Key control circuit of length adjusting mechanism of medical exoskeleton robot

Abstract

The invention discloses a key control circuit of a length adjusting mechanism of a medical exoskeleton robot. A circuit board of the key control circuit is installed on the inner side of the length adjusting mechanism. The key control circuit comprises keys, a key signal input circuit, a single-chip microcomputer, a CAN communication circuit and a motor drive circuit. The key signal input circuit is used for sending a trigger signal to the single chip microcomputer according to trigger information of the key after the key is triggered, and the trigger signal is a length increasing signal or a length decreasing signal; the single chip microcomputer generates a motor driving instruction according to the trigger signal and sends the motor driving instruction to a motor driving circuit through a CAN communication circuit; the motor driving circuit drives the motor according to the motor driving instruction so as to adjust the length of the exoskeleton. The key control circuit installed on the length adjusting mechanism is designed, the length is controlled to be increased or decreased through keys, length adjustment of the length adjusting mechanism is achieved, and therefore man-machine interaction of the exoskeleton robot is efficiently achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of electronic circuits, and in particular relates to a key control circuit of a length adjustment mechanism of a medical exoskeleton robot. Background Art

[0002] Traditional medical exoskeletons generally require doctors to set them up according to the patient's physical condition, so that the exoskeleton and the patient can achieve a high degree of adaptability to achieve better rehabilitation results. The exoskeleton outputs increase and decrease buttons on the upper computer in real time to control the rotation of each length adjustment motor to achieve adaptive length adjustment, and you can also enter the length value for adjustment.

[0003] When the user needs to adjust the length adjustment mechanism, the control command is usually output on the host computer, and the user needs to hold the tablet to operate the control command. The user needs to observe the data displayed on the host computer or tablet while bending down to observe the length adjustment of the length adjustment mechanism at the knee joint. In some cases, it is very inconvenient to use and observe, which will waste time and energy. Sometimes it is even impossible to accurately observe the matching length of the length adjustment mechanism and the human knee joint. Summary of the invention

[0004] An object of the present invention is to provide a key control circuit for a length adjustment mechanism of a medical exoskeleton robot, which can solve the technical problem of inconvenience in using a host computer when adjusting the length in the prior art.

[0005] According to a first aspect of the present invention, a key control circuit of a length adjustment mechanism of a medical exoskeleton robot is provided, wherein a circuit board of the key control circuit is mounted on the inner side of the length adjustment mechanism, and the key control circuit comprises a key, a key signal input circuit, a single chip microcomputer, a CAN communication circuit, and a motor drive circuit;

[0006] The key signal input circuit is used to send a trigger signal to the single-chip microcomputer according to the trigger information of the key after the key is triggered, and the trigger signal is a length increase signal or a length decrease signal;

[0007] The single chip microcomputer generates a motor drive instruction according to the trigger signal, and sends the motor drive instruction to the motor drive circuit through the CAN communication circuit;

[0008] The motor driving circuit drives the motor according to the motor driving instruction to adjust the length of the exoskeleton.

[0009] Optionally, the key comprises a length increasing key, and the key signal input circuit comprises a first connector and a length increasing circuit;

[0010] The first end of the first connector is connected to the length increasing circuit, the second end of the first connector is connected to the single chip computer, the fifth end of the first connector is connected to the length increasing button via a first resistor, and the third end of the first connector, the fourth end of the first connector and the sixth end of the first connector are grounded;

[0011] The length increase circuit is used to output a corresponding length increase signal after the length increase button is triggered, and send the signal to the single chip microcomputer through the first connector.

[0012] Optionally, the length increasing circuit includes a second resistor and a first capacitor, the first end of the second resistor is respectively connected to the first end of the first capacitor and the first end of the first connector, the second end of the second resistor is connected to the first power supply, and the second end of the first capacitor is grounded.

[0013] Optionally, the key comprises a length reduction key, and the key signal input circuit comprises a second connector and a length reduction circuit;

[0014] The first end of the second connector is connected to the length reduction circuit, the second end of the second connector is connected to the single chip microcomputer, the fifth end of the second connector is connected to the length reduction button via a third resistor, and the third end of the second connector, the fourth end of the second connector and the sixth end of the second connector are grounded;

[0015] The length reduction circuit is used to output a corresponding length reduction signal after the length reduction button is triggered, and send the signal to the single chip microcomputer through the second connector.

