Constant-speed multi-position rehabilitation exoskeleton module, robot and control method

Abstract

The invention discloses a constant-speed multi-position rehabilitation exoskeleton module, a robot and a control method.The constant-speed multi-position rehabilitation exoskeleton module comprises a driving assembly, a thigh mechanism and a shank mechanism which are connected to a skeleton base, the thigh mechanism is connected with the shank mechanism, and the thigh mechanism and the shank mechanism are connected with the driving assembly; the thigh mechanism comprises a thigh connecting assembly and a thigh binding piece, the thigh connecting assembly is rotationally connected with the skeleton base, the driving assembly is connected with the thigh connecting assembly, the thigh binding piece is arranged on the thigh connecting assembly, and the thigh binding piece is worn on the thigh of the user; the shank mechanism comprises a shank connecting assembly and a shank binding piece, the shank connecting assembly is rotationally connected with the skeleton base, the driving assembly is connected with the shank connecting assembly, the shank binding piece is arranged on the shank connecting assembly, and the shank binding piece is worn on the shank of the user. According to the invention, constant-speed muscle strength training of multiple joints can be realized, and the exercise rehabilitation efficiency and the muscle strength evaluation precision are improved.

Description

Technical Field

[0001] The present application relates to the technical field of rehabilitation exoskeleton robots, and in particular to a constant-speed multi-position rehabilitation exoskeleton module, a robot and a control method. Background Art

[0002] Isokinetic training has been proven to be an effective neuromuscular training method that combines the advantages of isotonic and isometric exercises. It is often used for limb rehabilitation training and muscle strength assessment and has been widely used in various cycles of rehabilitation treatment. Isokinetic exercise is a muscle strength training method that maintains a constant speed and variable muscle antagonistic resistance during limb movement. Compared with traditional isometric and isotonic training, it has the advantages of promoting synchronous contraction of muscle fibers and preventing muscle and joint movement injuries. At present, isokinetic muscle strength training devices use different adapters for specific joints during training, set the joint limit movement speed, and the subject actively exerts force to obtain muscle strength parameters such as peak torque, peak torque angle, joint flexion and extension ratio, exercise power, range of motion, etc. The disadvantages of existing isokinetics are: (1) When facing rehabilitation assessment and training scenarios, the joint movement paradigm of the isokinetics is single, and only one joint can be trained at a time. Except for the isokinetic closed-chain mode, it is impossible to achieve a multi-joint movement paradigm and cannot meet the function-oriented coordinated training of multiple joints. The isokinetic closed-chain mode requires the installation of an additional adapter and can only be trained on a linear trajectory. (2) Isokinetic machines are expensive, complicated to operate, and large in size. When training bilateral limb switching, the equipment adjustment is complicated and inconvenient. For most patients, they do not need to use all the joint training functions of the isokinetic machine, which can be regarded as a waste of resources. Therefore, there is a lack of miniaturized and targeted rehabilitation equipment that can be used in homes, hospitals, and other places.

[0003] Lower limb exoskeleton is a wearable robotic device designed to enhance or restore the motor ability of the lower limbs, especially in gait and walking. It is widely used in the fields of medical treatment, rehabilitation, assisting the elderly in activities, and enhancing human strength. It provides force support and movement assistance through robotic devices to help rehabilitation patients recover motor function, improve gait, etc., especially for patients with spinal cord injury, stroke, and stroke, which can significantly improve the quality of life. At the same time, rehabilitation exoskeleton rehabilitation not only reduces the workload of physical therapists and saves rehabilitation costs, but also provides objective data to evaluate the rehabilitation progress of the rehabilitation patients, making it easier for physical therapists to formulate reasonable rehabilitation strategies. Nowadays, exoskeleton robots have begun to gradually achieve higher flexibility and adaptability, and can adapt to different postures and positions. Traditional lower limb exoskeleton devices are generally only effective in a fixed position, while multi-position exoskeletons require smooth transitions between different positions and provide more degrees of freedom and flexibility. The disadvantages of existing rehabilitation exoskeletons are: (1) They are mainly designed for muscle force compensation, play a power role, and drive the patient's lower limb movement. The joint output torque is small, and it is impossible to achieve the training form of isokinetic movement. (2) Multi-joint exoskeletons are mainly serial structures. The actuators near the end will become loads, increasing the rotational inertia of the exoskeleton. Considering its mass, it is impossible to choose actuators with large output torque. (3) It cannot cover the vast majority of the population. Most of the existing exoskeletons are mainly for patients with lower limb dysfunction such as stroke and stroke. They cannot meet the needs of muscle strength training and assessment for normal people.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The main purpose of this application is to provide an isokinetic multi-position rehabilitation exoskeleton module, robot and control method, aiming to solve the problem that the isokinetic device in the prior art can only train one joint at a time and cannot achieve the purpose of coordinated training of multiple joints, and the lower limb exoskeleton aims at muscle force compensation, and the joint output torque is small and cannot achieve the purpose of isokinetic movement.

