Horizontal lower limb rehabilitation robot capable of moving in any plane track based on rigid-flexible hybrid drive and application

Abstract

The invention discloses a horizontal lower limb rehabilitation robot capable of moving in any plane track based on rigid-flexible hybrid driving and application. The rehabilitation robot comprises an adjustable rack, a linear-rotary two-degree-of-freedom moving arm, a lower limb bearing module, a rope driving module and a lower limb fixing module. Leveling and lifting of the adjustable rack are achieved through the adjustable trundles and the lifting columns. Linear motion and rotary motion of the linear-rotary two-degree-of-freedom motion arm are achieved through a linear module and a joint motor. The lower limb bearing module is used for fixing and supporting the feet and the shanks and is matched with the feet to move. The rope driving module assists the knee bending action by changing the pulling force of a rope. According to physical sign parameters and expected motion modes of a user, series connection of the linear freedom degree and the rotary freedom degree can be achieved, the current situation of a single motion track is changed, active training is achieved through flexible control, the lower limbs have more motion modes, training tracks are customized, and the pertinence of rehabilitation training is improved.

Description

Technical Field

[0001] The present invention belongs to the field of medical rehabilitation robots, and in particular relates to a horizontal lower limb rehabilitation robot with planar arbitrary trajectory motion based on rigid-flexible hybrid drive and its application. Background Art

[0002] Studies have shown that scientifically planned repetitive exercises can gradually improve the muscle strength and coordination of patients with limb motor impairment. The nervous system is remodelable to a certain extent. After exercise rehabilitation training, the relationship between limb movement and brain nerves can be rebuilt to a certain extent, and the damaged nerves and muscles can be continuously stimulated, gradually enabling patients to regain the ability to coordinate and control their limbs. In addition, paralyzed and long-term comatose patients need certain exercises to avoid complications such as muscle atrophy and joint stiffness. Therefore, many experts and scholars have designed and studied a variety of limb rehabilitation equipment to assist patients in repetitive exercises.

[0003] At present, lower limb rehabilitation equipment has the following defects: most lower limb rehabilitation equipment only focuses on assisted walking training, and the target population is mostly patients with certain autonomy and need assisted walking, without taking into account the movement needs of paralyzed and unconscious patients. A small number of recumbent rehabilitation equipment can only perform fixed-track exercise training, and the fixed track is less targeted, and patients may feel bored or tired after long-term use. Secondly, the structural parameters of some lower limb rehabilitation equipment are fixed, especially the training track cannot be adjusted, and patients of different body types have different feelings about the use of a rehabilitation equipment, resulting in a small scope of application of the product, which is not conducive to use and promotion. Finally, the single series connection of multi-degree-of-freedom rigid motion will lead to complex motion, poor comfort and certain dangers. Generally, rope drives are not only limited in position but also in large numbers, and the ropes and patients may interfere with each other. It is necessary to develop and design a recumbent lower limb rehabilitation equipment with a rigid-flexible hybrid drive that can provide multiple training tracks. Summary of the invention

[0004] The purpose of the present invention is to provide a planar arbitrary trajectory motion lying lower limb rehabilitation robot based on rigid-flexible hybrid drive and its application, and to adjust the exercise training strategy according to the patient's body shape, so as to perform more stable, comfortable and diverse training movements.

[0005] A horizontal lower limb rehabilitation robot with planar arbitrary trajectory motion based on rigid-flexible hybrid drive, comprising an adjustable frame, a lower limb fixation module, a rope drive module, a linear-rotational two-degree-of-freedom motion arm and a lower limb bearing module;

[0006] The adjustable frame comprises adjustable casters, a frame chassis, a lifting column, a pedal connecting plate and a lifting column connecting seat, wherein the adjustable casters are fixed to the four corners of the frame chassis, the lifting column is fixed to the crossbeam of the frame chassis, and the two symmetrical pedal connecting plates (104) are fixed to the top of the lifting column through the lifting column connecting seat;

[0007] The rope drive module comprises two rope drive motor racks, and the two rope drive motor racks are symmetrically mounted on the pedal connecting plate;

[0008] The linear-rotational two-degree-of-freedom motion arm realizes main planar rigid motion and is composed of two symmetrical groups of structures, which are symmetrically installed on two pedal connecting plates. A lower limb bearing module is symmetrically installed on each group of structures. Each lower limb bearing module is rotatably installed with a lower limb fixing module, and each lower limb fixing module is connected to the rope driving module on the same side through a rope.

