A lower limb rehabilitation robot system oriented towards proprioceptive training

Abstract

A lower limb rehabilitation robot system for proprioceptive training, belonging to the field of robotics, includes a weight-reducing frame, a gait trajectory generation unit, an ankle joint angle generation unit, VR glasses, a wireless EEG acquisition device, and a wireless surface electromyography (EMG) acquisition device. The gait trajectory generation unit is a dual-axis parallel positioning system that outputs a gait trajectory simulating normal human walking. The ankle joint angle generation unit is disposed in each of the gait trajectory generation units and can slide relative to them. The VR glasses are coupled to the user via a head-mounted connection, providing a virtual environment. The wireless EEG acquisition device is coupled to the user via a head-mounted connection, and the wireless EMG acquisition device is coupled to the user via adhesive attachment. This application enables users to simultaneously perform proprioceptive rehabilitation training while engaging multiple joints and muscle groups in holistic movements.

Description

Technical Field

[0001] This invention relates to a rehabilitation training robot, specifically a lower limb rehabilitation robot system oriented towards proprioceptive training, belonging to the field of robotics technology. Background Technology

[0002] In recent years, the number of patients suffering from lower limb motor dysfunction has been increasing. On the one hand, due to the aging population, there is a growing number of patients with cerebrovascular emergencies such as stroke and Parkinson's syndrome, or neurodegenerative diseases. These diseases often affect lower limb motor function, leading to symptoms such as bradykinesia, gait disturbances, and balance disorders. Approximately 83% of stroke survivors after surgery will have residual balance dysfunction, severely reducing their motor performance and preventing them from independently reintegrating into social life. Proprioception is a crucial component of limb motor function, and current medical research demonstrates that proprioceptive impairment exacerbates limb dysfunction. Training targeting proprioception can help patients recover motor function.

[0003] Existing neuromuscular proprioceptive enhancement techniques mostly rely on rehabilitation therapists. The effectiveness of rehabilitation training directly depends on the therapist's experience, and the large amount of repetitive training places a significant burden on therapists. Furthermore, the current number of rehabilitation therapists is limited, with only a very small number of hospitals able to provide enough therapists to meet patients' rehabilitation needs.

[0004] With the development of technology, robot-assisted rehabilitation training has effectively made up for the above-mentioned shortcomings, providing sufficient repetitive training in a quantitative manner to ensure training quality. However, current rehabilitation training functions are limited. For example, existing gait rehabilitation training robots can only provide single rehabilitation training. According to the principle of neuromuscular proprioceptive facilitation technology, patients need to perform holistic movements involving multiple joints and muscle groups, rather than single muscle activities. At the same time, they need to enhance joint mobility, stability, control, and the skills to complete compound movements. Existing rehabilitation training robots cannot meet the training goals of multi-joint and multi-muscle group involvement in actual movement, which can easily lead to the solidification of patients' gait patterns, making it impossible for them to walk normally after leaving the rehabilitation training device, thus failing to achieve the best rehabilitation training effect.

[0005] In summary, most existing neuromuscular proprioceptive enhancement technologies rely on rehabilitation therapists. Even with robot assistance, they can only provide single rehabilitation training and cannot meet the training goals of multiple joints and muscle groups involved in actual movement. This can easily lead to the solidification of patients' gait patterns, making it impossible for them to walk normally after leaving the rehabilitation training device, and also prevents them from achieving the best rehabilitation training results. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and propose a lower limb rehabilitation training robot system for proprioceptive training. This robot system can meet the user's needs for overall movement involving multiple joints and multiple muscle groups, while simultaneously conducting rehabilitation training for the user's proprioception.

[0007] A lower limb rehabilitation robot system for proprioceptive training includes a weight-reducing frame, a gait trajectory generation unit, an ankle joint angle generation unit, VR glasses, a wireless EEG acquisition device, and a wireless surface electromyography acquisition device.

[0008] The gait trajectory generating unit has two symmetrically arranged units. The gait trajectory generating unit is a dual-axis parallel positioning system to output a gait trajectory that simulates a person walking normally. The ankle joint angle generating unit is set in each of the gait trajectory generating units and can slide relative to the gait trajectory generating unit.