[0006] In a first aspect, an embodiment of the present application provides an isokinetic multi-position rehabilitation exoskeleton module, the isokinetic multi-position rehabilitation exoskeleton module comprising a driving assembly, a thigh mechanism and a calf mechanism respectively connected to the skeletal base, the thigh mechanism being connected to the calf mechanism, the thigh mechanism and the calf mechanism being respectively connected to the driving assembly; the thigh mechanism comprising a thigh engaging assembly and a thigh binding, the thigh engaging assembly being rotatably connected to the skeletal base, the driving assembly being connected to the thigh engaging assembly, the thigh binding being arranged on the thigh engaging assembly, and the thigh binding being worn on the thigh of the user; the calf mechanism comprising a calf engaging assembly and a calf binding The calf connection component is rotatably connected to the skeletal base, the driving component is connected to the calf connection component, the calf binding is arranged on the calf connection component, and the calf binding is worn on the calf of the user; the thigh connection component corresponds to the length of the user's thigh, and the calf connection component corresponds to the length of the user's thigh and calf. When the driving component controls the thigh connection component and / or the calf connection component to rotate, the thigh connection component drives the user to perform hip joint training through the thigh binding, and / or the calf connection component drives the user to perform knee joint training through the calf binding.

[0007] Optionally, in one embodiment of the present application, the thigh engagement component includes a thigh fixing member and a thigh sliding member, the thigh fixing member is connected to the driving member, the thigh sliding member is slidably connected to the thigh fixing member, the thigh binding member is arranged on the thigh fixing member, and the position of the thigh sliding member on the thigh fixing member is adjusted so that the length of the thigh fixing member and the thigh sliding member corresponds to the thigh length of the user; the calf engagement component includes a calf driving member, a calf transmission member, a calf transmission connecting member, a calf fixing member and a calf sliding member, the calf driving member is connected to the driving member, and the calf binding member is arranged on the thigh fixing member. The transmission member is connected to the calf driving member, the calf transmission connecting member is slidably connected to the calf transmission member, the calf fixing member is connected to the calf transmission connecting member, the calf sliding member is slidably connected to the calf fixing member, and the calf binding member is arranged on the calf sliding member. The position of the calf transmission connecting member on the calf transmission member is adjusted so that the lengths of the calf transmission member and the calf transmission connecting member correspond to the thigh length of the user, and the position of the calf sliding member on the calf fixing member is adjusted so that the lengths of the calf fixing member and the calf sliding member correspond to the calf length of the user.

[0008] Optionally, in one embodiment of the present application, the calf connection assembly also includes a first virtual constraint member and a second virtual constraint member, the two ends of the first virtual constraint member are respectively connected to the calf transmission member and the thigh fixing member, and the two ends of the second virtual constraint member are respectively connected to the transmission connecting member and the thigh sliding member.

[0009] Optionally, in one embodiment of the present application, the skeletal base includes a first support base and a second support base; the thigh fixing member includes a first fixing member, a second fixing member and a connecting shaft, the first fixing member is rotatably connected to the first support base, the second fixing member is rotatably connected to the second support base, the connecting shaft connects the same side ends of the first fixing member and the second fixing member, and the first fixing member moves synchronously with the second fixing member; the thigh sliding member includes a first sliding member, a second sliding member and a thigh shaft, the first sliding member is slidably connected to the first fixing member, the second sliding member is slidably connected to the second fixing member, the thigh shaft connects the same side ends of the first sliding member and the second sliding member, the first sliding member moves synchronously with the second sliding member, and the thigh binding member is installed on the first fixing member or the second fixing member through a thigh binding fixing block.