[0009] Furthermore, the linear-rotational two-degree-of-freedom motion arms are provided with two sets corresponding to the lower limbs of the human body and are symmetrically installed, and each set of linear-rotational two-degree-of-freedom motion arms includes a linear module, a joint motor, a joint seat and a rotating arm; the slider arranged on the linear module is moved by the operation of a servo motor to realize the translational freedom, the joint seat is fixed on the slider of the linear module, the outer ring of the joint motor is fixedly connected to the joint seat, and finally the rotating arm is connected to the end of the harmonic reducer of the joint motor to realize the rotational movement of the rotating arm, so that the end of the rotating arm can realize arbitrary trajectory movement in the motion space; the two rotating arms are symmetrically inward-adducted at the ends to make the spacing as narrow as possible, so that the human body reduces the abduction angle of the legs during exercise.

[0010] Furthermore, the lower limb fixation module includes a rope traction leg support and a foot fixing device; the foot of the user is fixed by the foot fixing device, the rope traction leg support is fixed to the calf near the knee, and a rope traction ring is provided on the rope traction leg support.

[0011] Furthermore, the rope drive module also includes a rope-driven motor, a rope-driven reducer and a driving rope pulley; the rope-driven motor frame is in the shape of a "7", including a horizontal barrel and a diagonal rod, and the horizontal barrel parts of the two rope-driven motor frames are connected together; a rope-driven reducer and a rope-driven motor connected to the rope-driven reducer are installed inside the horizontal barrel of each rope-driven motor frame; the driving rope pulley is located on the outside of the horizontal barrel of the rope-driven motor frame, and is fixed on the output shaft of the rope-driven reducer and rotates therewith, the rope is wound around the driving rope pulley, and the other end of the rope passes through the rope traction ring provided on the rope traction leg support.

[0012] Furthermore, the lower limb bearing module includes two symmetrical groups of traction leg support fixing frames, a first connecting arm, a second connecting arm and a pedal connecting plate; the traction leg support fixing frame is fixed together with the rope traction leg support, and is fixed on the connecting shaft of the first connecting arm, and the two parts can rotate relative to each other; the connecting shaft of the first connecting arm is connected to the end of the rotating arm and can rotate relative to each other; the second shaft of the first connecting arm is connected to the first axial direction of the second connecting arm, and the second shaft of the second connecting arm is connected to the rotating shaft of the pedal connecting plate, and the buckle groove of the pedal connecting plate is connected to the buckle of the foot fixing device; the axes of the lower limb bearing module are at angles to each other, so that the human body posture is naturally relaxed while ensuring the position of the ankle joint, and the posture changes during the movement of the robot are adapted to ensure the comfort of movement.

[0013] An application of a horizontal lower limb rehabilitation robot with arbitrary trajectory motion in a plane based on rigid-flexible hybrid drive, comprising: using the horizontal lower limb rehabilitation robot with arbitrary trajectory motion in a plane based on rigid-flexible hybrid drive, a doctor inputs a sports rehabilitation prescription into the robot, and the doctor adjusts the height of the lifting column of the frame to match the bed, the patient and the initial position; the patient's foot is fixed on the bottom plate of the lower limb fixation module, fixed by a foot fixing device, so that the ankle position is fixed on the robot, and the leg is fixed on a rope traction leg support, the rope traction leg support wraps the calf and is connected to the rope; the robot performs rehabilitation exercises including 3 working modes;

[0014] Guided rehabilitation mode: The doctor inputs the exercise rehabilitation prescription into the robot, and connects the patient's lower limbs to the robot. The patient does not need to control the movement or actively exert force. The robot guides the patient's lower limbs to execute the rehabilitation prescription in a predetermined manner, while ensuring that the output force speed and position are within the comfortable range of the human body, avoiding pulling and oppression of the limbs, and driving the lower limbs to move;

