Lower limb rehabilitation exoskeleton device with self-calibration of joints

Abstract

The present invention discloses a lower limb rehabilitation exoskeleton device with self-calibration of joints, comprising a hip joint, a thigh component, a knee joint, a calf component, an ankle joint and a foot support plate, wherein the thigh component is retractably provided with a limb extension portion at one end relative to the knee joint, and is connected to the knee joint through the limb extension portion, a magnetic locking module is fixed on the side wall of the thigh component, a groove is dug under one side of the limb extension portion, and an iron patch is fixed on the groove by bolts. The lower limb rehabilitation exoskeleton device with self-calibration of joints of the present invention can effectively achieve the effect of locking the limb extension portion through the combination of the magnetic locking module and the iron patch, thus solving the problem that the limb extension portion can only be manually locked and pre-adjusted in length in the disclosed patent, and cannot be adjusted during exercise, compared with the methods in the prior art.

Description

Technical Field

[0001] The present invention relates to an exoskeleton device, and more particularly to a lower limb rehabilitation exoskeleton device with self-calibration of joints. Background Art

[0002] Rehabilitation exoskeletons help people with limb movement disorders recover their motor functions by providing auxiliary support and movement assistance to patients. Lower limb exoskeletons serve patients' lower limb movement rehabilitation, and the load they bear is much greater than that of upper limbs. Rigid connecting rod transmission is currently the limb transmission method commonly used by exoskeletons, which has high control accuracy and sufficiently large driving torque. However, during the process of movement rehabilitation, different patients show different physiological movement trajectories at different stages of the gait cycle. If the movement trajectory of the exoskeleton does not conform to the actual physiological movement trajectory of the human body, human-machine confrontation will occur, which will seriously affect the wearing comfort and even cause secondary damage. In addition, the human limb bones and articular cartilage have a certain toughness, which plays an impact buffering role on the human body during exercise. Moreover, different people have different flexibility, and the required matching flexible buffering force is also different. Only when the rigidity and flexibility of the connecting rod conform to the flexibility of the human body itself, the wearing comfort and functional matching of the exoskeleton can be guaranteed.

[0003] At present, the length of the exoskeleton limb connecting rod is mostly adjusted manually with manual locking, or electrically adjusted with manual locking. The length is pre-adjusted during the wearing process, and the length of the exoskeleton limb connecting rod is kept fixed during the movement. However, the rotation of the human body's joints is not centered, and the length of the human limbs in the extended state is longer than that in the flexed state. The human joints simulated by the exoskeleton are precisely centered rotations centered around the motor shaft. This causes the exoskeleton to be unable to adapt to the length changes of the human limbs when the person is wearing the exoskeleton and exercising, causing confrontation. In addition, existing solutions, such as the solution of electrically adjusting the limb length and manually locking, often have large errors in pre-adjusting the exoskeleton limb connecting rods, and can only be roughly estimated and aligned. Even if you feel uncomfortable wearing during exercise, you cannot make corrections and fine-tuning. At the same time, in order to ensure that the exoskeleton has sufficient strength, the connecting rods are mostly made of very rigid materials such as aluminum alloy, and only springs are set at the joints to play a buffering role. This is also the key factor that it is difficult to improve the wearing comfort and movement matching of exoskeleton equipment. In summary, if the exoskeleton limb links cannot be adjusted and calibrated dynamically, quickly, reliably, and adaptively, on the one hand, it cannot meet the actual state of the person during exercise and affect the sports adaptability, and on the other hand, it is difficult to meet the personalized needs of people of different heights. In addition, the existing exoskeleton buffer design is difficult to meet the flexibility requirements of the human body structure.

[0004] The invention patent with application number 202311268427.5 discloses a deformable exoskeleton device, in which the thigh and calf are driven by a motor screw, so that the length of the thigh and calf can be adjusted. However, it does not adopt a locking device for the extension part, and all forces during movement act on the screw nut, which reduces reliability and is prone to damage to transmission components during long-term use.