[0010] Optionally, in one embodiment of the present application, the calf transmission member includes a first transmission member, a second transmission member and a first driving shaft, the first driving shaft connects the same side ends of the first transmission member and the second transmission member, one end of the calf driving member is rotatably connected to the connecting shaft, the other end of the calf driving member is connected to the first driving shaft, the first transmission member is arranged opposite to the first fixed member, and the second transmission member is arranged opposite to the second fixed member; the calf transmission connecting member includes a first transmission connecting member, a second transmission connecting member and a second driving shaft, the second driving shaft connects the same side ends of the first transmission connecting member and the second transmission connecting member, the first transmission connecting member is slidably connected to the first transmission member, the second transmission connecting member is slidably connected to the second transmission member, and the first transmission The connecting member is arranged opposite to the first sliding member, and the second transmission connecting member is arranged opposite to the second sliding member. The lengths of the first transmission member and the first transmission connecting member are the same as the lengths of the first fixing member and the first sliding member; the calf fixing member includes a third fixing member and a fourth fixing member, and the same side ends of the third fixing member and the fourth fixing member are connected to the second driving shaft, and the third fixing member moves synchronously with the fourth fixing member; the calf sliding member includes a third sliding member and a fourth sliding member, the third sliding member is slidably connected to the third fixing member, and the fourth sliding member is slidably connected to the fourth fixing member, and the third sliding member moves synchronously with the fourth sliding member, and the calf binding member is installed on the third sliding member or the fourth sliding member through the calf binding fixing block.

[0011] Optionally, in one embodiment of the present application, the driving assembly includes a hip joint motor, a knee joint motor, a hip joint sensor and a knee joint sensor, the hip joint motor is connected to the thigh fixation component, the hip joint sensor is connected to the hip joint motor, the knee joint motor is connected to the calf driving component, the knee joint sensor is connected to the knee joint motor, the hip joint sensor is used to measure hip joint torque, and the knee joint sensor is used to measure knee joint torque.

[0012] Optionally, in one embodiment of the present application, the isokinetic multi-position rehabilitation exoskeleton module also includes an ankle mechanism, which is connected to the calf mechanism; the ankle mechanism includes a pedal and an adjusting member, the pedal is fixedly connected to the adjusting member, the adjusting member is rotatably connected relative to the calf sliding member, and the position of the pedal on the adjusting member is adjusted so that the position of the pedal corresponds to the position of the sole of the user, and when the pedal rotates relative to the calf sliding member, the user is driven to perform ankle joint training.

[0013] Optionally, in one embodiment of the present application, the ankle mechanism also includes an ankle motor and a knee joint sensor, the ankle motor is fixedly connected to the calf slide, the ankle sensor is connected to the ankle motor, the adjustment member is connected to the knee joint sensor, the ankle motor controls the rotation of the pedal through the adjustment member, so that the user performs ankle joint training, and the ankle sensor performs ankle joint torque measurement.

[0014] A second aspect of an embodiment of the present application also provides a constant-speed multi-position rehabilitation exoskeleton robot, wherein the constant-speed multi-position rehabilitation exoskeleton robot includes a constant-speed multi-position rehabilitation exoskeleton module and a seat module as described in any one of the above-mentioned schemes, the skeleton base of the constant-speed multi-position rehabilitation exoskeleton module is fixedly connected to the seat module, the seat module is used to be occupied by a user, and the constant-speed multi-position rehabilitation exoskeleton module is used to be worn by a user.

[0015] The third aspect of the embodiments of the present application also provides a control method for the isokinetic multi-position rehabilitation exoskeleton module based on any one of the above-mentioned schemes, wherein the control method includes: after the user puts on the thigh binding and the calf binding, when a passive training mode is adopted, the driving component controls the thigh connection component and the calf connection component to rotate according to preset parameters, so that the thigh binding and the calf binding drive the user to perform hip and knee joint muscle strength training at the same time; when an active training mode is adopted, according to the measured torque during the user's leg force process, the driving component controls the thigh connection component and the calf connection component to rotate at a set speed according to the measured torque, so that the thigh binding and the calf binding drive the user to perform isokinetic muscle strength training of the hip and knee joints at the same time.

