Exoskeleton rehabilitation robot control system and method

Abstract

The invention relates to the field of auxiliary rehabilitation equipment, in particular to an exoskeleton rehabilitation robot control system and method, and the system comprises a control module, an electromyographic signal collection module, a gait execution module and a plantar pressure module; the electromyographic signal acquisition module acquires human body upper arm electric signals, performs circuit amplification processing, recognizes human body walking intention and sends the human body walking intention to the control module; the plantar pressure module collects plantar pressure values and sends the plantar pressure values to the control module; the control module recognizes the real-time motion state of the current motion according to the plantar pressure value, and sends a control signal to the gait execution module according to the walking intention of the human body and the real-time motion state to control the exoskeleton equipment to carry out gait walking; the method comprises the steps of collecting a plantar pressure value of a human body and an electromyographic signal of an upper arm, judging the posture of the human body, and controlling hip joints and knee joints on the left side and the right side to move according to the posture of the human body and a preset control method. The control accuracy can be improved, and the rehabilitation effect is improved.

Description

Technical Field

[0001] The present invention relates to the field of auxiliary rehabilitation equipment, and in particular to an exoskeleton rehabilitation robot control system and method. Background Art

[0002] Stroke refers to a clinical syndrome of sudden localized or global brain dysfunction caused by cerebrovascular disease, which lasts for more than 24 hours or causes death. Stroke usually causes motor dysfunction, speech disorder and sensory dysfunction in patients, which brings great inconvenience to their study and life. Rehabilitation exoskeletons have become an important device for rehabilitation treatment of stroke patients. Although rehabilitation exoskeletons can assist patients in walking, they have limited effect on restoring muscle function.

[0003] At present, rehabilitation exoskeleton equipment adopts a passive mode, that is, patients can only drive lower limb movements through the operation of the machine. Without patient participation, the rehabilitation effect is not good. Summary of the invention

[0004] One of the purposes of the present invention is to provide an exoskeleton rehabilitation robot control system to solve the problem of poor rehabilitation effect of existing passive rehabilitation equipment.

[0005] The exoskeleton rehabilitation robot control system based on the auxiliary support and hanger in this solution includes a control module, an electromyographic signal acquisition module, a gait execution module and a plantar pressure module arranged on the exoskeleton device;

[0006] The electromyographic signal acquisition module is used to collect the electrical signal of the upper arm of the human body, amplify the signal in the circuit, identify the walking intention of the human body, and then send the walking intention of the human body to the control module;

[0007] A plantar pressure module is used to collect plantar pressure values ​​and send them to a control module;

[0008] A control module, used to identify the real-time motion state of the current motion according to the plantar pressure value, and send a control signal to the gait execution module according to the human body's walking intention and the real-time motion state;

[0009] The gait execution module is used to control the exoskeleton device to walk in gait according to the control signal of the control module.

[0010] The beneficial effects of this program are:

[0011] When controlling the exoskeleton rehabilitation robot, the collected electromyographic signals are processed and amplified by the circuit for corresponding active control and gait execution. There is no need for post-processing of the software notch, which reduces the difficulty of chip processing and improves real-time performance. It is suitable for post-processing of embedded chips and improves rehabilitation effects.

[0012] Furthermore, the electromyographic signal acquisition module includes an amplification and processing circuit for amplifying and processing the electrical signal of the human upper arm, and the amplification and processing circuit includes an electromyographic acquisition electrode, an electromyographic amplification unit, an electromyographic processing unit and a digital-to-analog conversion unit. The electromyographic acquisition electrode collects the electrical signal of the human upper arm and sends it to the electromyographic amplification unit. The electromyographic amplification unit performs circuit amplification on the electrical signal of the human upper arm and sends it to the digital-to-analog conversion unit. The digital-to-analog conversion unit converts the electrical signal of the human upper arm into an analog signal and sends it to the control module.

[0013] The beneficial effects are: the collected electromyographic signal is amplified by the circuit, and there is no need for late software notch processing, which reduces the difficulty of chip processing, improves real-time performance, and is suitable for embedded chip late processing.