[0005] The invention with application number 201921676730.8 discloses an automatic length adjustment structure for the leg joints of a lower limb power-assisted exoskeleton. It uses an automatic length adjustment motor to drive a lead screw through a transmission mechanism, thereby driving the lead screw slider to move up and down. It can be adjusted to the corresponding position according to the length given by the controller. At the same time, a locking buckle is used to lock the inner and outer leg tubes. The disadvantage is that the locking buckle can only be used manually, and only the pre-lengthening of the exoskeleton can be achieved. Summary of the invention

[0006] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a self-calibrated rigid-flexible lower limb rehabilitation exoskeleton device and embodied adjustment method with joint self-calibration, which has the advantages of dynamic length adjustment, automatic locking, rigid-flexible integration of limb links, and variable stiffness adjustment, and can realize the function of adaptive calibration of the exoskeleton according to individual differences during exercise. It senses the angle of human joints and continuously calibrates the length of the exoskeleton link in the early stage of exercise to improve the adaptability of the exoskeleton. The rigid-flexible integrated link can well simulate the elasticity and deformation capacity of human joint cartilage, and the stiffness is adjustable to adapt to the differences in flexibility of different people. It solves the problem that the disclosed patent can only be locked manually and pre-adjusted, and the length cannot be adjusted during exercise, as well as the problem of insufficient flexibility of the connecting rod transmission.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a joint self-calibration lower limb rehabilitation exoskeleton device, comprising a hip joint, a thigh component, a knee joint, a calf component, an ankle joint and a foot support plate, wherein the hip joint and the knee joint are respectively connected to the two ends of the thigh component, one end of the calf component is connected to the knee joint, and the other end is connected to the ankle joint, and the foot support plate is installed on the ankle joint, characterized in that: the thigh component is telescopically provided with a limb extension part relative to one end of the knee joint, and is connected to the knee joint through the limb extension part, a magnetic locking module is fixed on the side wall of the thigh component, a groove is dug under one side of the limb extension part, and an iron patch is fixed on the groove by bolts, so that after the limb extension part is retracted and extended into place, the magnetic locking module generates magnetic force to adsorb the iron patch to achieve telescopic locking of the limb extension part.

[0008] As a further improvement of the present invention, the thigh assembly includes a limb shell and a thigh cover plate, one side of the limb shell is provided with a receiving groove that runs through both ends of the limb shell, and the thigh cover plate is fixed to the notch of the receiving groove by bolts, so that the thigh assembly forms a hollow prismatic structure, the limb extension part is slidably arranged in the prismatic structure, and a length adjustment motor is installed on the hip joint, and the rotating shaft of the length adjustment motor is connected to a coupling, and a screw rod is coaxially fixed to the coupling, and a screw nut is fixed to the end of the limb extension part, and the screw rod passes through the screw nut and extends into the limb extension part.

[0009] As a further improvement of the present invention, the magnetic locking module includes an electromagnet holder and an electromagnet, the electromagnet holder is fixedly mounted on the thigh cover plate, and the electromagnet is mounted on the electromagnet holder and adhered to the iron patch.

[0010] As a further improvement of the present invention, an angle sensor is also included, and an upper wing plate and a lower wing plate are connected to the angle sensor. The side edges of the upper wing plate and the lower wing plate are bent toward one side and fixed to the thigh and calf of the patient respectively.

[0011] As a further improvement of the present invention, a hip joint connector is connected to the hip joint, a knee joint connector is connected between the knee joint and the limb extension part, an ankle joint connector is connected between the calf component and the ankle joint, the hip joint is connected to the external waist fixing component through the hip joint connector, the knee joint is connected to the limb extension part through the knee joint connector, the ankle joint is connected to the calf component through the ankle joint connector, and flexible parts are provided on the hip joint connector, the knee joint connector and the ankle joint connector.

[0012] As a further improvement of the present invention, the flexible portion is composed of a plurality of long grooves spaced apart from each other and opened on the hip joint connector, the knee joint connector and the ankle joint connector, and two adjacent long grooves are vertically staggered so that the area between the two long grooves forms an S-shaped elastic strip.