[0016] Optionally, the length reduction circuit includes a fourth resistor and a second capacitor, the first end of the fourth resistor is respectively connected to the first end of the second capacitor and the first end of the second connector, the second end of the fourth resistor is connected to the first power supply, and the second end of the second capacitor is grounded.

[0017] Optionally, the CAN communication circuit includes an isolated CAN chip, and the isolated CAN chip is used to receive the motor drive instruction generated by the single-chip microcomputer according to the trigger signal, and send the motor drive instruction to the motor drive circuit through the CAN bus;

[0018] The power pin of the isolated CAN chip is respectively connected to the first power supply and the first end of the third capacitor, and the second end of the third capacitor is grounded;

[0019] The CANH pin of the isolated CAN chip is connected to the high-order data line of the CAN bus through an inductor, and the CANL pin of the isolated CAN chip is connected to the low-order data line of the CAN bus through an inductor.

[0020] Optionally, the CAN communication circuit further includes a voltage stabilizing module, and the voltage stabilizing module includes a first voltage stabilizing diode, a second voltage stabilizing diode, a third voltage stabilizing diode, and a fourth voltage stabilizing diode;

[0021] The cathode of the first voltage zener diode is connected to the low-order data line of the CAN bus, the anode of the first voltage zener diode is connected to the anode of the second voltage zener diode, and the cathode of the second voltage zener diode is grounded;

[0022] The cathode of the third voltage stabilizing diode is connected to the high-order data line of the CAN bus, the anode of the third voltage stabilizing diode is connected to the anode of the fourth voltage stabilizing diode, and the cathode of the fourth voltage stabilizing diode is grounded.

[0023] Optionally, the CAN communication circuit further includes a fourth capacitor and a fifth capacitor;

[0024] A first end of the fourth capacitor is connected to a high-order data line of the CAN bus, and a second end of the fourth capacitor is grounded;

[0025] A first end of the fifth capacitor is connected to a low-order data line of the CAN bus, and a second end of the fifth capacitor is grounded.

[0026] Optionally, the CAN communication circuit further includes a third connector and a fourth connector;

[0027] The first end of the third connector is connected to the second power supply, the second end of the third connector is grounded, the third end of the third connector is connected to the high-order data line of the CAN bus, and the fourth end of the third connector is connected to the low-order data line of the CAN bus;

[0028] The first end of the fourth connector is connected to the second power supply, the second end of the fourth connector is grounded, the third end of the fourth connector is connected to the high data line of the CAN bus, and the fourth end of the fourth connector is connected to the low data line of the CAN bus.

[0029] According to a second aspect of the present invention, there is provided a medical exoskeleton robot, comprising a key control circuit of a length adjustment mechanism of a medical exoskeleton robot as described in the first aspect of the present invention.

[0030] The beneficial effect of the present invention is that: the present invention designs a set of key control circuits installed in the length adjustment mechanism, and the length is increased or decreased by key control. The command is sent to the control system. After receiving the command, the control system starts the motor to adjust the length of the length adjustment mechanism until it is adjusted to a suitable position, thereby efficiently realizing the human-computer interaction of the exoskeleton robot.

[0031] Compared with the previous operation of the length adjustment mechanism on the upper computer end, the present invention can select a more compact key switch and more conveniently integrate the key control circuit design into the appearance of the length adjustment mechanism, which is convenient for the operator to observe the operation and improve the product human-computer interaction design.

[0032] The key control circuit designed in the present invention has a simple principle, the key and the circuit are integrated into one, the size is small, the wiring is reduced, it is convenient to be integrated inside the exoskeleton product, and it is easy to implement in engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of a key control circuit of a length adjustment mechanism of a medical exoskeleton robot in an embodiment of the present invention.

[0034] Figure 2 Schematic diagram of a key input circuit in an embodiment of the present invention.

[0035] Figure 3 Schematic diagram of a CAN communication circuit in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0037] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0038] The techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and devices should be considered as part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0039] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0040] In the specification and claims of the present invention, if the term "first" or "second" is involved, it may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the related objects are in an "or" relationship.