[0014] Further, the electromyographic amplification unit includes an instrument amplifier, a first operational amplifier, a second operational amplifier, a third operational amplifier and a fourth operational amplifier, and two RG pins of the instrument amplifier are connected in series with an R12 capacitor and a C16 resistor;

[0015] The output pin of the instrumentation amplifier is electrically connected to a C20 capacitor and an R11 resistor in sequence, the R11 resistor is electrically connected to the cathode of the first operational amplifier, the R11 resistor is electrically connected to an R5 resistor and an R10 resistor, the R5 resistor and the output end of the first operational amplifier are electrically connected to a D1 diode, the R5 resistor is electrically connected to the anode of the D1 diode, the R10 resistor and the output end of the first operational amplifier are electrically connected to a D2 diode, and the R10 resistor is electrically connected to the cathode of the D2 diode;

[0016] The R5 resistor is electrically connected to the R6 resistor, the R6 resistor is electrically connected to the negative electrode of the second operational amplifier, the R6 resistor is electrically connected to the R7 resistor, the R7 resistor is electrically connected to the output pin of the second operational amplifier, and the R10 resistor is electrically connected to the positive electrode of the second operational amplifier;

[0017] The R7 resistor is connected to the R8 resistor, the R8 resistor is electrically connected to the negative input pin of the third operational amplifier, the negative input pin of the third operational amplifier is electrically connected to the C11 capacitor, the negative input pin of the third operational amplifier is electrically connected to the R4 resistor, and the C11 capacitor and the R4 resistor are electrically connected to the output pin of the third operational amplifier;

[0018] The C11 capacitor and the R4 resistor are electrically connected to the R9 resistor, and the R9 resistor is electrically connected to the negative input pin of the fourth operational amplifier. The R9 resistor is electrically connected to the R3 resistor, and the R3 resistor is electrically connected to the output pin of the fourth operational amplifier.

[0019] The beneficial effect is that the amplification circuit composed of an instrument amplifier and the further amplification circuit composed of three operational amplifiers can gradually and stably amplify the weak electromyographic signal and reduce signal distortion.

[0020] Furthermore, the plantar pressure module includes multiple pressure sensors arranged on the left forefoot, left heel, right forefoot, and right heel. The control module determines whether the gravity is on the left forefoot, left heel, right forefoot, or right heel according to the maximum value of the front and rear pressures in the plantar pressure values ​​of the pressure sensors at different positions, and determines whether the human body's movement is started or stopped, and whether the left foot starts walking or the right foot starts walking in combination with the electromyographic signal.

[0021] The beneficial effect is that the electromyographic signals at multiple positions of the sole of the foot during walking are collected to judge the walking state, and the judgment result is more accurate.

[0022] Furthermore, the gait execution module includes multiple motors, which are 48V high-torque module DC brushless servo integrated harmonic reducers, and the motors are respectively arranged on the left hip, right hip, left knee and right knee.

[0023] The beneficial effect is that multiple motors for gait execution are distributed at multiple positions, which can make gait execution more precise.

[0024] The second purpose of the present invention is to provide an exoskeleton rehabilitation robot control method to intelligently control the exoskeleton rehabilitation equipment, make the control result more accurate, and improve the patient's rehabilitation effect.

[0025] The control method of the exoskeleton rehabilitation robot includes the following contents:

[0026] Collect the plantar pressure value and the electromyographic signal of the upper arm of the human body, and judge the human body posture according to the plantar pressure value and the electromyographic signal. The human body posture includes walking, standing or sitting;

[0027] According to the human body posture, the left and right hip joints and knee joints are controlled according to the preset control method to perform activity control.

[0028] The beneficial effects of this program are:

[0029] By determining the human body posture through electromyographic signals and plantar pressure values, and then performing corresponding activity control, the control results can be more accurate and the rehabilitation effect can be better.

[0030] Further, the preset control method of the left hip joint is:

[0031] The initial angle w of the left hip joint is obtained, the motor angle value of the hip joint is calculated according to the first formula, and the left hip joint is controlled according to the motor angle value. The first formula is expressed as:

[0032] y=-11.49+12.63*cos(x*w)+3.046*sin(x*w)+1.331*cos(2*x*w)+3.883*sin(2*x*w)-2.283*co s(3*x*w)-0.8405*sin(3*x*w)+0.0004766*cos(4*x*w)-0.002129*sin(4*x*w);

[0033] Among them, x is a number of points in the range of 0-1.

[0034] The beneficial effect is: calculating and then controlling the joints on one side can make the control result more accurate, and the more points are taken, the smoother the control.