[0013] As a further improvement of the present invention, a variable stiffness component is provided on the flexible part of the knee joint connector, and the variable stiffness component includes a plurality of electric push rods and a plurality of H-shaped structural blocks, the bodies of the plurality of electric push rods are installed at a position between two adjacent long grooves of the S-shaped elastic strip, and the telescopic rods of two adjacent electric push rods are in opposite directions, and the plurality of H-shaped structural blocks are installed at a position at a corner of the S-shaped elastic strip, and a through hole is opened on the H-shaped structural block, and the telescopic rod of the electric push rod can be inserted into or pulled out of the through hole.

[0014] Another aspect of the present invention provides an embodied adjustment method, comprising the following steps:

[0015] Step 1: The subject wears the exoskeleton device in a sitting position and initially adjusts the length of the thigh component and the calf component to a suitable position. The exoskeleton then drives the subject to stand up, and the upright state of the subject and the exoskeleton is marked as the initial state.

[0016] Step 2: The subject starts the exercise slowly and records the hip joint angle as , , collect the angles of the subjects' thighs and calves , collect the angles of the exoskeleton thigh and calf components , and then compare and Size, if , shorten the length of the exoskeleton thigh component and the calf component to ,if , and then extend the exoskeleton thigh component and calf component to ;

[0017] Step 3, storing the adjusted lengths of the exoskeleton thigh component and calf component and the hip joint angle into a database;

[0018] Step 4: , to determine whether the hip joint rotation angle reaches , is the sampling interval angle;

[0019] Step 5: If the hip rotation angle does not reach , it is judged that the stride cycle has not been reached, and steps 3 to 4 are repeated. If the hip joint rotation angle reaches , it is determined that the stride cycle has been reached, and further whether the data volume has reached the sampling preset value. If it has not reached the sampling preset value, repeat steps 2 to 4 to expand the database. If it has reached the sampling preset value, it is further determined whether the training preset value has been reached. If it has not reached the training preset value, the sampling time interval is adjusted to , and continue to repeat steps 2 to 5;

[0020] Step 6: If the training preset value is reached, the database is sorted out with a sampling interval of The data is the training library, with a sampling interval of The data is the verification library;

[0021] Step 7: Based on the training library and the validation library data, the deep learning method is used to train the gait curve parameters;

[0022] Step eight, determine whether the fitting accuracy meets the preset requirements. If not, adjust the database data volume training preset value and repeat steps five to eight. If it meets the preset requirements, output the gait curve parameters.

[0023] Beneficial effects of the present invention:

[0024] The length adjustment drive module consists of a length adjustment motor, a coupling, a lead screw, a lead screw nut, a limb extension part, and a limb shell. The limb extension part and the limb shell are made of aluminum square tubes with internal and external clearances. This reduces weight, reduces processing, and avoids adding a guide rail to increase the volume.

[0025] The hip joint and the knee joint are connected to the leg assembly by a joint motor, and the connecting part is extended as a cover part of the leg assembly to enhance the connection stiffness.

[0026] The magnetic locking module consists of an electromagnet, an electromagnet holder, and an iron patch. The limb extension and the limb housing can be flexibly locked and released through the power switch control. This reduces the impact on the lead screw and motor during movement and improves reliability.

[0027] The length adjustment drive module and the magnetic locking module can cooperate to realize the dynamic and automatic length adjustment and locking of the exoskeleton limbs, thus realizing the adjustment of the limb length during movement. With the cooperation of the self-calibration control method, the length of the exoskeleton link can be dynamically calibrated according to the posture of the person during movement.

[0028] The self-calibration control method proposes a method to calculate the joint angle and the length of the connecting rod based on the angle between the upper and lower legs of the human body and the upper and lower legs of the exoskeleton. And by integrating the deep learning algorithm, the gait curve parameters are continuously calibrated, so that the exoskeleton can continuously adapt to the human body during movement.