[0009] The weight-reducing bracket is not rigidly connected to the gait trajectory generating unit and the ankle joint angle generating unit. In use, the weight-reducing bracket is wrapped and fixed to the human body placed in the ankle joint angle generating unit by binding straps.

[0010] The VR glasses are coupled to the human body via a head-mounted design and are used to provide virtual scenes for users based on the motion trajectory settings of the gait trajectory generation unit and the ankle joint angle generation unit.

[0011] The wireless EEG acquisition device is coupled to the human body via a headband and is used to measure the patient's brain activity information during training; the wireless surface electromyography acquisition device is coupled to the human body via an adhesive attachment and is used to measure the patient's muscle activation information during training.

[0012] Furthermore, each gait trajectory generating unit includes a gait trajectory generating module base, a driver, a moving crossbeam, a timing belt, and a pulley assembly. The moving crossbeam is vertically slidably mounted on the gait trajectory generating module base. The pulley assembly is distributed on the gait trajectory generating module base and the moving crossbeam, and after being wound around an open timing belt, the two ends of the timing belt are located below the moving crossbeam and connected by a clamp to form a closed loop. The clamp is slidably mounted on the moving crossbeam and can move in the horizontal direction. The driver is a motor, with two symmetrically distributed motors. The driver is mounted on the gait trajectory generating module base and is used to drive the movement of the timing belt in the closed loop. The ankle joint angle generating unit is mounted on the clamp.

[0013] Furthermore, motor one is mounted on the outer side plate one of the column via reducer one, and the outer side plate one and the inner side plate one of the column are mounted on column two; motor two is mounted on the outer side plate two of the column via reducer two, and the outer side plate two and the inner side plate two of the column are mounted on column two. A synchronous belt pulley group one is mounted on the output shaft of reducer one, and a synchronous belt pulley group two is mounted on the output shaft of reducer two. Synchronous belt pulley groups one and two are rotatably distributed on the inner side plate one and the inner side plate two of the column. A rotatable pulley group is mounted on the top of the outer side plate one and the inner side plate one of the column, and a rotatable pulley group is mounted on the top of the outer side plate two and the inner side plate two of the column. Vertical slide rails one and two are distributed on the outer surfaces of the outer side plate one and the inner side plate two of the column, and the moving crossbeam slides in contact with slide rails one and two.

[0014] Furthermore, the ankle joint angle generating unit includes a pedal, a drive mechanism, and an actuator; the drive mechanism is connected to the actuator and is used to drive the actuator to move; the output end of the actuator is connected to the pedal and is used to drive the pedal to perform spherical rotational motion to match the rotational motion of the ankle joint; the pedal has a binding strap to fix the foot.

[0015] The advantages of this invention compared to the prior art are:

[0016] This application designs a gait trajectory generation unit, whose driver drives a synchronous belt to output a gait trajectory simulating normal human walking, improving the accuracy of gait fitting. An ankle joint angle generation unit is designed to fit the rotational movement of the ankle joint, overcoming the problem that simple dorsiflexion of the ankle joint cannot achieve good rehabilitation training results, enabling comprehensive ankle joint rehabilitation training and improving the effectiveness of ankle joint rehabilitation training. The VR glasses in the system can provide users with virtual scenes such as cement roads, slopes, gravel roads, and sandy areas based on the motion settings of the motion generation unit, facilitating visual stimulation during exercise training with different parameter settings. Wireless EEG and wireless surface electromyography (EMG) acquisition devices are coupled to the human body via head-mounted and adhesive methods, used to measure the patient's brain activity and muscle activation in real time during training, assisting users in online recording and real-time adjustment during exercise training with different parameter settings.

[0017] The present application will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the lower limb rehabilitation robot system for proprioceptive training as described in this application.

[0019] Figure 2 This is a schematic diagram of the three-dimensional structure of the gait trajectory generation unit;

[0020] Figure 3 This is a side view showing the connection between the gait trajectory generation unit and the ankle joint angle generation unit;

[0021] Figure 4 This is the left view of the ankle joint angle generating unit;

[0022] Figure 5 This is a three-dimensional structural diagram of the ankle joint angle generating unit;

[0023] Figure 6 This is a schematic diagram of the drive mechanism in the ankle joint angle generation unit;

[0024] Figure 7 This is a schematic diagram showing the connection between the drive mechanism and the actuator;

[0025] Figure 8 This is a schematic diagram showing the connection between the connecting part and the rotating part. Detailed Implementation

[0026] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application have the ordinary meanings understood by those skilled in the art.