[0016] Beneficial effects: The present application provides an isokinetic multi-posture rehabilitation exoskeleton module, a robot and a control method. In the exoskeleton module, a driving component is used to control the thigh connection component and the thigh binding of the thigh mechanism and the calf connection component and the calf binding of the calf mechanism, so that the thigh connection component drives the user to perform hip joint training through the thigh binding, and the calf connection component drives the user to perform knee joint training through the calf binding, thereby realizing isokinetic muscle strength training of multiple joints (including hip joints and knee joints), achieving precise isokinetic control, and improving the efficiency of sports rehabilitation and the accuracy of muscle strength assessment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A stereoscopic diagram of a preferred embodiment of the isokinetic multi-position rehabilitation exoskeleton module of the present application;

[0019] Figure 2 This is a schematic diagram of the assembly of the thigh mechanism in a preferred embodiment of the isokinetic multi-position rehabilitation exoskeleton module of the present application;

[0020] Figure 3 This is a schematic diagram of the assembly of the calf mechanism in a preferred embodiment of the isokinetic multi-position rehabilitation exoskeleton module of the present application;

[0021] Figure 4 This is a schematic diagram showing the principle of the length adjustment part in a preferred embodiment of the isokinetic multi-position rehabilitation exoskeleton module of the present application;

[0022] Figure 5 This is a schematic diagram of the assembly of the ankle mechanism in a preferred embodiment of the isokinetic multi-position rehabilitation exoskeleton module of the present application;

[0023] Figure 6 An isometric view of the lower limb three-degree-of-freedom constant-speed multi-position rehabilitation exoskeleton robot assembly that can be mirrored in this application;

[0024] Figure 7 This is a schematic diagram used in a preferred embodiment of the isokinetic multi-position rehabilitation exoskeleton robot of the present application;

[0025] Figure 8 It is a flow chart of a preferred embodiment of the control method of the isokinetic multi-position rehabilitation exoskeleton module of the present application.

[0026] Description of reference numerals:

[0027] 1. Seat module; 2. Exoskeleton module; 11. Adjustable seat; 12. Base; 21. Thigh mechanism; 22. Calf mechanism; 23. Ankle mechanism; 24. Skeleton base;

[0028] 2401, skeleton base; 2402, support and adjustment universal wheel; 2403, first support base (i.e., left support base); 2406, second support base (i.e., right support base); 2405, front side reinforcement piece; 2404, rear side reinforcement piece;

[0029] 2101, hip joint motor; 2102, hip joint sensor; 2103, hip joint output gear; 2104, hip joint transmission gear; 2105, first bearing; 2106, hip joint secondary gear; 2107, second bearing; 2108, first fixing member (i.e., left thigh fixing rod); 2109, third bearing; 2110, length adjustment nut; 2111, fourth bearing; 2112, first sliding member (i.e., left thigh sliding rod); 2113, fifth bearing; 2114, thigh shaft pressure cover; 2115, thigh shaft; 2116, thigh sliding limit groove; 2117, thigh adjustment pressure plate; 2118, thigh binding fixing block; 2119, thigh binding member; 2120, hip joint transmission shaft; 2121, second sliding member (right thigh sliding rod); 2122, second fixing member (right thigh fixing rod);

[0030] 2201, knee joint motor; 2202, knee joint sensor; 2203, knee joint output gear; 2204, knee joint transmission gear; 2205, knee joint transmission shaft; 2206, sixth bearing; 2207, knee joint secondary gear; 2208, seventh bearing; 2209, calf drive member (i.e., calf drive rod); 2210, first drive shaft; 2211, eighth bearing; 2212, second transmission member (i.e., calf right transmission fixing rod); 2213, virtual constraint shaft; 2214, first transmission member (i.e., calf left transmission fixing rod); 2215, first virtual constraint member (i.e., first virtual constraint connecting rod); 2216, first adjusting nut; 2217, second transmission connecting member (i.e., 2218, eleventh bearing; 2219, virtual constraint connector; 2220, second virtual constraint (i.e., second virtual constraint connecting rod); 2221, second drive shaft; 2222, ninth bearing; 2223, tenth bearing; 2224, fourth fixing member (i.e., right side fixing rod of calf); 2225, third fixing member (i.e., left side fixing rod of calf); 2226, second adjusting nut; 2227, calf adjusting plate; 2228, first reinforcing member; 2229, third sliding member (i.e., left side sliding rod of calf); 2230, second reinforcing member; 2231, fourth sliding member (i.e., right side sliding rod of calf); 2232, calf binding fixing block; 2233, calf binding member;

[0031] 2301, ankle joint motor; 2302, adapter; 2303, ankle joint sensor; 2304, pedal height adjustment; 2305, third adjustment nut; 2306, pedal front and rear adjustment; 2307, fourth adjustment nut; 2308, pedal.