[0029] The rigid-flexible joint link kit achieves rebound by alternately slotting the metal connector to form an S-shaped loop, imitating the toughness of human bones. Different rebound forces and rebound ranges can be easily achieved by controlling the width and spacing of the slots, which can meet the personalized bone characteristics of different patients.

[0030] The variable stiffness adjustment component is combined with the rigid-flexible integrated connecting rod kit. By arranging an electric push rod at each layer of the S-shaped rebound structure, the locking and release of each layer of the rebound structure can be controlled separately, thereby realizing variable stiffness adjustment of the connecting part. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of a lower limb rehabilitation exoskeleton structure with self-calibration of joints;

[0032] Figure 2 Cutaway view of the drive module for adjusting the length of the lower limb exoskeleton;

[0033] Figure 3 Provide a technology roadmap for self-calibration control methods;

[0034] Figure 4 Schematic diagram of joint angles for the self-calibration control method;

[0035] Figure 5 This is the logic diagram of the force feedback control module;

[0036] Figure 6 It is a schematic diagram of the leg assembly structure;

[0037] Figure 7 Schematic diagram of the thigh assembly assembly;

[0038] Figure 8 This is a schematic diagram of a rigid-flexible joint connecting rod kit;

[0039] Fig. 9 This is a schematic diagram of a patient's limb angle measurement mechanism;

[0040] Fig.10 It is a schematic diagram of the coordination between the joint angle measurement mechanism, the exoskeleton and the patient's limbs;

[0041] Fig.11 The S-shaped flexible rebound structure on the extension part connecting the cover plate;

[0042] Fig.12 The invention provides a structure for a variable stiffness adjustment component. DETAILED DESCRIPTION

[0043] The present invention will be further described below in detail with reference to the embodiments shown in the accompanying drawings.

[0044] Reference Figures 1 to 12As shown, a joint self-calibration lower limb rehabilitation exoskeleton device of the present embodiment includes a hip joint 1, a thigh component 2, a knee joint 4, a calf component 15, an ankle joint 5 and a foot support plate 6, the hip joint 1 and the knee joint 4 are respectively connected to the two ends of the thigh component 2, one end of the calf component 15 is connected to the knee joint 4, and the other end is connected to the ankle joint 5, and the foot support plate 6 is arranged on the ankle joint 5, characterized in that: a limb extension part 3 is retractably provided at one end of the thigh component 2 relative to the knee joint 4, and is connected to the knee joint 4 through the limb extension part 3, a magnetic locking module 7 is fixed on the side wall of the thigh component 2, a groove is dug under one side of the limb extension part 3, and an iron patch 203 is fixed on the groove by bolts, so that after the limb extension part 3 is retracted into place, it can be locked by magnetic locking. Module 7 generates magnetic force to attract the iron patch 203 to achieve telescopic locking of the limb extension part 3. In this embodiment, the hip joint 1 is connected to the thigh component 2 by a joint motor, and similarly, the knee joint 4 is connected to the thigh component 2 and the calf component 15 by a joint motor. The ankle joint 5 has no power source and rotates passively. During the calibration process, the length adjustment of the thigh component 2 is mainly achieved through the combined structure of the limb extension part 3, the iron patch 203 and the magnetic locking module 7, so as to achieve the effect of self-calibration. Among them, due to the action of the magnetic locking module 7, the adjusted limb extension part 3 can be positioned, and the main load-bearing force is the suction force between the magnetic locking module 7 and the iron patch 203. This can effectively increase the service life of the overall device and can achieve electric stepless adjustment.