[0027] Reference Figure 1 This embodiment provides a lower limb rehabilitation robot system for proprioceptive training, which includes a weight-reducing frame 1, a gait trajectory generation unit 2, an ankle joint angle generation unit 3, VR glasses, a wireless EEG acquisition device, and a wireless surface electromyography acquisition device.

[0028] The gait trajectory generation unit 2 has two symmetrically arranged units, which are symmetrical about the sagittal plane. The gait trajectory generation unit 2 is a dual-axis parallel positioning system to output the gait trajectory that simulates a person walking normally, thereby improving the accuracy of gait fitting. The ankle joint angle generation unit 3 is set in each of the gait trajectory generation units 2 and can slide relative to the gait trajectory generation unit 2. The ankle joint angle generation unit 3 is used to fit the rotational movement of the ankle joint.

[0029] The weight-reducing bracket 1 is an independent unit, and it is not rigidly connected to the gait trajectory generation unit 2 or the ankle joint angle generation unit 3.

[0030] When in use, the weight-reducing bracket 1 is wrapped and fixed to the human body placed in the ankle joint angle generating unit 3 by the binding strap, providing safety protection for the person during exercise.

[0031] The VR glasses are coupled to the human body via a head-mounted connection and are used to provide virtual scenes for the user based on the movement trajectories of the gait trajectory generation unit 2 and the ankle joint angle generation unit 3. For example, the VR glasses can provide the user with virtual scenes such as cement roads, slopes, gravel roads, and sandy areas based on the movement trajectories of the gait trajectory generation unit 2 and the ankle joint angle generation unit 3, so as to provide visual stimulation for the user when performing exercise training with different parameter settings.

[0032] The wireless EEG acquisition device is coupled to the human body via a head-mounted interface to measure the patient's brain activity information during training; the wireless surface electromyography (EMG) acquisition device is coupled to the human body via an adhesive interface to measure the patient's muscle activation information during training. The design of the wireless EEG and wireless surface EMG acquisition devices facilitates online recording and real-time adjustment for users during exercise training with different parameter settings.

[0033] Furthermore, refer to Figures 2-3 Each of the gait trajectory generating units 2 includes a gait trajectory generating module base 20, a driver, a moving crossbeam 210, a timing belt 222, and a pulley block;

[0034] The movable crossbeam 210 is vertically slidably mounted on the gait trajectory generation module base. The pulley system is distributed on the gait trajectory generation module base and the movable crossbeam 210. After being wound around an open synchronous belt 222, the two ends of the synchronous belt 222 are located below the movable crossbeam 210 and are connected by a clamp to form a closed loop. The clamp is slidably mounted on the movable crossbeam 210 and can move in the horizontal direction. The driver is mounted on the gait trajectory generation module base to drive the movement of the synchronous belt 222 in the closed loop. The ankle joint angle generation unit 3 is mounted on the clamp.

[0035] Each of the moving beams 210 has eight pulley sets wound around an open synchronous belt 222. The two ends of the synchronous belt 222 are located below the moving beams 210 and are connected to the clamps 220 through clamp 1 219 to form a closed loop. The open end of the synchronous belt 222 is pressed. Two pulley sets are provided at each end of the moving beams 210. The gait trajectory generation module base has two symmetrically distributed pulley sets. The driver has two symmetrically distributed pulley sets. Each driver has a pulley set arranged at its output end to drive the movement of the synchronous belt.

[0036] Specifically, each of the gait trajectory generation module bases includes a first column 207, a second column 208, and a crossbeam 209. The crossbeam 209 connects the first column 207 and the second column 208, and pulley blocks are distributed on the top of the first column 207 and the second column 208.