[0032] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and effect of the present application clearer and more specific, the technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. The described embodiments are only possible technical implementations of the present application, not all possible implementations. Based on the embodiments in the present application, those skilled in the art can completely combine the embodiments of the present application to obtain other embodiments without creative work, and these embodiments are also within the scope of protection of the present application.

[0034] The following describes the isokinetic multi-position rehabilitation exoskeleton module, robot and control method of the embodiment of the present application with reference to the accompanying drawings. In view of the above-mentioned related art that the isokinetic instrument can only train one joint at a time, cannot achieve the purpose of coordinated training of multiple joints, and the lower limb exoskeleton is aimed at muscle force compensation, and the joint output torque is small and cannot achieve the problem of isokinetic motion, the present application provides an isokinetic multi-position rehabilitation exoskeleton module, in which the thigh connection component and the thigh binding of the thigh mechanism and the calf connection component and the calf binding of the calf mechanism are controlled by the driving component, so that the thigh connection component drives the user to perform hip joint training through the thigh binding, and the calf connection component drives the user to perform knee joint training through the calf binding, so that isokinetic muscle strength training of multiple joints (including hip joints and knee joints) can be achieved, accurate isokinetic control is achieved, and the efficiency of sports rehabilitation and the accuracy of muscle strength assessment are improved. Thus, the technical problem that the isokinetic instrument can only train one joint at a time in the related art, cannot achieve the purpose of coordinated training of multiple joints, and the lower limb exoskeleton is aimed at muscle force compensation, and the joint output torque is small and cannot achieve the purpose of isokinetic motion is solved.

[0035] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0036] like Figure 1As shown, an embodiment of the present application provides an isokinetic multi-position rehabilitation exoskeleton module 2, the isokinetic multi-position rehabilitation exoskeleton module 2 includes a driving assembly, a thigh mechanism 21 and a calf mechanism 22 respectively connected to the skeletal base 24, the thigh mechanism 21 is connected to the calf mechanism 22, the thigh mechanism 21 and the calf mechanism 22 are respectively connected to the driving assembly; the thigh mechanism 21 includes a thigh connecting assembly and a thigh binding 2119, the thigh connecting assembly is rotatably connected to the skeletal base 24, the driving assembly is connected to the thigh connecting assembly, the thigh binding 2119 is arranged on the thigh connecting assembly, and the thigh binding 2119 is worn on the thigh of the user; the calf mechanism 22 includes a calf connection component and a calf binding, the calf connection component is rotatably connected to the skeletal base 24, the driving component is connected to the calf connection component, the calf binding is arranged on the calf connection component, and the calf binding is worn on the calf of the user; the thigh connection component corresponds to the length of the user's thigh, and the calf connection component corresponds to the length of the user's thigh and calf. When the driving component controls the thigh connection component and / or the calf connection component to rotate, the thigh connection component drives the user to perform hip joint training through the thigh binding 2119, and / or the calf connection component drives the user to perform knee joint training through the calf binding.

[0037] It should be noted that the traditional isokinetic joint can only train one joint at a time, and the multi-joint motion paradigm cannot be achieved except for the isokinetic closed-chain mode. The isokinetic closed-chain mode requires the installation of an additional adapter and can only be trained in a linear trajectory. The traditional lower limb exoskeleton is mainly designed for muscle force compensation, which plays a power-assisting role and drives the patient's lower limb movement. The joint output torque is small, and it is impossible to achieve an efficient training form such as isokinetic movement. The present application uses an exoskeleton to achieve single-joint or multi-joint training of the lower limbs (such as two joints of the hip and knee or three joints of the hip, knee and ankle). Each joint can achieve isokinetic movement, and can also achieve coordinated training of multiple joints in the sagittal plane of the lower limbs, meeting task-oriented rehabilitation needs. At the same time, it can cover the vast majority of people, including patients with stroke and other diseases for rehabilitation purposes and healthy people who undergo muscle strength training and assessment.

[0038] Specifically, the driving assembly includes a hip joint motor 2101, a hip joint sensor 2102, a transmission gear and a fixed rod, etc., which are used to drive and support the thigh mechanism 21 to achieve isokinetic training of the hip joint; the driving assembly also includes a knee joint motor 2201, a knee joint sensor 2202, a transmission gear and a driving rod, etc., which are used to drive and support the calf knee joint to achieve isokinetic training of the knee joint, and through gear and connecting rod transmission, the distance between the calf driving rod and the first driving shaft axis is synchronously adjusted when the thigh length is adjusted. The skeleton base 24 serves as the supporting structure of the lower limb exoskeleton module 2, including a skeleton base 2401, a supporting and adjusting universal wheel 2402 and a reinforcement, etc., to ensure the stability and adjustability of the equipment.