[0015] Following rehabilitation mode: The doctor inputs the personalized exercise rehabilitation prescription into the robot and connects the patient's lower limbs to the robot. The patient needs to have the intention to actively move and try to control the limbs to move according to the rehabilitation prescription. In this mode, the robot assists and constrains the patient's limbs through flexible control strategies. The force and position feedback can quickly identify the human body's movement intention, follow the human body to assist movement, ensure the rehabilitation effect and patient comfort, and realize the active and passive rehabilitation mode of human active movement and robot passive movement;

[0016] Countermeasure rehabilitation mode: The doctor inputs the exercise rehabilitation prescription into the device, connects the patient's lower limbs to the device, and applies resistance to the patient during the movement of the predetermined trajectory. Force and position feedback are used to achieve human weight-bearing training. Resistance is applied to the patient during the movement of the predetermined trajectory, and the patient confronts the human body in the established trajectory, thereby training the lower limb coordination ability and muscle strength to achieve further rehabilitation effects.

[0017] Furthermore, the robot obtains the output thrust of the linear guide and the joint torque in real time during work, calculates the end output force, installs a force sensor at the end, and adjusts the movement of the human body and equipment in time through different preset operating strategies.

[0018] The beneficial effects of the present invention are:

[0019] 1. The present invention provides a horizontal lower limb rehabilitation robot with planar arbitrary trajectory movement based on rigid-flexible hybrid drive, wherein the lower limb bearing module passively adapts to the foot posture by rotating the first connecting arm, the second connecting arm, and the pedal connecting plate respectively, so that the foot fixing device can maintain the relative posture most suitable for the patient, and is designed with a rotation limit to prevent injury due to excessive rotation angle, which is beneficial to improving the stability of training movements and the comfort of patients.

[0020] 2. The present invention provides a horizontal lower limb rehabilitation robot with planar arbitrary trajectory motion based on rigid-flexible hybrid drive. The series connection of linear degree of freedom and rotational degree of freedom achieved by a linear-rotational two-degree-of-freedom motion arm can change the current situation of a single motion trajectory, and can be actively trained through force control, so that the patient's lower limbs have more movement modes, the training trajectory can be customized, and the targeted rehabilitation training is improved.

[0021] 3. The present invention provides a horizontal lower limb rehabilitation robot with planar arbitrary trajectory movement based on rigid-flexible hybrid drive. The rope drive module can be combined with a rope traction leg support to assist movement. By adjusting the rope tension and coordinating the movement of the foot fixing device, it provides assistance for movements such as knee flexion, avoiding injuries caused by confrontation between people and equipment, and the flexible cable drive can greatly reduce the complexity of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of a horizontal lower limb rehabilitation robot with planar arbitrary trajectory motion based on rigid-flexible hybrid drive according to the present invention;

[0023] Figure 2 It is a schematic diagram of the adjustable rack structure of the present invention;

[0024] Figure 3 It is a structural schematic diagram of a lower limb fixation module of the present invention;

[0025] Figure 4 It is a schematic structural diagram of the lower limb bearing module of the present invention;

[0026] Figure 5 It is a schematic diagram of the structure of the rope driving module of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the linear-rotational two-degree-of-freedom motion arm of the present invention;

[0028] In the figure: 001-adjustable frame, 101-adjustable casters, 102-frame chassis, 103-lifting column, 104-pedal connecting plate, 105-lifting column connecting seat, 002-lower limb fixing module, 201-rope traction leg support, 202-foot fixing device, 003-rope driving module, 301-rope driving motor, 302-rope driving reducer, 303-rope driving motor frame, 304-driving rope pulley, 004-linear-rotational two-degree-of-freedom motion arm, 401-linear module, 402-joint motor, 403-joint seat, 404-rotating arm, 005-lower limb bearing module, 501-traction leg support fixing frame, 502-first connecting arm, 503-second connecting arm, 504-pedal connecting plate. DETAILED DESCRIPTION

[0029] The present invention is further described below in conjunction with the accompanying drawings.