[0037] The driver is a motor, with two symmetrically distributed motors. Motor 205 is mounted on the outer side plate 213 of the column via a reducer 211. The outer side plate 213 and the inner side plate 217 of the column are mounted on the second column 207. Motor 206 is mounted on the outer side plate 214 of the column via a reducer 212. The outer side plates 214 and 218 of the column are mounted on the second column 208. The output shaft of the reducer 211 is equipped with a synchronous belt pulley block 215. The output shaft of reducer 212 is equipped with a synchronous belt pulley assembly 216. Synchronous belt pulley assembly 1 215 and synchronous belt pulley assembly 216 are rotatably mounted on the inner side plate 1 217 and the inner side plate 218 of the column, supported by flange bosses on the two inner side plates. A rotatable pulley assembly is mounted on the top of the outer side plate 1 213 and the inner side plate 1 217 of the column, and a rotatable pulley assembly is mounted on the top of the outer side plate 214 and the inner side plate 218 of the column. Vertical slide rail 1 is distributed on the outer side of the outer side plate 213 and the inner side plate 217 of the column, and vertical slide rail 2 is distributed on the outer side of the outer side plate 214 and the inner side plate 218 of the column. The moving crossbeam 210 slides in contact with slide rail 1 and slide rail 2 so that the ankle joint angle generating unit 3 is driven to move forward and backward by the gait trajectory generating unit 2. At the same time, under the action of the foot, the gait trajectory generating unit 2 can move vertically up and down along slide rail 1 and slide rail 2, thereby realizing the all-round movement of the ankle joint and simulating human gait operation, and achieving the purpose of proprioceptive training.

[0038] Furthermore, refer to Figure 4 and Figure 5 The ankle joint angle generating unit 3 includes a pedal 31, a drive mechanism 32, and an actuator 33. The drive mechanism 32 is connected to the actuator 33 and is used to drive the actuator 33 to move. The output end of the actuator 33 is connected to the pedal 31 and is used to drive the pedal to perform spherical rotational motion to match the rotational motion of the ankle joint. The pedal 31 has a binding strap to fix the foot.

[0039] Specifically, the drive mechanism 32 includes a worm gear assembly 321, a housing 322, and a drive assembly 323; the drive assembly 323 includes a first motor 3231, a second motor 3232, and a third motor 3233, and each worm gear assembly 321 includes a worm wheel and a worm; the housing 322 is connected to the clamp, and the worm gear assembly is arranged sequentially from top to bottom inside the housing 322, with the first worm wheel 3214, the second worm wheel 3215, and the third worm wheel 3212 respectively meshing with the first worm 3213, the second worm 3216, and the third worm 3211; one end of the first worm 3213, the second worm 3216, and the third worm 3211 is connected to the output shaft of the first drive motor 3232, the second drive motor 3233, and the third drive motor 3231 respectively, and the other end of the worm is connected to the output shaft of the third drive motor 3231. The inner ring of a bearing is connected separately; the outer ring of the bearing is fixed to the inner wall of the housing 32 or fixed to the inner wall of the housing 32 via a bearing seat. A first rotating member 324, a second rotating member 325, and a third rotating member 326 are respectively fixedly connected to a first worm gear 3214, a second worm gear 3215, and a third worm gear 3212. Both the first rotating member 324 and the second rotating member 325 are annular. The first rotating member 324 is sleeved around the second rotating member 325, and the second rotating member 325 is sleeved around the third rotating member 326. The first rotating member 324, the second rotating member 325, and the third rotating member 326 are respectively connected to a first rotating shaft 327, a second rotating shaft 328, and a third rotating shaft 329. The first rotating shaft 327, the second rotating shaft 328, and the third rotating shaft 329 are connected to an actuator 33. Optionally, the actuator 33 is designed as a spherical actuator.

[0040] The first base plate 3221 and the second base plate 3222 are the bases of the ankle joint angle generating unit 3, and are connected to the first clamp 219 and the second clamp 220 to realize the connection between the gait trajectory generating unit 2 and the ankle joint angle generating unit 3.

[0041] Furthermore, the actuator 33 includes a connector 331 and a support 332. There are three connectors 331. One end of each connector 331 is connected to the first rotating shaft 327, the second rotating shaft 328 and the third rotating shaft 329 respectively, and the other end is connected to the support 332. The support 332 is used to set the pedal 31.