[0035] Further, the preset control method of the left knee joint is:

[0036] The initial angle w of the left knee joint is obtained, the motor angle value of the knee joint is calculated according to the second formula, and the left hip joint is controlled according to the motor angle value. The second formula is expressed as:

[0037] y=16.9-5.486*cos(x*w)+12.67*sin(x*w)-12.82*cos(2*x*w)-5.108*sin(2*x*w) +3.579*cos(3*x*w)+1.012*sin(3*x*w)-1.537*cos(4*x*w)-0.7298*sin(4*x*w).

[0038] The beneficial effect is: angle calculation and control are performed on a joint on one side, making the control precise in real time.

[0039] Further, the preset control method of the right hip joint is:

[0040] The initial angle w of the right hip joint is obtained, the motor angle value of the hip joint is calculated according to the third formula, and the control work of the left hip joint is performed according to the motor angle value. The third formula is expressed as:

[0041] y=-11.47-11.11*cos(x*w)-6.759*sin(x*w)-1.188*cos(2*x*w)+3.898*sin(2*x*w)+0.682

[0042] *cos(3*x*w)+2.358*sin(3*x*w)+0.01301*cos(4*x*w)+0.005359*sin(4*x*w).

[0043] The beneficial effect is that precise real-time control of a single joint can be achieved.

[0044] Further, the preset control method of the right knee joint is:

[0045] The initial angle w of the right knee joint is obtained, the motor angle value of the knee joint is calculated according to the fourth formula, and the left hip joint is controlled according to the motor angle value. The fourth formula is expressed as:

[0046] y=21.05+13.07*cos(x*w)-16.53*sin(x*w)-3.923*cos(2*x*w)-17.88*sin(2*x*w )-2.58*cos(3*x*w)-4.758*sin(3*x*w)-0.0946*cos(4*x*w)-0.1491*sin(4*x*w).

[0047] The beneficial effect is that the angle of a single joint is calculated and then controlled, so that precise control can be performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a schematic block diagram of an embodiment of an exoskeleton rehabilitation robot control system of the present invention;

[0049] Figure 2 It is a principle block diagram of an amplifier circuit in an embodiment of the exoskeleton rehabilitation robot control system of the present invention;

[0050] Figure 3 A circuit diagram of an amplifier circuit in an embodiment of an exoskeleton rehabilitation robot control system of the present invention;

[0051] Figure 4 It is a flowchart of the control method of the exoskeleton rehabilitation robot of the present invention;

[0052] Figure 5 It is a hip joint control curve diagram on the left side in the exoskeleton rehabilitation robot control method of the present invention;

[0053] Figure 6 It is a knee joint control curve diagram on the left side in the exoskeleton rehabilitation robot control method of the present invention;

[0054] Figure 7 It is a curve diagram of the right hip joint control in the exoskeleton rehabilitation robot control method of the present invention;

[0055] Figure 8 This is a control curve diagram of the right knee joint in the exoskeleton rehabilitation robot control method of the present invention. DETAILED DESCRIPTION

[0056] The following is further explained in detail through specific implementation methods.

[0057] Example

[0058] An exoskeleton rehabilitation robot control system, such as Figure 1 and Figure 2 As shown, it includes a control module, an electromyographic signal acquisition module, a gait execution module and a plantar pressure module arranged on the walking exoskeleton device. The walking exoskeleton device adopts existing equipment, such as an existing rehabilitation skeleton, and the specific structure is not repeated here.

[0059] The electromyographic signal acquisition module is used to collect the electrical signals of the upper arm of the human body, and then amplify and process the circuit to identify the walking intention of the human body. The walking intention of the human body is specifically: when a person walks, the left and right hands usually swing. When a person has a disease such as hemiplegia, it usually causes the left foot and left hand to be unable to move normally. At this time, the right hand is connected to the electromyographic detection module, and the electromyographic signal value is higher than a threshold. At this time, the left leg can be controlled to walk. In order to confirm that it is the left leg walking and the comfort of the person walking, the person should adjust the center of gravity at this time, and the pressure on the sole of the left leg is reduced. Repeatedly, the situation of the right leg can be known in the same way. If the electromyographic signal of the left hand is unclear, but the normal foot can give obvious information about the change in sole pressure, these signals are the walking intention of the human body. A simple understanding is that the hands and feet can walk, and the hands and feet are actually a neural coordination relationship. That is, the arm will generate an electrical signal, and if this electrical signal rises and exceeds the threshold, it is the intention to walk.