[0030] The present invention provides a horizontal lower limb rehabilitation robot with planar arbitrary trajectory motion based on rigid-flexible hybrid drive, such as Figure 1 As shown, it includes an adjustable frame 001, a lower limb fixation module 002, a rope drive module 003, a linear-rotational two-degree-of-freedom motion arm 004, and a lower limb bearing module 005; the linear-rotational two-degree-of-freedom motion arm 004 realizes the main plane rigid motion, so that the end trajectory can be any trajectory in the workspace, and the rope driving module is connected to the rope to pull the leg support to assist in knee flexion and other movements; the lower limb fixation module 002 pulled by the rope driving module 003 drives the calf to cooperate in the auxiliary movement, and the lower limb bearing module 005 mainly bears the structural force to ensure that the posture changes according to the preset; the adjustable frame 001 realizes the main body lifting and lowering to cooperate with the bed, patient and initial position for adjustment.

[0031] like Figure 2 As shown, the adjustable frame 001 includes four adjustable casters 101, a frame chassis 102, a lifting column 103, two linear module connecting plates 104 and a lifting column connecting seat 105; the adjustable casters 101 are installed at the four corners of the bottom surface of the frame chassis 102, and the support height of the casters can be adjusted separately to ensure the levelness of the frame and the stability of the equipment; the lifting column 103 is fixed to the central beam of the frame chassis 102, and the overall working height of the equipment can be adjusted by lifting the beam to cooperate with beds of different heights and adapt to individual differences of patients; the lifting column connecting seat 105 is fixed to the end of the lifting column 103, and the two linear module connecting plates 104 are symmetrically fixed to the lifting column connecting seat 105.

[0032] like Figure 3As shown, two sets of lower limb fixing modules 002 are provided corresponding to the lower limbs of the human body; they include a rope traction leg support 201 and a foot fixing device 202, the foot fixing device 202 fixes the user's foot, the rope traction leg support 201 is fixed to the calf near the knee, and a rope passes through the traction ring, and the rope driving module 003 applies tension to the rope to assist movement.

[0033] like Figure 4 As shown, two sets of rope drive modules 003 are provided corresponding to the lower limbs of the human body, including a rope drive motor 301, a rope drive reducer 302, a rope drive motor frame 303 and a driving rope pulley 304. The rope drive motor frame 303 is fixed on the linear module connecting plate 104 in a mirror-symmetrical manner, and a rope drive reducer 302 is connected thereto. The rope drive motor 301 is fixed on the rope drive reducer 302 and drives the rope drive reducer 302 to rotate. The driving rope pulley 304 is fixed on the output shaft of the rope drive reducer 302 and rotates accordingly. The rope is wound around the driving rope pulley 304, and the other end is connected to the rope traction leg support 201.

[0034] like Figure 5 As shown, two sets of linear-rotational two-degree-of-freedom motion arms 004 are provided corresponding to the lower limbs of the human body, including two symmetrical sets of linear modules 401, joint motors 402, joint seats 403 and rotating arms 404; the two symmetrical linear modules 401 are fixed on the left and right surfaces of the linear module connecting plate 104 in a horizontal installation manner, and the slider of the linear module 401 is driven to move by the operation of the servo motor to realize the translational freedom, the joint seat 403 is fixed to the slider of the linear module 401, the outer ring of the joint motor 402 is fixedly connected to the joint seat 403, and finally the rotating arm 404 is connected to the end of the harmonic reducer of the joint motor 402 to realize the rotational movement of the rotating arm 404. The overall design enables the end of the rotating arm 404 to realize any trajectory movement in the motion space.