[0042] Reference Figure 7 The bottom of the housing 32 is provided with a support 3201, the upper part of the support 3201 is provided with a lower bearing seat 3202, and a lower bearing is provided in the lower bearing seat 3202. The third rotating member 326 includes a lower rotating shaft 3261 and an upper rotating shaft fixedly connected to the lower rotating shaft 3261. The lower end of the lower rotating shaft 3261 is connected to the inner ring of the lower bearing. The upper end of the lower rotating shaft 3261 is axially provided with a connecting hole. The lower end of the upper rotating shaft passes through the connecting hole. The upper end of the upper rotating shaft is connected to the third external connector 329.

[0043] The third worm gear 3212 has a first stepped hole at its center, and the lower shaft 3261 has a first stepped part 32611 in its middle. The first stepped part 32611 is adapted to the first stepped hole and is fixedly connected to the third worm gear 3212 and the lower shaft 3261.

[0044] The third motor 3231 is connected to the first base plate 3221 via the first vertical plate 3223. The other end of its output shaft is fixed to the second vertical plate 3224. The output shaft is connected to the third worm gear 3211. The third worm gear 3211 and the third worm wheel 3212 together form a worm gear transmission. The third rotating member 326 drives the third rotating shaft 329 to output. The third rotating shaft 329 forms a rotating pair with the connecting member 331 of the actuator 33, driving the actuator 33 to rotate. The support member 332 is connected to the end pedal 31, driving the end pedal 31 to rotate.

[0045] The first motor 3232 is connected to the first base plate 3221 via the third vertical plate 3225. The other end of its output shaft is fixed to the first vertical plate 3223. The output shaft is connected to the first worm gear 3213. The first worm gear 3213 and the first worm wheel 3214 together form a worm gear transmission. The first rotating member 324 drives the third rotating shaft 327 to output. The third rotating shaft 327 forms a rotating pair with the connecting member 331 of the actuator 33, driving the actuator 33 to rotate. The support member 332 is connected to the end pedal 31, driving the end pedal 31 to rotate.

[0046] The second motor 3233 is connected to the second base plate 3222 via the fourth vertical plate 3226. The other end of its output shaft is fixed to the second vertical plate 3224. The output shaft is connected to the second worm gear 3216. The second worm gear 3216 and the second worm wheel 3215 together form a worm gear transmission. The second rotating member 325 drives the second rotating shaft 328 to output. The second rotating shaft 328 forms a rotating pair with the connecting member 331 of the actuator 331, driving the actuator 331 to rotate. The support member 332 is connected to the end pedal 31, driving the end pedal 31 to rotate.

[0047] Furthermore, the connector 331 includes a first connecting sub-component 3311 and a second connecting sub-component 3312. The first end of the first connecting sub-component 3311 is hinged to the inclined portion of the first rotating shaft 327, the second rotating shaft 328, or the third rotating shaft 329. The second end of the first connecting sub-component 3311 is hinged to the first end of the second connecting sub-component 3312. The second end of the second connecting sub-component 3312 is connected to the support member 332. The connection position between the second connecting sub-component 3312 and the support member 332 can be fixed. Alternatively, the second connecting sub-component 3312 and the support member 332 can be an integral structure. In this case, the rotation center of the actuator 33 is fixed. However, in use, different trainees may have slightly different ankle heights. If the rotation center of the actuator 33 is fixed, it is not convenient to apply to different training groups.

[0048] like Figure 8 As shown, each rotating shaft is provided with an inclined portion, and the inclined portion is provided with a sliding groove. A screw 2161 is inserted through the lower end of the first hinge portion of the first connecting sub-part 3311. After the screw 2161 passes through the sliding groove, a nut 2162 is connected. When the nut is loosened, the screw 2161 can slide in the sliding groove, which is the connection position between the first connecting sub-part 311 and the first external connecting part 327. When the nut 2162 is tightened, the position of the screw 2161 is locked and cannot slide in the sliding groove, that is, the connection position between the first connecting sub-part 3311 and the first external connecting part 327 is fixed. At this time, the first connecting sub-part 3311 can only rotate relative to the first external connecting part 327, but cannot slide. When the first external connecting part 327 reciprocates, the first connecting sub-part 3311 swings accordingly.

