A key control circuit of a length adjustment mechanism of a medical exoskeleton robot

Abstract

The application discloses a kind of button control circuit of medical exoskeleton robot length adjusting mechanism.It is installed in the inside of length adjusting mechanism that the circuit board of the button control circuit, button control circuit includes button, button signal input circuit, single-chip microcomputer, CAN communication circuit, motor drive circuit;Button signal input circuit is used to send trigger signal to single-chip microcomputer according to the trigger information of button after button triggers, trigger signal is length increase signal or length reduction signal;Single-chip microcomputer generates motor drive instruction according to trigger signal, and sends motor drive instruction to motor drive circuit by CAN communication circuit;Motor drive circuit drives motor according to motor drive instruction, to adjust the length of exoskeleton.The application designs a set of button control circuit installed in length adjusting mechanism, and length is increased or reduced by button, the length adjustment of length adjusting mechanism is realized, so that the man-machine interaction of exoskeleton robot is efficiently realized.

Description

Technical Field

[0001] This invention belongs to the field of electronic circuit technology, and specifically relates to a button control circuit for a length adjustment mechanism of a medical exoskeleton robot. Background Technology

[0002] Traditional medical exoskeletons typically require physicians to customize them based on the patient's physical condition to achieve a high degree of adaptation and better rehabilitation outcomes. In contrast, the exoskeleton is controlled in real-time by software-based increment / decrease buttons on a host computer, allowing for adaptive length adjustment. Users can also manually input length values ​​for adjustment.

[0003] When users need to adjust the length adjustment mechanism, control commands are typically output from a host computer, requiring the user to hold a tablet to operate the control system. Users must simultaneously observe the data displayed on the host computer or tablet and bend over to observe the length adjustment mechanism at the knee joint. This is inconvenient and time-consuming in some situations. Sometimes, it's even impossible to accurately observe the matching length between the length adjustment mechanism and the user's knee joint. Summary of the Invention

[0004] One objective of this invention is to provide a button control circuit for a length adjustment mechanism of a medical exoskeleton robot, which can solve the technical problem of inconvenience in adjusting the length via a host computer in the prior art.

[0005] According to a first aspect of the present invention, a button control circuit for a length adjustment mechanism of a medical exoskeleton robot is provided. The circuit board of the button control circuit is installed inside the length adjustment mechanism. The button control circuit includes a button, a button signal input circuit, a microcontroller, a CAN communication circuit, and a motor drive circuit.

[0006] The key signal input circuit is used to send a trigger signal to the microcontroller according to the key trigger information after the key is triggered. The trigger signal is a length increase signal or a length decrease signal.

[0007] The microcontroller generates a motor drive command based on the trigger signal and sends the motor drive command to the motor drive circuit through the CAN communication circuit.

[0008] The motor drive circuit drives the motor according to the motor drive command to adjust the length of the exoskeleton.

[0009] Optionally, the button includes a length-increasing button, and the button signal input circuit includes 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 microcontroller, the fifth end of the first connector is connected to the length-increasing button via a first resistor, and the third, fourth, and sixth ends 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 it to the microcontroller 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 connected to the first end of the first capacitor and the first end of the first connector, respectively. The second end of the second resistor is connected to a first power supply, and the second end of the first capacitor is grounded.

[0013] Optionally, the button includes a length reduction button, and the button signal input circuit includes 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 microcontroller, the fifth end of the second connector is connected to the length reduction button via a third resistor, and the third end, the fourth end, 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 it to the microcontroller 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 connected to the first end of the second capacitor and the first end of the second connector, respectively. The second end of the fourth resistor is connected to a first power supply, and the second end of the second capacitor is grounded.

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

[0018] The power supply pins of the isolated CAN chip are connected to the first power supply and the first terminal of the third capacitor, respectively, and the second terminal 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 via an inductor, and the CANL pin of the isolated CAN chip is connected to the low-order data line of the CAN bus via an inductor.

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

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

[0022] The negative terminal of the third Zener diode is connected to the high-order data line of the CAN bus, the positive terminal of the third Zener diode is connected to the positive terminal of the fourth Zener diode, and the negative terminal of the fourth Zener diode is grounded.

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

[0024] The first terminal of the fourth capacitor is connected to the high-order data line of the CAN bus, and the second terminal of the fourth capacitor is grounded.

