg of the tester.

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