[0041] like Figure 1 As shown, this embodiment introduces a key control circuit of a length adjustment mechanism of a medical exoskeleton robot. The circuit board of the key control circuit is installed on the inner side of the length adjustment mechanism. The key control circuit includes a key, a key signal input circuit, a single-chip microcomputer, a CAN communication circuit, and a motor drive circuit.

[0042] The key signal input circuit is used to send a trigger signal to the single-chip microcomputer according to the trigger information of the key after the key is triggered, and the trigger signal is a length increase signal or a length decrease signal.

[0043] The single chip microcomputer generates a motor driving instruction according to the trigger signal, and sends the motor driving instruction to the motor driving circuit through the CAN communication circuit.

[0044] The motor driving circuit drives the motor according to the motor driving instruction to adjust the length of the exoskeleton.

[0045] Exoskeleton robots have a wide range of applications and multiple functions. For example, they can assist people with limited mobility to perform normal movements and facilitate their lives. They can also be used to protect different parts of the body, such as the knees, thighs, and arms. They can also be used to increase the physiological limits of the human body, allowing a single person to carry more weight at one time and walk a longer distance. Especially in the field of medical rehabilitation, exoskeleton robots can provide support for patients who have difficulty walking.

[0046] As for medical exoskeleton robots, most of the existing medical exoskeleton robots are rehabilitation components developed for specific parts, which are used to bear part of the body's own weight, making the patient bear more pressure and more convenient to move. For example, a medical exoskeleton robot used in the patient's knee joint can provide support for the patient and help the patient walk.

[0047] Since different patients have different physical data, in order to ensure the rehabilitation effect, the length of the medical exoskeleton used by different patients is also different. Usually the doctor will let the patient wear the medical exoskeleton robot first, and then adjust the length of the medical exoskeleton according to the patient's physical condition.

[0048] When the length of the exoskeleton needs to be adjusted, a button installed on the exoskeleton adjustment mechanism is pressed, and a corresponding signal is triggered after the button is pressed. The trigger signal can be a length increase signal, or a length decrease signal. The length increase signal is used to control the length increase of the exoskeleton, and the length decrease signal is used to control the length decrease of the exoskeleton.

[0049] For example, the buttons may include a length increase button and a length decrease button. When the length increase button is pressed, a length increase signal is triggered, and when the length decrease button is pressed, a length decrease signal is triggered. The button may be triggered by a single press, for example, each time the length increase button is pressed, the length of the exoskeleton increases by a fixed length. The button may also be triggered by a long press, for example, after pressing the length increase button, keeping the length increase button pressed, the length of the exoskeleton continues to increase until the length increase button is released.

[0050] After receiving the trigger signal, the microcontroller will generate the corresponding motor drive instruction. For example, if the microcontroller receives a length increase signal, the motor drive instruction corresponding to the length increase signal generated by the microcontroller can control the motor to rotate forward, so that the length of the exoskeleton increases. If the microcontroller receives a length reduction signal, the motor drive instruction corresponding to the length reduction signal generated by the microcontroller can control the motor to rotate backward, so that the length of the exoskeleton decreases.

[0051] The microcontroller sends the motor drive command to the motor drive circuit through the CAN bus, which then drives the motor to run and change the length of the exoskeleton.

[0052] The present invention designs a key control circuit installed in the length adjustment mechanism, which controls the increase or decrease of the length by keys, and sends instructions to the control system. After receiving the instructions, the control system starts the motor to adjust the length of the length adjustment mechanism until it is adjusted to a suitable position, thereby efficiently realizing the human-computer interaction of the exoskeleton robot.

[0053] Compared with the previous operation of the length adjustment mechanism on the upper computer end, the present invention can select a more compact key switch and more conveniently integrate the key control circuit design into the appearance of the length adjustment mechanism, which is convenient for the operator to observe the operation and improve the product human-computer interaction design.

[0054] The key control circuit designed in the present invention has a simple principle, the key and the circuit are integrated into one, the size is small, the wiring is reduced, it is convenient to be integrated inside the exoskeleton product, and it is easy to implement in engineering.