[0060] The human walking intention is then sent to the control module, which includes a dual-core A7 and a single-core M4 integrated chip. The A7 uses the Linux system for human-computer interaction, and the single-core M4 deploys the FreeRTOS system for real-time data acquisition and real-time control. The control process is as follows Figure 4 The gait data is generated according to the formula when the program is initialized (one cycle, the data values ​​of four joints, that is, the angle values).

[0061] The electromyographic signal acquisition module includes an amplification and processing circuit for amplifying and processing the electrical signal of the human upper arm. The amplification and processing circuit includes an electromyographic acquisition electrode, an electromyographic amplification unit, an electromyographic processing unit and a digital-to-analog conversion unit. The electromyographic acquisition electrode collects the electrical signal of the human upper arm and sends it to the electromyographic amplification unit. The electromyographic amplification unit amplifies the electrical signal of the human upper arm and sends it to the digital-to-analog conversion unit. The digital-to-analog conversion unit converts the electrical signal of the human upper arm into an analog signal and sends it to the control module for control.

[0062] like Figure 3As shown, the electromyographic amplifier unit includes a signal capture amplifier circuit with an instrument amplifier, a trap circuit with a first operational amplifier and a second operational amplifier, a low-pass circuit with a third operational amplifier, and a final amplifier circuit with a fourth operational amplifier. The two RG pins of the instrument amplifier are connected in series with an R12 capacitor and a C16 resistor, the instrument amplifier is INA333AIDGKR, and each operational amplifier is TL084CPWR.

[0063] The output pin of the instrumentation amplifier is electrically connected to a C20 capacitor and one end of an R11 resistor in sequence, the other end of the R11 resistor is electrically connected to the negative electrode of the first operational amplifier, that is, the negative power supply pin of the first operational amplifier, the other end of the R11 resistor is electrically connected to one end of an R5 resistor and one end of an R10 resistor, the other end of the R5 resistor is electrically connected to a D1 diode with the output end of the first operational amplifier, the R5 resistor is electrically connected to the positive electrode of the other end of the D1 diode, the other end of the R10 resistor is electrically connected to a D2 diode with the output end of the first operational amplifier, and the other end of the R10 resistor is electrically connected to the negative electrode of the D2 diode;

[0064] The other end d of the R5 resistor is electrically connected to one end of the R6 resistor, the other end of the R6 resistor is electrically connected to the negative electrode of the second operational amplifier, that is, the negative power supply pin, the other end of the R6 resistor is electrically connected to one end of the R7 resistor, the other end of the R7 resistor is electrically connected to the output pin of the second operational amplifier, and the other end of the R10 resistor is electrically connected to the positive electrode of the second operational amplifier, that is, the positive power supply pin;

[0065] The other end of the R7 resistor is connected to one end of the R8 resistor, the other end of the R8 resistor is electrically connected to the negative input pin of the third operational amplifier, that is, the negative power supply pin, the negative input pin of the third operational amplifier is electrically connected to one end of the C11 capacitor, the negative input pin of the third operational amplifier is electrically connected to one end of the R4 resistor, and the other end of the C11 capacitor and the other end of the R4 resistor are electrically connected to the output pin of the third operational amplifier;

[0066] The other end of the C11 capacitor and the other end of the R4 resistor are electrically connected to one end of the R9 resistor, the other end of the R9 resistor is electrically connected to the negative input pin of the fourth operational amplifier, the other end of the R9 resistor is electrically connected to one end of the R3 resistor, the other end of the R3 resistor is electrically connected to the output pin of the fourth operational amplifier. The connection relationship of other pins of each circuit is shown in the figure and will not be repeated here.

[0067] The plantar pressure module is used to collect plantar pressure values ​​and send them to the control module. The plantar pressure module includes multiple pressure sensors located on the left forefoot, left heel, right forefoot, and right heel. The control module determines whether the gravity is on the left forefoot, left heel, right forefoot, or right heel according to the maximum value of the front and rear pressures in the plantar pressure values ​​of the pressure sensors at different positions. Combined with the electromyographic signal, it determines whether the human body's movement is started or stopped, and whether the left foot or the right foot is walking. For example, the maximum pressure value of the left foot is greater than the maximum pressure value of the right foot. At this time, the center of gravity is biased to the left. When there is an electromyographic signal in the right hand, and the pressure on the forefoot of the right foot is greater than the pressure on the heel of the right foot, it is to start lifting the right foot. When the foot starts, the pressure of the right foot is not judged, and the movement is based on the gait. After the sole of the foot touches the ground, the heel touches the ground, and gradually the forefoot touches the ground to complete a step of walking. Similarly, the left foot moves forward.