[0039] See also Figure 1 The exoskeleton base 24 includes a skeleton base 2401, a support and adjustment universal wheel 2402, a left support base 2403, a right support base 2406, a front reinforcement 2405 and a rear reinforcement 2404. Several profiles are connected by fasteners to form the skeleton base 2401. The four corners of the bottom end of the skeleton base 2401 are connected to the four support and adjustment universal wheels 2402 by fasteners. The left support base 2403, the right support base 2406, the front reinforcement 2405 and the rear reinforcement 2404 are connected by fasteners to ensure that the bottom surface is flush, and then connected to the upper surface of the skeleton base 2401 by fasteners.

[0040] In one embodiment of the present application, Figure 2 and Figure 3 As shown, the thigh connection component includes a thigh fixing part and a thigh sliding part, the thigh fixing part is connected to the driving component, the thigh sliding part is slidably connected to the thigh fixing part, the thigh binding part 2119 is arranged on the thigh fixing part, and the position of the thigh sliding part on the thigh fixing part is adjusted so that the length of the thigh fixing part and the thigh sliding part corresponds to the thigh length of the user; the calf connection component includes a calf driving part 2209, a calf transmission part, a calf transmission connecting part, a calf fixing part and a calf sliding part, the calf driving part 2209 is connected to the driving component, and the calf transmission part The calf drive member 2209 is connected to the calf drive member 2209, the calf transmission connector is slidably connected to the calf transmission member, the calf fixing member is connected to the calf transmission connector, the calf sliding member is slidably connected to the calf fixing member, and the calf binding member is arranged on the calf sliding member. The position of the calf transmission connector on the calf transmission member is adjusted so that the length of the calf transmission member and the calf transmission connector corresponds to the thigh length of the user, and the position of the calf sliding member on the calf fixing member is adjusted so that the length of the calf fixing member and the calf sliding member corresponds to the calf length of the user.

[0041] In one embodiment of the present application, Figure 2 As shown, the skeleton base 24 includes a first support base 2403 and a second support base 2406; the thigh fixing member includes a first fixing member 2108, a second fixing member 2122 and a connecting shaft, the first fixing member 2108 is rotatably connected to the first support base 2403, the second fixing member 2122 is rotatably connected to the second support base 2406, the connecting shaft connects the same side ends of the first fixing member 2108 and the second fixing member 2122, and the first fixing member 2108 and the second fixing member 2122 move synchronously; the thigh sliding member includes a first sliding member The first sliding member 2112 is slidably connected to the first fixing member 2108, the second sliding member 2121 is slidably connected to the second fixing member 2122, the thigh shaft 2115 connects the same side ends of the first sliding member 2112 and the second sliding member 2121, the first sliding member 2112 and the second sliding member 2121 move synchronously, and the thigh binding member 2119 is installed on the first fixing member 2108 or the second fixing member 2122 through the thigh binding fixing block 2118.

[0042] In one embodiment of the present application, the driving assembly includes a hip joint motor 2101, a knee joint motor 2201, a hip joint sensor 2102 and a knee joint sensor 2202, the hip joint motor 2101 is connected to the thigh fixing member, the hip joint sensor 2102 is connected to the hip joint motor 2101, the knee joint motor 2201 is connected to the calf driving member 2209, the knee joint sensor 2202 is connected to the knee joint motor 2201, the hip joint sensor 2102 is used to measure the hip joint torque, and the knee joint sensor 2202 is used to measure the knee joint torque.