[0055] In this embodiment, the key includes a length increasing key, and the key signal input circuit includes a first connector and a length increasing circuit.

[0056] The first end of the first connector is connected to the length increasing circuit, the second end of the first connector is connected to the single chip microcomputer, the fifth end of the first connector is connected to the length increasing button via a first resistor, and the third end of the first connector, the fourth end of the first connector and the sixth end of the first connector are grounded.

[0057] The length increase circuit is used to output a corresponding length increase signal after the length increase button is triggered, and send the signal to the single chip microcomputer through the first connector.

[0058] like Figure 2 As shown, the first connector X7 has 6 pins, pins 3, 4 and 6 of the first connector X7 are grounded, and pin 5 of the first connector X7 is connected to the length increase button via resistor R5. Pin 2 of the first connector X7 is connected to the single-chip microcomputer. When the user presses the length increase button, the length increase circuit sends a length increase signal, which is sent to the single-chip microcomputer through the first connector X7.

[0059] In this embodiment, the length increasing circuit includes a second resistor and a first capacitor, the first end of the second resistor is respectively connected to the first end of the first capacitor and the first end of the first connector, the second end of the second resistor is connected to the first power supply, and the second end of the first capacitor is grounded.

[0060] like Figure 2 As shown, the length increasing circuit includes a second resistor R3 and a first capacitor C1. The first power supply is a 3V3 power supply.

[0061] In this embodiment, the key includes a length reduction key, and the key signal input circuit includes a second connector and a length reduction circuit.

[0062] The first end of the second connector is connected to the length reduction circuit, the second end of the second connector is connected to the single-chip microcomputer, the fifth end of the second connector is connected to the length reduction button via a third resistor, and the third end of the second connector, the fourth end of the second connector and the sixth end of the second connector are grounded.

[0063] The length reduction circuit is used to output a corresponding length reduction signal after the length reduction button is triggered, and send the signal to the single chip microcomputer through the second connector.

[0064] like Figure 2 As shown, the second connector X8 has 6 pins, pins 3, 4 and 6 of the second connector X8 are grounded, and pin 5 of the second connector X8 is connected to the length increase button via resistor R6. Pin 2 of the second connector X8 is connected to the single-chip microcomputer, and pin 1 of the second connector X8 is connected to the length reduction circuit. When the user presses the length reduction button, the length reduction circuit sends a length reduction signal, which is sent to the single-chip microcomputer through the second connector X8.

[0065] In this embodiment, the length reduction circuit includes a fourth resistor and a second capacitor, the first end of the fourth resistor is respectively connected to the first end of the second capacitor and the first end of the second connector, the second end of the fourth resistor is connected to the first power supply, and the second end of the second capacitor is grounded.

[0066] like Figure 2 As shown, the length reduction circuit includes a fourth resistor R4 and a second capacitor C6. The second resistor R4 is also connected to the first power supply.

[0067] In this embodiment, the CAN communication circuit includes an isolated CAN chip, and the isolated CAN chip is used to receive the motor drive instruction generated by the single-chip microcomputer according to the trigger signal, and send the motor drive instruction to the motor drive circuit through the CAN bus.

[0068] The power pins of the isolated CAN chip are respectively connected to the first power supply and the first end of the third capacitor, and the second end of the third capacitor is grounded.

[0069] The CANH pin of the isolated CAN chip is connected to the high-order data line of the CAN bus through an inductor, and the CANL pin of the isolated CAN chip is connected to the low-order data line of the CAN bus through an inductor.

[0070] like Figure 3 As shown, the CAN communication circuit includes an isolated CAN chip U2. The isolated CAN chip U2 includes a data receiving pin RXD and a data transmitting pin TXD, which can receive the motor driving instruction sent by the single-chip microcomputer.

[0071] like Figure 2 As shown, the CAN communication circuit also includes a voltage stabilizing module, and the voltage stabilizing module includes a first voltage stabilizing diode, a second voltage stabilizing diode, a third voltage stabilizing diode, and a fourth voltage stabilizing diode.

[0072] The cathode of the first voltage zener diode is connected to the low-order data line of the CAN bus, the anode of the first voltage zener diode is connected to the anode of the second voltage zener diode, and the cathode of the second voltage zener diode is grounded.