[0068] The control module is used to identify the real-time motion state of the current motion according to the plantar pressure value, and send a control signal to the gait execution module according to the human body's walking intention and the real-time motion state.

[0069] The gait execution module is used to control the exoskeleton device to walk in a gait according to the control signal of the control module. The gait execution module includes multiple motors. The motor is a 48V high-torque module DC brushless servo integrated harmonic reducer. The motors are respectively arranged on the left hip, right hip, left knee and right knee. The installation method of each motor is existing and will not be repeated here.

[0070] Exoskeleton rehabilitation robot control method, such as Figure 4 As shown, including the following:

[0071] When people walk passively, the motor drives the legs to move. The reason why the legs cannot move is because the human brain is damaged (such as blood vessel compression, surgical injury, etc.). If only the legs move, the human motor nervous system is actually not involved in the movement, which does not help the brain's recovery. Control activities. When people want to exercise, they will send a signal to the brain that they want to move. This process is to exercise the brain's nervous system. Because the signal is relatively weak at the beginning, if there is no reward, people will not like to think about it or move. Machine assistance is like a reward, and he will feel that the effect can be achieved, so he will stimulate the nervous system for a long time. In order for people to really feel the effect of exercise, it is necessary to detect his electromyographic signals and plantar pressure to judge the real thoughts. When a person's center of gravity is transferred to the left foot and the right foot is lifted, the person will not feel that he will fall, and he will feel that he is really walking. When walking, the hip joint and knee joint of a person are at a relative angle. This relative angle is the gait. So:

[0072] The plantar pressure value and the electromyographic signal of the upper arm of the human body are collected, and the electromyographic signal is processed and captured and amplified after passing through the capture amplifier circuit, 50Hz trap circuit, low-pass circuit, and final amplifier circuit in turn. The capture amplifier circuit, 50Hz trap circuit, low-pass circuit, and final amplifier circuit are set according to the circuit in the aforementioned control system, and the human posture is judged according to the plantar pressure value and the electromyographic signal. The human posture includes walking, standing or sitting. Whether the human body is walking, standing or sitting is detected by the human posture module when the body leans forward. At the same time, when the pressure on the left plantar is greater than that on the right plantar, the left foot is ready to run. When the pressure on the left forefoot is greater than that on the left hindfoot, it means that walking has begun. Similarly, it can be judged whether the right leg has started walking. When the human posture module detects that the body leans forward, but there is no change in the pressure on the left and right plants, it is judged whether the left leg or the right leg is walking by detecting muscle pressure deformation. It is executed step by step while walking, thus realizing active conscious walking; during the walking process, if the human posture module detects that the body is leaning back or standing at attention, it is stopped; the human body is supported by the hands, and the pressure on the soles of both feet decreases at the same time, which can be judged as sitting down; when in the sitting state, the pressure on both feet increases at the same time, which means standing.

[0073] According to the human body posture, the left and right hip joints and knee joints are controlled according to the preset control method to perform activity control.

[0074] The preset control method of the left hip joint is:

[0075] The initial angle w of the left hip joint is obtained, w=6.297, and the motor angle value of the hip joint is calculated according to the first formula. The control work of the left hip joint is performed according to the motor angle value, such as Figure 5 As shown, the first formula is expressed as:

[0076] y=-11.49+12.63*cos(x*w)+3.046*sin(x*w)+1.331*cos(2*x*w)+3.883*sin(2*x*w)-2.283*co s(3*x*w)-0.8405*sin(3*x*w)+0.0004766*cos(4*x*w)-0.002129*sin(4*x*w);

[0077] Among them, x is multiple points in the range of 0-1, and the domain name of the points.

[0078] The preset control method of the left knee joint is:

[0079] Get the initial angle w of the left knee joint, w = 6.172, calculate the motor angle value of the knee joint according to the second formula, and control the left hip joint according to the motor angle value, such as Figure 6 As shown, the second formula is expressed as:

[0080] y=16.9-5.486*cos(x*w)+12.67*sin(x*w)-12.82*cos(2*x*w)-5.108*sin(2*x*w) +3.579*cos(3*x*w)+1.012*sin(3*x*w)-1.537*cos(4*x*w)-0.7298*sin(4*x*w).