[0035] like Figure 6As shown, the lower limb bearing module 005 is provided with two sets corresponding to the lower limbs of the human body, including two symmetrical groups of traction leg support fixing frames 501, a first connecting arm 502, a second connecting arm 503 and a pedal connecting plate 504; the traction leg support fixing frame 501 is fixed together with the rope traction leg support 201 to limit the abduction of the knee joint, and is fixed on the connecting axis of the first connecting arm 502 to bear the overall force, and the two components can rotate relative to each other, the connecting axis of the first connecting arm 502 is connected to the end of the rotating arm 404 and can rotate relative to each other, the second axis of the first connecting arm 502 is connected to the first axial direction of the second connecting arm 503, the second axis of the second connecting arm 503 is connected to the rotating axis of the pedal connecting plate 504, and the buckle groove of the pedal connecting plate 504 can be connected to the buckle of the foot fixing device 202. The axes at both ends of the first connecting arm 502 form a certain angle, and a rotation limiter is designed between the two connecting arms. The axes at both ends of the second connecting arm 503 also form a certain angle. Through three rotation axes with angles to each other, the pedal connecting plate 504 can achieve smooth movement within the limit.

[0036] The invention discloses a horizontal lower limb rehabilitation robot with arbitrary trajectory motion based on rigid-flexible hybrid drive, which is mainly used by patients with lower limb movement disorders such as stroke and spinal cord injury, and has certain requirements for ergonomics and user psychology. Under the guidance of user psychology theory, the overall configuration adopts inter-leg motion configuration, abandons the symmetrical design of the body side, reduces the visual volume, optimizes the wearing and using process, and reduces the psychological pressure of users. Under the guidance of ergonomics theory and sports rehabilitation theory, the overall structure is narrowed and the distance between the two feet is compressed to the minimum. The main improved structure according to this theory is the rotating arm 404, and the distance from the end to the center plane is the minimum state without mutual interference. The linear module connecting plate 104 is symmetrically arranged, and the two plates are fixed together, which reduces the thickness of the structure while ensuring the strength. In addition, the degree of freedom of the lower limbs is fully considered in the design, and the lower limb bearing module 005 is a compliance design as a whole, which can ensure that the limbs always maintain a natural posture during the movement process, improve the patient experience, ensure the rehabilitation effect and patient comfort, and achieve the rehabilitation effect.

[0037] The main working initial state of the planar arbitrary trajectory horizontal lower limb rehabilitation robot based on rigid-flexible hybrid drive of the present invention is as follows: Figure 1The patient lies in a supine position facing the equipment, with both legs wearing lower limb fixation modules 002, the feet fixed by foot fixation devices 202, and the calves fixed by rope traction leg supports 201. After the overall horizontal rehabilitation robot returns to its initial position, the overall lower limb bearing module 005 is fixed together with the lower limb fixation module 002 at the end of the rotating arm 404. The various components rotate independently of each other to ensure that the ankle can move along a predetermined trajectory, and the traction leg support fixing frame 501 can prevent knee abduction to ensure movement safety. The main form of movement is horizontal rehabilitation. The linear-rotational two-degree-of-freedom motion arm 004 drives the lower limb bearing module 005 to move as a whole along a predetermined plane trajectory, and the rope drive module 003 assists the knee flexion and extension to complete the overall function safely and efficiently. During work, the robot can obtain the output thrust of the linear guide and the joint torque in real time, and calculate the terminal output force. A force sensor can be optionally installed at the terminal to adjust the movement of the human body and the equipment in time through different preset operating strategies. The robot can provide patients with a variety of movement modes: passive rehabilitation mode, in which limb movement is completely guided by the equipment; active rehabilitation mode, which actively assists the movement of the lower limbs of the human body. The patient can obtain a certain degree of control, which is conducive to the patient's further sports rehabilitation training.

[0038] Guided rehabilitation mode: The doctor inputs the personalized exercise rehabilitation prescription into the device and connects the patient's lower limbs to the device. The patient does not need to control the movement or actively exert force. The device guides the patient's lower limbs to execute the rehabilitation prescription in the predetermined manner, while ensuring that the output force output speed and position are within the comfortable range of the human body, avoiding pulling and compressing the limbs, and driving the lower limbs to move.