[0073] The cathode of the third voltage stabilizing diode is connected to the high-order data line of the CAN bus, the anode of the third voltage stabilizing diode is connected to the anode of the fourth voltage stabilizing diode, and the cathode of the fourth voltage stabilizing diode is grounded.

[0074] The voltage regulator module is used to stabilize the CAN bus voltage and improve the stability of CAN communication.

[0075] In this embodiment, the CAN communication circuit also includes a fourth capacitor and a fifth capacitor; the first end of the fourth capacitor is connected to the high-order data line of the CAN bus, and the second end of the fourth capacitor is grounded; the first end of the fifth capacitor is connected to the low-order data line of the CAN bus, and the second end of the fifth capacitor is grounded.

[0076] like Figure 2As shown, the fourth capacitor C19 is connected to the high data line CAN1H of the CAN bus, and the fifth capacitor C18 is connected to the low data line CAN1L of the CAN bus. The signal on the CAN bus is filtered by the fourth capacitor C19 and the fifth capacitor C18.

[0077] In this embodiment, the CAN communication circuit further includes a third connector and a fourth connector. The first end of the third connector is connected to the second power supply, the second end of the third connector is grounded, the third end of the third connector is connected to the high-order data line of the CAN bus, and the fourth end of the third connector is connected to the low-order data line of the CAN bus.

[0078] The first end of the fourth connector is connected to the second power supply, the second end of the fourth connector is grounded, the third end of the fourth connector is connected to the high data line of the CAN bus, and the fourth end of the fourth connector is connected to the low data line of the CAN bus.

[0079] like Figure 3 As shown, the third connector X3 includes 4 pins, pin 1 of the third connector X3 is connected to the second power supply of 5V, and pin 2 of the third connector X3 is grounded. Pin 3 and pin 4 of the third connector X3 are respectively connected to the high data line CAN1H and the low data line CAN1L of the CAN bus.

[0080] The fourth connector X4 includes 4 pins, pin 1 of the fourth connector X4 is connected to the second power supply of 5V, pin 2 of the fourth connector X4 is grounded, and pin 3 and pin 4 of the fourth connector X4 are connected to the high data line CAN1H and the low data line CAN1L of the CAN bus respectively.

[0081] The isolated CAN chip U2 does not need to convert a power supply separately, and the internal integrated isolated DCDC can supply power to the bus side CAN power supply. Therefore, the 5V power supply of the entire system is effectively isolated from the low voltage of the motor drive board of the regulation structure, greatly improving the reliability of communication.

[0082] This embodiment introduces a medical exoskeleton robot, including a key control circuit of a length adjustment mechanism of a medical exoskeleton robot as described in any embodiment of the present invention.

[0083] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

[0084] Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0085] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0086] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0087] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0088] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0089] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0090] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0091] It should be understood that the size of the sequence number of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. For the purpose of example and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various deformations and modifications may exist according to the above teachings, or various deformations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can use the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A key control circuit for a length adjustment mechanism of a medical exoskeleton robot, characterized in that: The circuit board of the key control circuit is installed on the inner side of the length adjustment mechanism, and the key control circuit includes a key, a key signal input circuit, a single chip microcomputer, a CAN communication circuit, and a motor drive circuit; The key signal input circuit is used to send a trigger signal to the single-chip microcomputer according to the trigger information of the key after the key is triggered, and the trigger signal is a length increase signal or a length decrease signal; The single chip microcomputer generates a motor drive instruction according to the trigger signal, and sends the motor drive instruction to the motor drive circuit through the CAN communication circuit; The motor driving circuit drives the motor according to the motor driving instruction to adjust the length of the exoskeleton.

2. A key control circuit for a length adjustment mechanism of a medical exoskeleton robot according to claim 1, characterized in that: The key comprises a length increasing key, and the key signal input circuit comprises a first connector and a length increasing circuit; The first end of the first connector is connected to the length increasing circuit, the second end of the first connector is connected to the single chip computer, the fifth end of the first connector is connected to the length increasing button via a first resistor, and the third end of the first connector, the fourth end of the first connector and the sixth end of the first connector are grounded; The length increase circuit is used to output a corresponding length increase signal after the length increase button is triggered, and send the signal to the single chip microcomputer through the first connector.