[0025] The first terminal of the fifth capacitor is connected to the low-order data line of the CAN bus, and the second terminal 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-order data line of the CAN bus, and the fourth end of the fourth connector is connected to the low-order data line of the CAN bus.

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

[0030] The beneficial effects of this invention are as follows: This invention designs a set of button control circuits installed on the length adjustment mechanism. The length can be increased or decreased by controlling the button. The instruction is sent to the control system. After receiving the instruction, the control system starts the motor to realize the length adjustment of the length adjustment mechanism until it is adjusted to the appropriate position, thereby efficiently realizing human-machine interaction of the exoskeleton robot.

[0031] Compared to the previous method of operating the length adjustment mechanism on the host computer, this invention allows for the use of a smaller button switch, making it easier to integrate the button control circuit design into the appearance of the length adjustment mechanism. This facilitates operator observation and operation, and improves the human-computer interaction design of the product.

[0032] The button control circuit designed in this invention has a simple principle, integrates the button and circuit into one unit, has a small size, reduces wiring, is easy to integrate into exoskeleton products, and is easy to implement in engineering. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the button control circuit of a length adjustment mechanism for a medical exoskeleton robot according to an embodiment of the present invention.

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

[0035] Figure 3 This is a schematic diagram of the CAN communication circuit in an embodiment of the present invention. Detailed Implementation

[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, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

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

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

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

[0040] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0041] like Figure 1 As shown in the figure, this embodiment introduces a button control circuit for a length adjustment mechanism of a medical exoskeleton robot. The circuit board of the button control circuit is installed on the inner side of the length adjustment mechanism. The button control circuit includes a button, a button signal input circuit, a microcontroller, a CAN communication circuit, and a motor drive circuit.

[0042] The key signal input circuit is used to send a trigger signal to the microcontroller according to the key trigger information after the key is triggered. The trigger signal is a length increase signal or a length decrease signal.

[0043] The microcontroller generates a motor drive command based on the trigger signal and sends the motor drive command to the motor drive circuit through the CAN communication circuit.

[0044] The motor drive circuit drives the motor according to the motor drive command 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 mobility impairments in performing normal movements, making life easier. They can also be used to protect different parts of the body, such as the knees, thighs, and arms. Furthermore, they can be used to push the physiological limits of the human body, allowing individuals to carry heavier loads and walk longer distances. Especially in the field of medical rehabilitation, exoskeleton robots can provide support for patients with mobility difficulties.

[0046] Regarding medical exoskeleton robots, existing ones are mostly rehabilitation components developed for specific body parts, designed to support a portion of the body's weight, thus reducing the pressure on patients while making movement easier. For example, a medical exoskeleton robot used on a patient's knee joint can provide support and assist with walking.

[0047] Because each patient's physical data is different, the length of the medical exoskeleton used for each patient also varies to ensure the best rehabilitation results. Doctors typically have patients first wear the medical exoskeleton robot and then adjust its length according to the patient's individual condition.

[0048] When the length of the exoskeleton needs to be adjusted, press the button installed on the exoskeleton adjustment mechanism. Pressing the button will trigger a corresponding signal. The trigger signal can be a length increase signal or a length decrease signal. The length increase signal controls the increase of the exoskeleton length, and the length decrease signal controls the decrease of the exoskeleton length.

[0049] For example, the buttons can include a length increase button and a length decrease button. Pressing the length increase button triggers a length increase signal, and pressing the length decrease button triggers a length decrease signal. The buttons can be triggered by a single press; for example, each press of the length increase button increases the exoskeleton's length by a fixed amount. Alternatively, the buttons can be triggered by a long press; for example, after pressing the length increase button, keeping the button pressed will cause the exoskeleton's length to continuously increase until the button is released.

[0050] After receiving a trigger signal, the microcontroller generates corresponding motor drive commands. For example, if the microcontroller receives a length increase signal, the corresponding motor drive command will control the motor to rotate forward, increasing the exoskeleton's length. Conversely, if the microcontroller receives a length decrease signal, the corresponding motor drive command will control the motor to rotate in reverse, decreasing the exoskeleton's length.

[0051] The microcontroller sends motor drive commands to the motor drive circuit via the CAN bus, thereby driving the motor to run and changing the length of the exoskeleton.