[0049] To facilitate the rotation of the screw 2161, a protrusion is provided in the middle of the circumferential groove on the third external connector 329. Flange bearings 2163, adapted to the screw 2161, are provided on both the upper and lower sides of the protrusion. The outer ring of the flange bearing 2163 contacts the groove, and the inner ring of the flange bearing 2163 contacts the screw 2161. When the screw 2161 slides within the groove, the flange bearings 2163 improve the smoothness of its rotation. The protruding outer edge of the flange bearing 2163 is engaged with the outer wall of the first external connector 215 to prevent the flange bearing 2163 from slipping into the groove 2153.

[0050] The gait trajectory generation unit 2 in the above-described embodiment outputs a gait trajectory that simulates normal human walking, improving the accuracy of gait fitting. The drive mechanism 32 drives the execution mechanism 33 to move, which in turn drives the pedal 31 to perform a spherical rotational motion, fitting the rotational motion of the ankle joint. The foot can be strapped to the pedal, and the movement of the pedal 31 causes the foot to rotate around the ankle joint, thus performing rotational motion of the ankle joint and providing comprehensive rehabilitation training. This conforms to the physiological structure and movement characteristics of the human ankle joint, improving the effectiveness of ankle joint rehabilitation training. The VR glasses in the system can provide users with virtual scenes such as cement roads, slopes, gravel roads, and sandy areas based on the movement settings of the motion generation unit, facilitating visual stimulation during exercise training with different parameter settings. The wireless EEG acquisition device and wireless surface electromyography acquisition device are coupled to the human body through head-mounted and adhesive methods, used to measure the patient's brain activity and muscle activation in real time during training, assisting users in online recording and real-time adjustment during exercise training with different parameter settings.

[0051] This application has disclosed the preferred embodiments as above, but it is not intended to limit this application. Any person skilled in the art who can make some changes or modifications to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A lower limb rehabilitation robot system for proprioceptive training, characterized in that: It includes a weight-reducing frame (1), a gait trajectory generation unit (2), an ankle joint angle generation unit (3), VR glasses, a wireless EEG acquisition device, and a wireless surface electromyography acquisition device; The gait trajectory generating unit (2) has two symmetrically arranged units. The gait trajectory generating unit (2) is a dual-axis parallel positioning system to output the gait trajectory that simulates a person walking normally. The ankle joint angle generating unit (3) is set in each of the gait trajectory generating units (2) and can slide relative to the gait trajectory generating unit (2). In use, the weight-reducing bracket (1) is wrapped and fixed to the human body placed in the ankle joint angle generating unit (3) by binding straps. Each gait trajectory generating unit (2) includes a gait trajectory generating module base (20), a driver, a moving crossbeam (210), a timing belt (222), and a pulley system. The moving crossbeam (210) is vertically slidably mounted on the gait trajectory generating module base. The pulley system is distributed on the gait trajectory generating module base and the moving crossbeam (210). After being wound around an open timing belt (222), the two ends of the timing belt (222) are located below the moving crossbeam (210) and are connected by a clamp to form a closed loop. The clamp is slidably mounted on the moving crossbeam (210) and can move in the horizontal direction. The driver is set... The gait trajectory generation module base is used to drive the closed-loop synchronous belt (222) to move. The ankle joint angle generation unit (3) is installed on the clamp. Each of the moving beams (210) has eight pulley sets that are wound around an open synchronous belt (222). They are connected to clamp one (219) and clamp two (220) to form a closed loop. The open end of the synchronous belt (222) is pressed. Two pulley sets are provided at both ends of the moving beam (210). The gait trajectory generation module base has two symmetrically distributed pulley sets. The driver has two symmetrically distributed pulley sets. Each driver has a pulley set arranged at its output end. The VR glasses are coupled to the human body by wearing them on a head and are used to provide virtual scenes for users based on the motion trajectory settings of the gait trajectory generation unit (2) and the ankle joint angle generation unit (3). The wireless EEG acquisition device is coupled to the human body via a headband and is used to measure the patient's brain activity information during training; the wireless surface electromyography acquisition device is coupled to the human body via an adhesive attachment and is used to measure the patient's muscle activation information during training.

2. The lower limb rehabilitation robot system for proprioceptive training according to claim 1, characterized in that: Each of the gait trajectory generation module bases includes a first column (207), a second column (208), and a crossbeam (209). The crossbeam (209) connects the first column (207) and the second column (208). Pulley blocks are distributed on the top of the first column (207) and the second column (208).