3. A key control circuit for a length adjustment mechanism of a medical exoskeleton robot according to claim 2, characterized in that: The length increasing circuit comprises a second resistor and a first capacitor, wherein a first end of the second resistor is respectively connected to a first end of the first capacitor and a first end of the first connector, a second end of the second resistor is connected to a first power supply, and a second end of the first capacitor is grounded.

4. A key control circuit for a length adjustment mechanism of a medical exoskeleton robot according to claim 2, characterized in that: The key comprises a length reduction key, and the key signal input circuit comprises a second connector and a length reduction circuit; The first end of the second connector is connected to the length reduction circuit, the second end of the second connector is connected to the single chip microcomputer, the fifth end of the second connector is connected to the length reduction button via a third resistor, and the third end of the second connector, the fourth end of the second connector and the sixth end of the second connector are grounded; The length reduction circuit is used to output a corresponding length reduction signal after the length reduction button is triggered, and send the signal to the single chip microcomputer through the second connector.

5. A key control circuit for a length adjustment mechanism of a medical exoskeleton robot according to claim 4, characterized in that: The length reduction circuit includes a fourth resistor and a second capacitor, wherein a first end of the fourth resistor is respectively connected to a first end of the second capacitor and a first end of the second connector, a second end of the fourth resistor is connected to a first power supply, and a second end of the second capacitor is grounded.

6. The key control circuit of the length adjustment mechanism of a medical exoskeleton robot according to claim 1, characterized in that: The CAN communication circuit includes an isolated CAN chip, and the isolated CAN chip is used to receive the motor drive instruction generated by the single-chip microcomputer according to the trigger signal, and send the motor drive instruction to the motor drive circuit through the CAN bus; The power pin of the isolated CAN chip is respectively connected to the first power supply and the first end of the third capacitor, and the second end of the third capacitor is grounded; The CANH pin of the isolated CAN chip is connected to the high-order data line of the CAN bus through an inductor, and the CANL pin of the isolated CAN chip is connected to the low-order data line of the CAN bus through an inductor.

7. A key control circuit for a length adjustment mechanism of a medical exoskeleton robot according to claim 6, characterized in that: The CAN communication circuit also includes a voltage stabilizing module, and the voltage stabilizing module includes a first voltage stabilizing diode, a second voltage stabilizing diode, a third voltage stabilizing diode, and a fourth voltage stabilizing diode; The cathode of the first voltage zener diode is connected to the low-order data line of the CAN bus, the anode of the first voltage zener diode is connected to the anode of the second voltage zener diode, and the cathode of the second voltage zener diode is grounded; The cathode of the third voltage stabilizing diode is connected to the high-order data line of the CAN bus, the anode of the third voltage stabilizing diode is connected to the anode of the fourth voltage stabilizing diode, and the cathode of the fourth voltage stabilizing diode is grounded.

8. The key control circuit of the length adjustment mechanism of a medical exoskeleton robot according to claim 6, characterized in that: The CAN communication circuit also includes a fourth capacitor and a fifth capacitor; A first end of the fourth capacitor is connected to a high-order data line of the CAN bus, and a second end of the fourth capacitor is grounded; A first end of the fifth capacitor is connected to a low-order data line of the CAN bus, and a second end of the fifth capacitor is grounded.

9. The key control circuit of the length adjustment mechanism of a medical exoskeleton robot according to claim 6, characterized in that: The CAN communication circuit also includes a third connector and a fourth connector; The first end of the third connector is connected to the second power supply, the second end of the third connector is grounded, the third end of the third connector is connected to the high-order data line of the CAN bus, and the fourth end of the third connector is connected to the low-order data line of the CAN bus; The first end of the fourth connector is connected to the second power supply, the second end of the fourth connector is grounded, the third end of the fourth connector is connected to the high data line of the CAN bus, and the fourth end of the fourth connector is connected to the low data line of the CAN bus.

10. A medical exoskeleton robot, characterized in that: A key control circuit for a length adjustment mechanism of a medical exoskeleton robot comprising the one described in any one of claims 1-9.

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