[0045] The following is a further description of each of the above components:

[0046] In this embodiment, the thigh component 2 includes a limb shell 8 and a thigh cover plate 9. A receiving groove is opened on one side of the limb shell 8 and passes through both ends of the limb shell 8. The thigh cover plate 9 is fixed to the notch of the receiving groove by bolts, so that the thigh component 2 forms a hollow prismatic structure. The limb extension part 3 is slidably arranged in the prismatic structure. An adjustable motor 101 is installed on the hip joint 1. The rotating shaft of the adjustable motor 101 is connected to a coupling 102. A screw rod 103 is coaxially fixed to the coupling 102. A screw nut 104 is fixed to the end of the limb extension part 3. The limb extension part 3 is composed of a limb extension part shell 105 of an aluminum square tube. The screw rod 103 passes through the screw nut 104 and then extends into the limb extension part 3. In this way, when adjusting the limb extension, the limb extension part 3 can be adjusted. During the process of lengthening the portion 3, the effect of follow-up adjustment can be achieved by utilizing the lengthening motor 101 in cooperation with the magnetic locking module 7. The corresponding magnetic locking module 7 adopts a combination of an electromagnet holder 201 and an electromagnet 202. The electromagnet holder 201 is fixedly mounted on the thigh cover plate 9, and the electromagnet 202 is mounted on the electromagnet holder 201 and affixed to the iron patch 203. In this embodiment, in order to achieve the effect of self-calibration, a corresponding angle sensor 402 is arranged at the knee joint of the human body. Specifically, an upper wing plate 401 and a lower wing plate 403 are connected to the angle sensor 402, and the sides of the upper wing plate 401 and the lower wing plate 403 are bent toward one side and fixed to the thigh and calf of the human body, respectively. Fig.10 As shown, the angles of the joints of the lower limbs of the human body can be effectively collected. By using the arrangement of the above-mentioned components, a self-calibration effect on the joints can be achieved, wherein the structure of the calf component 15 is the same as that of the thigh component 2. In this embodiment, the magnetic locking module 7 adopts a combination of aluminum components and iron patches 203 to reduce weight. The surface of the iron patch 203 is sandblasted, shot blasted or passivated to increase the surface roughness to increase the friction of the magnetic locking and to prevent rust. At the same time, the magnetic locking module 7 can be made of integral cast iron to enhance the magnetic attraction. In addition, the limb extension part 3 and the limb shell 8 are made of aluminum square tubes, and the internal and external gaps are matched to form a guiding effect. In the magnetic locking module 7, the electromagnet 202 passes through the limb shell 8 and contacts the iron patch 203 on the limb extension part 3, and can adsorb the limb extension part 3 when powered.

[0047] In addition, in this embodiment, a hip joint connector 301 is connected to the hip joint 1, a knee joint connector 302 is connected between the knee joint 4 and the limb extension part 3, and an ankle joint connector 303 is connected between the calf component 15 and the ankle joint 5. The hip joint 1 is connected to the external waist fixing component through the hip joint connector 301, the knee joint 4 is connected to the limb extension part 3 through the knee joint connector 302, and the ankle joint 5 is connected to the calf component 15 through the ankle joint connector 303. Each joint connector 303 is provided with a flexible part, so as to achieve a certain degree of flexibility in the connection between each component and increase the bending performance of each component. The corresponding flexible part of this embodiment is composed of a plurality of long grooves spaced apart from each other and opened on the hip joint connector 301, the knee joint connector 302 and the ankle joint connector 303. The two adjacent long grooves are vertically staggered so that the part between the two long grooves forms an S-shaped elastic strip. The width, length and number of the long grooves can be determined according to the material properties of the connector and the force applied to the joint. The wider the width, the longer the length and the more the number, the greater the flexibility of the flexible part. In order to further adapt to the movement of the human leg, the present embodiment has a micro electric push rod 13 fixed between the S-shaped flexible rebound structure. The h-shaped structure 11 is processed integrally with the S-shaped flexible rebound structure. The holes processed on the h-shaped structure 11 cooperate with the telescopic rod of the electric push rod 13 to realize the locking and release of each layer of the rebound structure. By setting electric push rods at each layer of the S-shaped rebound structure, the locking and release of each layer of the rebound structure can be controlled separately, thereby realizing variable stiffness adjustment of the connector. This adjustment method is purely electric and can be automatically adjusted in an upright state before the exoskeleton is worn or during exercise. In this way, the connectors of the hip joint 1 and the knee joint 4 are physically limited by the structural shape to prevent excessive flexion and damage to the human body.