[0081] The preset control method of the right hip joint is:

[0082] Get the initial angle w of the right hip joint, w = 6.284, calculate the motor angle value of the hip joint according to the third formula, and control the left hip joint according to the motor angle value, such as Figure 7 As shown, the third formula is expressed as:

[0083] y=-11.47-11.11*cos(x*w)-6.759*sin(x*w)-1.188*cos(2*x*w)+3.898*sin(2*x*w)+0.682

[0084] *cos(3*x*w)+2.358*sin(3*x*w)+0.01301*cos(4*x*w)+0.005359*sin(4*x*w).

[0085] The preset control method of the right knee joint is:

[0086] Get the initial angle w of the right knee joint, w = 6.292, calculate the motor angle value of the knee joint according to the fourth formula, and control the left hip joint according to the motor angle value, such as Figure 8 As shown, the fourth formula is expressed as:

[0087] y=21.05+13.07*cos(x*w)-16.53*sin(x*w)-3.923*cos(2*x*w)-17.88*sin(2*x*w )-2.58*cos(3*x*w)-4.758*sin(3*x*w)-0.0946*cos(4*x*w)-0.1491*sin(4*x*w).

[0088] This embodiment collects the patient's information, and then calculates the control parameters of the rehabilitation equipment based on the collected information. The equipment is controlled according to the control parameters calculated in real time, and the control is actively performed. The control result is more accurate. The patient participates in assisting the patient's movement, which helps the patient's lower limb rehabilitation and is of great significance to the patient's rehabilitation treatment.

[0089] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. An exoskeleton rehabilitation robot control system based on an auxiliary support and hanger, characterized in that: It includes a control module, an electromyographic signal acquisition module, a gait execution module and a plantar pressure module arranged on the walking exoskeleton device; The electromyographic signal acquisition module is used to collect the electrical signal of the upper arm of the human body, amplify the signal in the circuit, identify the walking intention of the human body, and then send the walking intention of the human body to the control module; A plantar pressure module is used to collect plantar pressure values ​​and send them to a control module; A control module, used to identify the real-time motion state of the current motion according to the plantar pressure value, and send a control signal to the gait execution module according to the human body's walking intention and the real-time motion state; The gait execution module is used to control the exoskeleton device to walk in gait according to the control signal of the control module.

2. According to claim 1, the control system of an exoskeleton rehabilitation robot based on an auxiliary support and hanger is characterized in that: The electromyographic signal acquisition module includes an amplification processing circuit for amplifying and processing the electrical signal of the human upper arm. The amplification processing circuit includes an electromyographic acquisition electrode, an electromyographic amplification unit, an electromyographic processing unit and a digital-to-analog conversion unit. The electromyographic acquisition electrode collects the electrical signal of the human upper arm and sends it to the electromyographic amplification unit. The electromyographic amplification unit performs circuit amplification on the electrical signal of the human upper arm and sends it to the digital-to-analog conversion unit. The digital-to-analog conversion unit converts the electrical signal of the human upper arm into an analog signal and sends it to the control module.

3. The exoskeleton rehabilitation robot control system according to claim 2, characterized in that: The electromyographic amplification unit includes an instrument amplifier, a first operational amplifier, a second operational amplifier, a third operational amplifier and a fourth operational amplifier, and two RG pins of the instrument amplifier are connected in series with an R12 capacitor and a C16 resistor; The output pin of the instrumentation amplifier is electrically connected to a C20 capacitor and an R11 resistor in sequence, the R11 resistor is electrically connected to the cathode of the first operational amplifier, the R11 resistor is electrically connected to an R5 resistor and an R10 resistor, the R5 resistor and the output end of the first operational amplifier are electrically connected to a D1 diode, the R5 resistor is electrically connected to the anode of the D1 diode, the R10 resistor and the output end of the first operational amplifier are electrically connected to a D2 diode, and the R10 resistor is electrically connected to the cathode of the D2 diode; The R5 resistor is electrically connected to the R6 resistor, the R6 resistor is electrically connected to the negative electrode of the second operational amplifier, the R6 resistor is electrically connected to the R7 resistor, the R7 resistor is electrically connected to the output pin of the second operational amplifier, and the R10 resistor is electrically connected to the positive electrode of the second operational amplifier; The R7 resistor is connected to the R8 resistor, the R8 resistor is electrically connected to the negative input pin of the third operational amplifier, the negative input pin of the third operational amplifier is electrically connected to the C11 capacitor, the negative input pin of the third operational amplifier is electrically connected to the R4 resistor, and the C11 capacitor and the R4 resistor are electrically connected to the output pin of the third operational amplifier; The C11 capacitor and the R4 resistor are electrically connected to the R9 resistor, and the R9 resistor is electrically connected to the negative input pin of the fourth operational amplifier. The R9 resistor is electrically connected to the R3 resistor, and the R3 resistor is electrically connected to the output pin of the fourth operational amplifier.