[0043] See also Figure 2In the thigh mechanism 21, the hip joint motor 2101 is fixedly connected to the left support base 2403 by fasteners, and the hip joint motor 2101 is ensured to be concentric with the corresponding notches of the left support base 2403 during installation. The hip joint sensor 2102 is fixedly connected to the hip joint motor 2101 by fasteners, and the hip joint output gear 2103 is connected to the hip joint sensor 2102 by fasteners, and concentricity is ensured during installation. The hip joint transmission gear 2104 is meshed with the hip joint output gear 2103 and is fixedly connected to the hip joint transmission shaft 2120 by fasteners. The outer diameters of both ends of the hip joint transmission shaft 2120 are matched with the inner diameter of the first bearing 2105 at the same time. The first bearing 2105 is respectively installed in the bearing holes corresponding to the left support base 2403 and the right support base 2406. The hip joint secondary gear 2106 is meshed with the intermediate gear of the hip joint transmission shaft 2120. The gear parameters of the intermediate gear of the hip joint transmission shaft 2120 are the same as those of the hip joint transmission gear 2104, and the gear parameters of the hip joint secondary gear 2106 are the same as those of the hip joint output gear 2103. The two gear sets realize that the rotation direction, speed, and torque of the hip joint secondary gear 2106 are consistent with the hip joint output gear 2103 at the output end of the motor. The hip joint secondary gear 2106 is fixedly connected to the left thigh fixing rod 2108 through a fastener, and the left thigh fixing rod 2108 is fixedly connected to the right thigh fixing rod 2122 through a fastener, and both are matched with the second bearing 2107 at the same time. The second bearing 2107 is respectively installed in the bearing holes corresponding to the left support base 2403 and the right support base 2406. The third bearing 2109, the fourth bearing 2111 and the fifth bearing 2113 are respectively installed in the bearing holes corresponding to the left thigh fixing rod 2108 and the right thigh fixing rod 2122. The thigh length adjustment nuts 2110 on both sides pass through the corresponding holes of the left thigh fixing rod 2108, the left thigh sliding rod 2112, the right thigh fixing rod 2122, and the right thigh sliding rod 2121, respectively, and are fixedly connected to the thigh adjustment pressing plate 2117 to achieve the fixation of the thigh after the adjustment. The thigh shaft 2115 is fixedly connected to the thigh shaft pressure cover 2114 by fasteners and passes through the fifth bearing 2113. The thigh sliding limit groove 2116 is fixedly connected to the left thigh fixing rod 2108 and the right thigh fixing rod 2122 by fasteners at the upper and lower ends, respectively, to ensure that the center lines of the left thigh sliding rod 2112 and the right thigh sliding rod 2121 always coincide with the center lines of the left thigh fixing rod 2108 and the right thigh fixing rod 2122. The thigh binding fixing block 2118 is fixedly connected to the left thigh fixing rod 2108 or the right thigh fixing rod 2122 by fasteners according to different training legs, and is also fixedly connected to the thigh binding piece 2119. During training, the thigh binding 2119 fits tightly against the thigh of the trainee (ie, the user).

[0044] It can be understood that the sliding part is adjusted according to the trainer's leg length to align the joint axis with the exoskeleton. Because the fixed part is longer than the sliding part, the binding installed on the fixed part is basically in the middle of the thigh and calf, which can fix the binding position. Binding is to fix the leg and the exoskeleton, and sliding is to adjust the length of the exoskeleton to the same as the leg length; the thigh binding is on the corresponding fixed part, and the calf binding is on the corresponding sliding part.

[0045] In one embodiment of the present application, Figure 3 As shown, the calf transmission member includes a first transmission member 2214, a second transmission member 2212 and a first drive shaft 2210, the first drive shaft 2210 connects the same side ends of the first transmission member 2214 and the second transmission member 2212, one end of the calf driving member 2209 is rotatably connected to the connecting shaft, the other end of the calf driving member 2209 is connected to the first drive shaft 2210, the first transmission member 2214 is arranged opposite to the first fixing member 2108, and the second transmission member 2212 is arranged opposite to the second fixing member 2122; the calf transmission connecting member includes a first transmission connecting member, a second transmission connecting member 2217 and a second drive shaft, the second drive shaft connects the same side ends of the first transmission connecting member and the second transmission connecting member 2217, the first transmission connecting member is slidably connected to the first transmission member 2214, and the second transmission connecting member 2217 is slidably connected to the On the second transmission member 2212, the first transmission connecting member is arranged opposite to the first sliding member 2112, the second transmission connecting member 2217 is arranged opposite to the second sliding member 2121, the lengths of the first transmission member 2214 and the first transmission connecting member are the same as the lengths of the first fixing member 2108 and the first sliding member 2112; the calf fixing member includes a third fixing member and a fourth fixing member, the same side ends of the third fixing member and the fourth fixing member are connected to the second driving shaft, and the third fixing member moves synchronously with the fourth fixing member; the calf sliding member includes a third sliding member and a fourth sliding member, the third sliding member is slidably connected to the third fixing member, the fourth sliding member is slidably connected to the fourth fixing member, the third sliding member moves synchronously with the fourth sliding member, and the calf binding member is installed on the third sliding member or the fourth sliding member through the calf binding fixing block.