[0048] Therefore, based on the above-mentioned device, the present embodiment provides the following embodied adjustment method, including the following steps:

[0049] Step 1: The subject wears the exoskeleton device in a sitting position, and preliminarily adjusts the length of the thigh component 2 and the calf component 15 to a suitable position. Then the exoskeleton drives the subject to stand up, and the upright state of the subject and the exoskeleton is marked as the initial state;

[0050] Step 2: The subject starts the exercise slowly and records the hip joint angle as , , collect the angles of the subjects' thighs and calves , collect the angles of the exoskeleton thigh component 2 and the calf component 15 , and then compare and Size, if , shorten the length of the exoskeleton thigh component 2 and the calf component 15 to ,if , successively extend the length of the exoskeleton thigh component 2 and the calf component 15 to ;

[0051] Step 3, storing the adjusted lengths of the exoskeleton thigh component 2 and the calf component 15 and the hip joint angles in a database;

[0052] Step 4: , to determine whether the hip joint rotation angle reaches , is the sampling interval angle;

[0053] Step 5: If the hip rotation angle does not reach , it is judged that the stride cycle has not been reached, and steps 3 to 4 are repeated. If the hip joint rotation angle reaches , it is determined that the stride cycle has been reached, and further whether the data volume has reached the sampling preset value. If it has not reached the sampling preset value, repeat steps 2 to 4 to expand the database. If it has reached the sampling preset value, it is further determined whether the training preset value has been reached. If it has not reached the training preset value, the sampling time interval is adjusted to , and continue to repeat steps 2 to 5;

[0054] Step 6: If the training preset value is reached, the database is sorted out with a sampling interval of The data is the training library, with a sampling interval of The data is the verification library;

[0055] Step 7: Based on the training library and the validation library data, the deep learning method is used to train the gait curve parameters;

[0056] Step eight, determine whether the fitting accuracy meets the preset requirements. If it does not meet the preset requirements, adjust the database data volume training preset value, and repeat steps five to eight. If it meets the preset requirements, output the gait curve parameters. In the above adjustment method, the subject stands on the sole support plate 6, fixed with a soft bag, and controls the length adjustment motor 101 to adjust the length of the thigh component 2 and / or the calf component 15, so that the motor center of the knee joint 4 and the hip joint 1 is roughly consistent with the hip and knee of the subject. In the slow movement of the subject, the movement amplitude is larger, and the movement is as far as possible. Carry out gait training according to the logic proposed by the self-calibration control method. At the same time, in the control program in the controller, the length adjustment drive module and the magnetic locking module 7 are mutually exclusive. When the length adjustment drive module is in motion, the magnetic locking module 7 is released; when the length adjustment drive module stops, the magnetic locking module 7 starts locking. The two movements are coordinated alternately, and after the adjustment is completed, when the subject feels that the resistance with the exoskeleton mechanism has decreased, he or she can enter the normal movement stage. As the database expands and the deep learning algorithm continuously self-calibrates the gait curve parameters, the degree of integration between the subject and the exoskeleton will continue to improve, effectively completing the self-calibration operation.

[0057] Based on the above adjustment method, the controller in this embodiment has the following control logic:

[0058] Force sensors, including but not limited to digital force sensors, are installed at the ankle joints of the lower limb exoskeleton. During training, the subject's thighs and calves are tied to the lower limb exoskeleton via soft straps, and the relative movement margin between them will cause errors in the force sensors. The ankle joints of the lower limb exoskeleton are close to the end of the movement of the lower limbs of the human body, and the range of motion is large. Installing the force sensor at this position can effectively reduce the error of the force sensor.