3. The lower limb rehabilitation robot system for proprioceptive training according to claim 2, characterized in that: The driver is a motor, with two symmetrically distributed motors. Motor 1 (205) is installed on the outer side plate 1 (213) of the column through reducer 1 (211). The outer side plate 1 (213) and the inner side plate 1 (217) of the column are installed on the second column (207). Motor 2 (206) is mounted on the outer side plate 2 (214) of the column via reducer 2 (212). The outer side plate 2 (214) and the inner side plate 2 (218) of the column are mounted on the column 2 (208). The output shaft of reducer 1 (211) is equipped with synchronous belt pulley group 1 (215), and the output shaft of reducer 2 (212) is equipped with synchronous belt pulley group 2 (216). Synchronous belt pulley group 1 (215) and synchronous belt pulley group 2 (216) are rotatably mounted on the inner side plate 1 (217) and the inner side plate of the column, respectively. Two (218), a rotatable pulley set is installed on the top of the outer side plate one (213) and the inner side plate one (217) of the column, a rotatable pulley set is installed on the top of the outer side plate two (214) and the inner side plate two (218) of the column, a vertical slide rail one is distributed on the outer side of the outer side plate one (213) and the inner side plate one (217) of the column, and a vertical slide rail two is distributed on the outer side of the outer side plate two (214) and the inner side plate two (218) of the column, and the moving crossbeam (210) slides in contact with the slide rail one and the slide rail two.

4. The lower limb rehabilitation robot system for proprioceptive training according to claim 1, characterized in that: The ankle joint angle generating unit (3) includes a pedal (31), a drive mechanism (32), and an actuator (33); the drive mechanism (32) is connected to the actuator (33) and is used to drive the actuator (33) to move. The output end of the actuator (33) is connected to the pedal (31) and is used to drive the pedal to perform spherical rotational motion to fit the rotational motion of the ankle joint. The pedal (31) has a binding strap to fix the foot.

5. The lower limb rehabilitation robot system for proprioceptive training according to claim 4, characterized in that: The drive mechanism (32) includes a worm gear assembly (321), a housing (322), and a drive assembly (323). The drive assembly (323) includes a first motor (3231), a second motor (3232), and a third motor (3233). Each worm gear assembly (321) includes a worm wheel and a worm. The housing (322) is connected to the clamp. A worm gear assembly is arranged sequentially from top to bottom inside the housing (322). The first worm wheel (3214), the second worm wheel (3215), and the third worm wheel (3212) are respectively meshed with the first worm (3213), the second worm (3216), and the third worm (3211). One end of the first worm (3213), the second worm (3216), and the third worm (3211) is respectively connected to the output shaft of the first drive motor (3232), the second drive motor (3233), and the third drive motor (3231). The first rotating component (324), the second rotating component (325), and the third rotating component (326) are fixedly connected to the wheel (3214), the second rotating component (325), and the third rotating component (326). The first rotating component (324) and the second rotating component (325) are both annular. The first rotating component (324) is sleeved on the periphery of the second rotating component (325), and the second rotating component (325) is sleeved on the periphery of the third rotating component (326). The first rotating component (324), the second rotating component (325), and the third rotating component (326) are respectively connected to the first rotating shaft (327), the second rotating shaft (328), and the third rotating shaft (329). The first rotating shaft (327), the second rotating shaft (328), and the third rotating shaft (329) are connected to the actuator (33).

6. The lower limb rehabilitation robot system for proprioceptive training according to claim 5, characterized in that: The actuator (33) includes a connector (331) and a support (332). There are three connectors (331). One end of each connector (331) is connected to a first rotating shaft (327), a second rotating shaft (328), and a third rotating shaft (329), respectively, and the other end is connected to the support (332). The support (332) is used to set the pedal (31).

7. The lower limb rehabilitation robot system for proprioceptive training according to claim 6, characterized in that: The connector (331) includes a first connector (3311) and a second connector (3312). The first end of the first connector (3311) is hinged to the inclined portion of the first rotating shaft (327), the second rotating shaft (328) or the third rotating shaft (329). The second end of the first connector (3311) is hinged to the first end of the second connector (3312). The second end of the second connector (3312) is connected to the support member (332).

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