[0039] Following rehabilitation mode: The doctor inputs the personalized exercise rehabilitation prescription into the device and connects the patient's lower limbs to the device. The patient needs to have the intention to actively exercise and try to control the limbs to move according to the rehabilitation prescription. In this mode, the device assists and constrains the patient's limbs through a flexible control strategy. The force and position feedback can quickly identify the human body's movement intention, follow the human body to assist movement, ensure the rehabilitation effect and patient comfort, and realize the active and passive rehabilitation mode of active human body and passive equipment movement;

[0040] Antagonistic rehabilitation mode: Force and position feedback can realize human weight-bearing training. By applying resistance to the patient during the movement of a predetermined trajectory, the patient confronts the human body in the established trajectory, training the lower limb coordination ability and muscle strength, and achieving further rehabilitation effects.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A horizontal lower limb rehabilitation robot with planar arbitrary trajectory motion based on rigid-flexible hybrid drive, which is characterized by: It comprises an adjustable frame (001), a lower limb fixing module (002), a rope driving module (003), a linear-rotational two-degree-of-freedom motion arm (004) and a lower limb bearing module (005); The adjustable frame (001) comprises adjustable casters (101), a frame chassis (102), a lifting column (103), a pedal connecting plate (104) and a lifting column connecting seat (105), wherein the adjustable casters (101) are fixed to the four corners of the frame chassis (102), the lifting column (103) is fixed to the crossbeam of the frame chassis (102), and the two symmetrical pedal connecting plates (104) are fixed to the top of the lifting column (103) through the lifting column connecting seat (105); The rope drive module (003) comprises two rope drive motor racks (303), and the two rope drive motor racks (303) are symmetrically mounted on the pedal connection plate (104); The linear-rotational two-degree-of-freedom motion arm (004) realizes the main plane rigid motion and is composed of two symmetrical groups of structures, which are symmetrically mounted on two pedal connecting plates (104). A lower limb bearing module (005) is symmetrically mounted on each group of structures. Each lower limb bearing module (005) is rotatably mounted with a lower limb fixing module (002). Each lower limb fixing module (002) is connected to a rope driving module (003) on the same side via a rope.

2. According to claim 1, a horizontal lower limb rehabilitation robot with planar arbitrary trajectory motion based on rigid-flexible hybrid drive, characterized in that: The linear-rotational two-degree-of-freedom motion arms (004) are provided with two sets corresponding to the lower limbs of the human body and are symmetrically installed. Each set of linear-rotational two-degree-of-freedom motion arms (004) comprises a linear module (401), a joint motor (402), a joint seat (403) and a rotating arm (404); a slider provided on the linear module (401) is moved by the operation of a servo motor to realize translational freedom, the joint seat (403) is fixed on the slider of the linear module (401), the outer ring of the joint motor (402) is fixedly connected to the joint seat (403), and finally the rotating arm (404) is connected to the end of the harmonic reducer of the joint motor (402) to realize the rotational movement of the rotating arm (404), so that the end of the rotating arm (402) can realize arbitrary trajectory movement in the motion space; the two rotating arms (402) are symmetrically inwardly designed at the ends to make the spacing the narrowest, so that the human body can reduce the abduction angle of the legs during the movement.

3. According to claim 1, a horizontal lower limb rehabilitation robot with planar arbitrary trajectory motion based on rigid-flexible hybrid drive, characterized in that: The lower limb fixation module (002) comprises a rope traction leg support (201) and a foot fixation device (202); the foot of the user is fixed by the foot fixation device (202), the rope traction leg support (201) is fixed to the calf near the knee, and a rope traction ring is provided on the rope traction leg support (201).

4. A horizontal lower limb rehabilitation robot with planar arbitrary trajectory motion based on rigid-flexible hybrid drive according to claim 1 or 3, characterized in that: The rope drive module (003) further comprises a rope drive motor (301), a rope drive reducer (302) and a driving rope wheel (304); the rope drive motor frame (303) is in the shape of a "7", comprising a horizontal barrel and an inclined rod, and the horizontal barrel parts of the two rope drive motor frames (303) are connected together; a rope drive reducer (302) and a rope drive motor (301) connected to the rope drive reducer (302) are installed inside the horizontal barrel of each rope drive motor frame (303); the driving rope wheel (304) is located on the outside of the horizontal barrel of the rope drive motor frame (303), and is fixed on the output shaft of the rope drive reducer (302) and rotates therewith, the rope is wound around the driving rope wheel (304), and the other end of the rope passes through the rope traction ring provided on the rope traction leg support (201).