[0059] The hip joint 1 and knee joint 4 of the lower limb exoskeleton adopt an integrated servo motor, which has a built-in encoder and driver, and can provide real-time feedback of angle, speed and other data. The single-chip microcomputer and the lower limb exoskeleton sensor communicate through the CAN bus. The angle of the lower limb joint of the human body is obtained by the angle sensor 402 placed at the hip joint 1 and the knee joint 4. The angle of the exoskeleton joint 1 and the human-machine interaction force data are measured by the motor built-in encoder and the force sensor installed at the ankle joint 5 and fed back to the single-chip microcomputer. The single-chip microcomputer processes the corresponding angle data and force feedback data in real time, and sends the data to the host computer for analysis and visualization processing by serial communication. The host computer integrates functions such as data analysis, data storage, interface display and exoskeleton control. The angle and force feedback data are calculated by the algorithm to obtain the control instructions of the lower limb exoskeleton. The module controller receives the host computer instructions and drives the corresponding module to complete the action.

[0060] Before the subject wears the exoskeleton, the angle sensor 402 first measures the human joint angle and sends the data to the single-chip microcomputer, and the servo motor sends the exoskeleton joint angle data to the single-chip microcomputer. The host computer calculates the difference between the two sets of data and analyzes it. If the two sets of data are not within the allowable range of the difference, a magnet release instruction is sent to the magnetic locking controller to release the magnet of the magnetic locking module 7. Subsequently, the host computer sends an adjustment instruction to the length adjustment motor controller according to the angle difference to drive the exoskeleton leg connecting rod to extend and retract until it meets the allowable range of the difference with the human leg length. At this time, the calibration adjustment of the lower limb exoskeleton connecting rod and the human leg length is completed, and the host computer sends a magnet attraction instruction to make the magnet absorb the exoskeleton limb extension part to achieve the purpose of locking the extension part. The magnetic locking module 7 and the length adjustment drive module are a pair of mutually exclusive modules. When the magnet is attracted, the length adjustment motor 101 stops moving, and when the magnet is released, the length adjustment motor 101 starts moving.

[0061] After the subject wears the exoskeleton, the host computer sends gait movement instructions to the servo motor to control the lower limb exoskeleton to assist the subject in gait rehabilitation training. During the process, the leg length adjustment actions of the magnetic locking module 7 and the length adjustment drive module are repeated until the dynamic calibration requirements are met. At the same time, the force sensor at the ankle joint 5 sends the interactive force data to the host computer through the single-chip microcomputer for analysis and processing, and sends instructions to the variable stiffness controller according to the results to drive the variable stiffness module to adjust the stiffness of the lower limb exoskeleton, that is, to control the number of mutual coordination between the telescopic rods of the multiple electric push rods 13 and the multiple H-shaped structural blocks 14.

[0062] In summary, the joint self-calibration lower limb rehabilitation exoskeleton device and embodied adjustment method of this embodiment, the connection part of the lengthening part structure and the joint motor is extended to the cover plate of the leg assembly, which enhances the connection stiffness. The extension part and the limb shell are made of aluminum square tubes, and the internal and external clearances are matched to play a guiding role. The magnetic locking module 7 can flexibly lock and release the limb extension part and the limb shell through the power switch control. The self-calibration method calculates the joint angle and the connecting rod length according to the angle between the upper and lower legs of the human body and the angle between the upper and lower legs of the exoskeleton, and continuously calibrates the gait curve parameters by integrating the deep learning algorithm, so that the exoskeleton can continuously adapt to the human body during the movement, and realizes rebound by alternately slotting the metal connector to form an S-shaped loop to imitate the toughness of the human skeleton. And it can be convenient to achieve different rebound forces and rebound intervals by controlling the width and spacing of the grooves, which can meet the personalized bone characteristics of different patients. The electric push rod 13 is set on each layer of the S-shaped rebound structure, and the locking and release of each layer of the rebound structure can be controlled separately, thereby realizing the variable stiffness adjustment of the connector.