4. The exoskeleton rehabilitation robot control system according to claim 1, characterized in that: The plantar pressure module includes multiple pressure sensors arranged on the left forefoot, left heel, right forefoot and right heel. The control module determines whether the gravity is on the left forefoot, left heel, right forefoot or right heel according to the maximum value of the front and rear pressures among the plantar pressure values ​​of the pressure sensors at different positions, and determines whether the human body's movement is started or stopped, and whether the left foot starts walking or the right foot starts walking based on the electromyographic signal.

5. The exoskeleton rehabilitation robot control system according to claim 1, characterized in that: The gait execution module includes multiple motors, which are 48V high-torque module DC brushless servo integrated harmonic reducers. The motors are respectively arranged on the left hip, right hip, left knee and right knee.

6. An exoskeleton rehabilitation robot control method, characterized in that: Includes the following: Collect the plantar pressure value and the electromyographic signal of the upper arm of the human body, and judge the human body posture according to the plantar pressure value and the electromyographic signal. The human body posture includes walking, standing or sitting; According to the human body posture, the left and right hip joints and knee joints are controlled according to the preset control method to perform activity control.

7. The exoskeleton rehabilitation robot control method according to claim 6, characterized in that: The preset control method of the left hip joint is: The initial angle w of the left hip joint is obtained, the motor angle value of the hip joint is calculated according to the first formula, and the left hip joint is controlled according to the motor angle value. The first formula is expressed as: y=-11.49+12.63*cos(x*w)+3.046*sin(x*w)+1.331*cos(2*x*w)+3.883*sin(2*x*w)-2.283*co s(3*x*w)-0.8405*sin(3*x*w)+0.0004766*cos(4*x*w)-0.002129*sin(4*x*w); Among them, x is multiple points in the range of 0-1, and the domain name of the points.

8. The exoskeleton rehabilitation robot control method according to claim 6, characterized in that: The preset control method of the left knee joint is: The initial angle w of the left knee joint is obtained, the motor angle value of the knee joint is calculated according to the second formula, and the left hip joint is controlled according to the motor angle value. The second formula is expressed as: y=16.9-5.486*cos(x*w)+12.67*sin(x*w)-12.82*cos(2*x*w)-5.108*sin(2*x*w) +3.579*cos(3*x*w)+1.012*sin(3*x*w)-1.537*cos(4*x*w)-0.7298*sin(4*x*w).

9. The exoskeleton rehabilitation robot control method according to claim 6, characterized in that: The preset control method of the right hip joint is: The initial angle w of the right hip joint is obtained, the motor angle value of the hip joint is calculated according to the third formula, and the control work of the left hip joint is performed according to the motor angle value. The third formula is expressed as: y=-11.47-11.11*cos(x*w)-6.759*sin(x*w)-1.188*cos(2*x*w)+3.898*sin(2*x*w)+ 0.682*cos(3*x*w)+2.358*sin(3*x*w)+0.01301*cos(4*x*w)+0.005359*sin(4*x*w).

10. The exoskeleton rehabilitation robot control method according to claim 6, characterized in that: The preset control method of the right knee joint is: The initial angle w of the right knee joint is obtained, the motor angle value of the knee joint is calculated according to the fourth formula, and the left hip joint is controlled according to the motor angle value. The fourth formula is expressed as: y=21.05+13.07*cos(x*w)-16.53*sin(x*w)-3.923*cos(2*x*w)-17.88*sin(2*x*w )-2.58*cos(3*x*w)-4.758*sin(3*x*w)-0.0946*cos(4*x*w)-0.1491*sin(4*x*w).

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