5. A horizontal lower limb rehabilitation robot with planar arbitrary trajectory motion based on rigid-flexible hybrid drive according to claim 2 or 3, characterized in that: The lower limb bearing module (005) comprises two symmetrical groups of traction leg support fixing frames (501), a first connecting arm (502), a second connecting arm (503) and a pedal connecting plate (504); the traction leg support fixing frame (501) is fixed together with the rope traction leg support (201), and is fixed on the connecting shaft of the first connecting arm (502), and the two components can rotate relative to each other; the connecting shaft of the first connecting arm (502) is connected to the end of the rotating arm (404), and can rotate relative to each other; the second shaft of the first connecting arm (502) is connected to the first axial direction of the second connecting arm (503), the second shaft of the second connecting arm (503) is connected to the rotating shaft of the pedal connecting plate (504), and the buckle groove of the pedal connecting plate (504) is connected to the buckle of the foot fixing device (202); the axes of the lower limb bearing module (005) are at an angle to each other, so that the human body posture is naturally relaxed while ensuring the position of the ankle joint, and the posture changes during the movement of the robot are adapted to the human body movement process, thereby ensuring the comfort of movement.

6. An application of a planar arbitrary trajectory horizontal lower limb rehabilitation robot based on rigid-flexible hybrid drive, which is characterized by: The invention comprises using a planar arbitrary trajectory motion horizontal lower limb rehabilitation robot based on rigid-flexible hybrid drive as described in any one of claims 1 to 5, wherein a doctor inputs a sports rehabilitation prescription into the robot, and the doctor adjusts the height of a lifting column (103) of an adjustable frame (001) to match the bed position, the patient and the initial position; the patient's foot is fixed to the bottom plate of a lower limb fixation module (002) and fixed by a foot fixing device (202) so that the ankle position is fixed on the robot, and the leg is fixed to a rope traction leg support (201), and the rope traction leg support (201) wraps the calf and is connected to the rope; the robot performs rehabilitation exercises including three working modes; Guided rehabilitation mode: The doctor inputs the exercise rehabilitation prescription into the robot, and connects the patient's lower limbs to the robot. The patient does not need to control the movement or actively exert force. The robot guides the patient's lower limbs to execute the rehabilitation prescription in a predetermined manner, while ensuring that the output force speed and position are within the comfortable range of the human body, avoiding pulling and oppression of the limbs, and driving the lower limbs to move; Following rehabilitation mode: The doctor inputs the personalized exercise rehabilitation prescription into the robot and connects the patient's lower limbs to the robot. The patient needs to have the intention to actively move and try to control the limbs to move according to the rehabilitation prescription. In this mode, the robot assists and constrains the patient's limbs through flexible control strategies. The force and position feedback can quickly identify the human body's movement intention, follow the human body to assist movement, ensure the rehabilitation effect and patient comfort, and realize the active and passive rehabilitation mode of human active movement and robot passive movement; Countermeasure rehabilitation mode: The doctor inputs the exercise rehabilitation prescription into the device, connects the patient's lower limbs to the device, and applies resistance to the patient during the movement of the predetermined trajectory. Force and position feedback are used to achieve human weight-bearing training. Resistance is applied to the patient during the movement of the predetermined trajectory, and the patient confronts the human body in the established trajectory, thereby training the lower limb coordination ability and muscle strength to achieve further rehabilitation effects.

7. The application of a planar arbitrary trajectory horizontal lower limb rehabilitation robot based on rigid-flexible hybrid drive according to claim 6, characterized in that: The robot obtains the linear guide output thrust and joint torque in real time during work, calculates the end output force, installs a force sensor at the end, and adjusts the movement of the human body and equipment in time through different preset operating strategies.

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