[0063] The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A joint self-calibrating lower limb rehabilitation exoskeleton device, comprising a hip joint (1), a thigh component (2), a knee joint (4), a calf component (15), an ankle joint (5) and a foot support plate (6), wherein the hip joint (1) and the knee joint (4) are respectively connected to the two ends of the thigh component (2), one end of the calf component (15) is connected to the knee joint (4), and the other end is connected to the ankle joint (5), and the foot support plate (6) is installed on the ankle joint (5), characterized in that: The thigh component (2) is provided with a limb extension part (3) which is retractable at one end relative to the knee joint (4), and is connected to the knee joint (4) via the limb extension part (3). A magnetic locking module (7) is fixed to the side wall of the thigh component (2). A groove is dug under one side of the limb extension part (3), and an iron patch (203) is fixed to the groove via bolts, so that after the limb extension part (3) is retracted into place, the magnetic locking module (7) generates magnetic force to attract the iron patch (203), thereby achieving locking of the limb extension part (3). Telescopic locking; the hip joint (1) is connected to a hip joint connector (301), the knee joint (4) and the limb extension portion (3) are connected to a knee joint connector (302), the calf component (15) and the ankle joint (5) are connected to an ankle joint connector (303), the hip joint (1) is connected to an external waist fixing component via the hip joint connector (301), the knee joint (4) is connected to the limb extension portion (3) via the knee joint connector (302), and the ankle joint (5) is connected to the limb extension portion (3) via the ankle joint connector (3 03) is connected to the calf component (15), and the hip joint connector (301), the knee joint connector (302) and the ankle joint connector (303) are all provided with a flexible portion; the flexible portion is composed of a plurality of long grooves spaced apart from each other and arranged on the hip joint connector (301), the knee joint connector (302) and the ankle joint connector (303), and two adjacent long grooves are vertically staggered so that the area between the two long grooves forms an S-shaped elastic strip; the flexible portion of the knee joint connector (302) is provided with a variable elastic strip. A variable stiffness component, the variable stiffness component comprising a plurality of electric push rods (13) and a plurality of H-shaped structural blocks (14), the bodies of the plurality of electric push rods (13) being mounted between two adjacent long slots of an S-shaped elastic strip, and the telescopic rods of two adjacent electric push rods (13) being in opposite directions, the plurality of H-shaped structural blocks (14) being mounted at the corners of the S-shaped elastic strip, the H-shaped structural blocks (14) being provided with through holes, and the telescopic rods of the electric push rods (13) being capable of being inserted into or pulled out of the through holes.

2. The joint self-calibrating lower limb rehabilitation exoskeleton device according to claim 1, characterized in that: The thigh component (2) comprises a limb shell (8) and a thigh cover plate (9); a receiving groove penetrating through two ends of the limb shell (8) is provided on one side of the limb shell (8); the thigh cover plate (9) is fixed to the notch of the receiving groove by means of bolts, so that the thigh component (2) forms a hollow prism-shaped structure; the limb extension part (3) is slidably arranged in the prism-shaped structure; a length adjustment motor (101) is installed on the hip joint (1); a coupling (102) is connected to the rotating shaft of the length adjustment motor (101); a screw rod (103) is coaxially fixed to the coupling (102); a screw nut (104) is fixed to the end of the limb extension part (3); the screw rod (103) passes through the screw nut (104) and then extends into the limb extension part (3).

3. The joint self-calibrating lower limb rehabilitation exoskeleton device according to claim 2, characterized in that: The magnetic locking module (7) comprises an electromagnet holder (201) and an electromagnet (202); the electromagnet holder (201) is fixedly mounted on the thigh cover plate (9); the electromagnet (202) is mounted on the electromagnet holder (201) and affixed to the iron patch (203).

4. The joint self-calibrating lower limb rehabilitation exoskeleton device according to claim 3, characterized in that: It also includes an angle sensor (402), the angle sensor (402) being connected to an upper wing plate (401) and a lower wing plate (403), the side edges of the upper wing plate (401) and the lower wing plate (403) being bent toward one side and fixed to the thigh and calf of a human body respectively.

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