[0052] This invention designs a button control circuit installed on the length adjustment mechanism. The length can be increased or decreased by pressing the button. 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 the appropriate position, thereby efficiently realizing human-machine interaction of the exoskeleton robot.

[0053] Compared to the previous method of operating the length adjustment mechanism on the host computer, this invention allows for the use of a smaller button switch, making it easier to integrate the button control circuit design into the appearance of the length adjustment mechanism. This facilitates operator observation and operation, and improves the human-computer interaction design of the product.

[0054] The button control circuit designed in this invention has a simple principle, integrates the button and circuit into one unit, has a small size, reduces wiring, is easy to integrate into exoskeleton products, and is easy to implement in engineering.

[0055] In this embodiment, the button includes a length-increasing button, and the button 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 microcontroller, the fifth end of the first connector is connected to the length-increasing button via a first resistor, and the third, fourth, and sixth ends 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 it to the microcontroller 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 microcontroller. When the user presses the length increase button, the length increase circuit sends a length increase signal, which is transmitted to the microcontroller via 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 connected to the first end of the first capacitor and the first end of the first connector, respectively. The second end of the second resistor is connected to a 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 button includes a length reduction button, and the button 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 microcontroller, the fifth end of the second connector is connected to the length reduction button via a third resistor, and the third end, the fourth end, 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 it to the microcontroller 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 microcontroller, and pin 1 of the second connector X8 is connected to the length decrease circuit. When the user presses the length decrease button, the length decrease circuit sends a length decrease signal, which is transmitted to the microcontroller via 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 connected to the first end of the second capacitor and the first end of the second connector, respectively. The second end of the fourth resistor is connected to a 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, which is used to receive the motor drive command generated by the microcontroller according to the trigger signal, and send the motor drive command to the motor drive circuit through the CAN bus.

[0068] The power supply pins of the isolated CAN chip are connected to the first power supply and the first terminal of the third capacitor, respectively, and the second terminal 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 via an inductor, and the CANL pin of the isolated CAN chip is connected to the low-order data line of the CAN bus via an inductor.

[0070] like Figure 3 As shown, the CAN communication circuit includes an isolated CAN chip U2, which includes a data receive pin RXD and a data transmit pin TXD, and can receive motor drive commands sent by the microcontroller.

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

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

[0073] The negative terminal of the third Zener diode is connected to the high-order data line of the CAN bus, the positive terminal of the third Zener diode is connected to the positive terminal of the fourth Zener diode, and the negative terminal of the fourth Zener diode is grounded.

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

[0075] In this embodiment, the CAN communication circuit further 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-order data line CAN1H of the CAN bus, and the fifth capacitor C18 is connected to the low-order data line CAN1L of the CAN bus. The signals on the CAN bus are filtered through 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 a 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-order data line of the CAN bus, and the fourth end of the fourth connector is connected to the low-order 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 a 5V second power supply, and pin 2 of the third connector X3 is grounded. Pins 3 and 4 of the third connector X3 are connected to the high-order data line CAN1H and the low-order data line CAN1L of the CAN bus, respectively.

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

[0081] The U2 isolated CAN chip eliminates the need for a separate power conversion, as its internally integrated isolated DC-DC converter can power the CAN bus side. Therefore, the entire system's 5V power supply is effectively isolated from the low voltage of the motor drive board in the regulating structure, significantly improving communication reliability.

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

[0083] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

[0084] Those skilled in the art will recognize 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0085] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and equipment can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0086] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

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

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

[0089] If the aforementioned functions are implemented as software functional 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 this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0090] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

[0091] It should be understood that the sequence numbers of the steps in the invention's content and embodiments do not absolutely imply 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 embodiments of the present invention. The foregoing description of embodiments of this disclosure has been provided for illustrative and descriptive purposes. The foregoing description is not exhaustive and is not intended to limit this disclosure to the exact form disclosed. Various modifications and variations may exist based on the foregoing teachings, or various modifications and variations may be derived from the practice of this disclosure. These embodiments were chosen and described to illustrate the principles of this disclosure and its practical application, so that those skilled in the art can utilize this disclosure in various implementations and modifications suitable for the specific purpose of the concept.

Claims

1. A button control circuit of a length adjustment mechanism of a medical exoskeleton robot, characterized by, The circuit board of the key control circuit is mounted on the inner side of the length adjusting 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 driving circuit. The key signal input circuit is configured 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 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 the motor driving 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. 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 with the length increasing circuit, the second end of the first connector is connected with the single-chip microcomputer, the fifth end of the first connector is connected with the length increasing key through a first resistor, and the third end, the fourth end and the sixth end of the first connector are grounded. The length increasing circuit is configured to output a corresponding length increasing signal after the length increasing key is triggered and send the length increasing signal to the single-chip microcomputer through the first connector. The key comprises a length decreasing key, and the key signal input circuit comprises a second connector and a length decreasing circuit. The first end of the second connector is connected with the length decreasing circuit, the second end of the second connector is connected with the single-chip microcomputer, the fifth end of the second connector is connected with the length decreasing key through a third resistor, and the third end, the fourth end and the sixth end of the second connector are grounded. The length decreasing circuit is configured to output a corresponding length decreasing signal after the length decreasing key is triggered and send the length decreasing signal to the single-chip microcomputer through the second connector.

2. The button control circuit of a length adjustment mechanism of a medical exoskeleton robot according to claim 1, wherein The length increasing circuit comprises a second resistor and a first capacitor, the first end of the second resistor is connected with the first end of the first capacitor and the first end of the first connector, respectively, the second end of the second resistor is connected with a first power supply, and the second end of the first capacitor is grounded.

3. The button control circuit of a length adjustment mechanism of a medical exoskeleton robot according to claim 1, wherein The length decreasing circuit comprises a fourth resistor and a second capacitor, the first end of the fourth resistor is connected with the first end of the second capacitor and the first end of the second connector, respectively, the second end of the fourth resistor is connected with the first power supply, and the second end of the second capacitor is grounded.

4. The button control circuit of a length adjustment mechanism of a medical exoskeleton robot according to claim 1, wherein The CAN communication circuit comprises an isolation CAN chip, which is configured to receive the motor driving instruction generated by the single-chip microcomputer according to the trigger signal and send the motor driving instruction to the motor driving circuit through a CAN bus. The power supply pin of the isolation CAN chip is connected with the first power supply and the first end of a third capacitor, respectively, and the second end of the third capacitor is grounded. The CANH pin of the isolation CAN chip is connected with the high bit data line of the CAN bus through an inductor, and the CANL pin of the isolation CAN chip is connected with the low bit data line of the CAN bus through an inductor.

5. The button control circuit of a medical exoskeleton robot length adjustment mechanism according to claim 4, wherein, The CAN communication circuit further comprises a voltage stabilizing module, the voltage stabilizing module comprising a first voltage stabilizing diode, a second voltage stabilizing diode, a third voltage stabilizing diode and a fourth voltage stabilizing diode; a negative electrode of the first voltage stabilizing diode is connected with a low data line of the CAN bus, a positive electrode of the first voltage stabilizing diode is connected with a positive electrode of the second voltage stabilizing diode, and a negative electrode of the second voltage stabilizing diode is grounded; a negative electrode of the third voltage stabilizing diode is connected with a high data line of the CAN bus, a positive electrode of the third voltage stabilizing diode is connected with a positive electrode of the fourth voltage stabilizing diode, and a negative electrode of the fourth voltage stabilizing diode is grounded.

6. The button control circuit of a length adjustment mechanism of a medical exoskeleton robot according to claim 4, wherein The CAN communication circuit further comprises a fourth capacitor and a fifth capacitor; a first end of the fourth capacitor is connected with the high 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 with the low data line of the CAN bus, and a second end of the fifth capacitor is grounded.

7. The button control circuit of a length adjustment mechanism of a medical exoskeleton robot according to claim 4, wherein The CAN communication circuit further comprises a third connector and a fourth connector; a first end of the third connector is connected with a second power supply, a second end of the third connector is grounded, a third end of the third connector is connected with the high data line of the CAN bus, and a fourth end of the third connector is connected with the low data line of the CAN bus; a first end of the fourth connector is connected with the second power supply, a second end of the fourth connector is grounded, a third end of the fourth connector is connected with the high data line of the CAN bus, and a fourth end of the fourth connector is connected with the low data line of the CAN bus.

8. A medical exoskeleton robot characterized by comprising: A key control circuit of a length adjusting mechanism of a medical exoskeleton robot, comprising the key control circuit of the length adjusting mechanism of the medical exoskeleton robot according to any one of claims 1-7.

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