[0046] In one embodiment of the present application, Figure 3 As shown, the calf connection assembly also includes a first virtual constraint member 2215 and a second virtual constraint member 2220, wherein the two ends of the first virtual constraint member 2215 are respectively connected to the calf transmission member and the thigh fixing member, and the two ends of the second virtual constraint member 2220 are respectively connected to the transmission connecting member and the thigh sliding member.

[0047] It should be noted that the first virtual constraint 2215 and the second virtual constraint 2220 are used to ensure that the distance between the calf drive member 2209 (calf drive rod) and the axis of the second drive shaft is adjusted synchronously when the thigh length is adjusted, thereby improving transmission accuracy and angle accuracy.

[0048] See also Figure 3In the calf mechanism 22, the knee joint motor 2201 is fixedly connected to the right support base 2406 by fasteners, and the corresponding notches of the knee joint motor 2201 and the right support base 2406 are ensured to be concentric during installation. The knee joint sensor 2202 is fixedly connected to the knee joint motor 2201 by fasteners, and the knee joint output gear 2203 is connected to the knee joint torque sensor 2202 by fasteners, and concentricity is ensured during installation. The knee joint transmission gear 2204 is meshed with the knee joint output gear 2203 and is fixedly connected to the knee joint transmission shaft 2205 by fasteners. The outer diameters of both ends of the knee joint transmission shaft 2205 are matched with the inner diameter of the sixth bearing 2206 at the same time, and the bearing 2206 is respectively installed in the corresponding bearing holes of the left support base 2403 and the right support base 2406. The knee joint secondary gear 2207 is meshed with the middle gear of the knee joint transmission shaft 2205. The gear parameters of the intermediate gear of the knee joint transmission shaft 2205 are the same as those of the knee joint transmission gear 2204, and the gear parameters of the knee joint secondary gear 2207 are the same as those of the knee joint output gear 2203. The two gear sets realize that the rotation direction, speed, and torque of the knee joint secondary gear 2207 are consistent with the knee joint output gear 2203 at the output end of the motor. The knee joint secondary gear 2207 is fixedly connected to the calf drive rod 2209 by fasteners. The inner diameter of the seventh bearing 2208 matches the stepped shaft corresponding to the left thigh fixing rod 2108 and the right thigh fixing rod 2122, and the outer diameter matches the calf drive rod 2209. The eighth bearing 2211 is respectively installed in the bearing holes corresponding to the calf drive rod 2209, the right calf transmission fixing rod 2212, and the left calf transmission fixing rod 2214, and the inner ring of the eighth bearing 2211 matches the first drive shaft 2210. The calf adjustment nut 2216 passes through the straight slot holes of the calf left transmission fixing rod 2214 and the calf right transmission fixing rod 2212 and is fixedly connected to the calf transmission sliding rod 2217 by fasteners to ensure that the position is fixed after the length is adjusted. The ninth bearing 2222 is installed in the corresponding bearing holes of the calf transmission sliding rod 2217, the calf left fixing rod 2225, and the calf right fixing rod 2224, and the inner ring is matched with the second drive shaft 2221. The tenth bearing 2223 is installed in the corresponding bearing holes of the calf left fixing rod 2225 and the calf right fixing rod 2224, and is matched with the thigh shaft 2115. The calf adjustment nut 22226 passes through the corresponding through holes of the calf left fixing rod 2225, the calf right fixing rod 2224, the calf left sliding rod 2229, and the calf right sliding rod 2231 and is fixedly connected to the calf adjustment pressing plate 2227 by fasteners to achieve fixation after the calf length is adjusted. The first reinforcement member 2228 and the second reinforcement member 2230 are respectively connected to the left calf sliding rod 2229 and the right calf fixing rod 2231 by fasteners to increase strength. The calf binding fixing block 2232 is respectively connected to the left calf sliding rod 2229 or the right calf sliding rod 2231 by fasteners according to different training legs, and is also connected to the calf binding member 2233.During training, the calf binding 2233 fits tightly against the trainer's calf.

[0049] Since the knee joint is driven by gears and connecting rods, when the thigh length is adjusted, the distance between the calf drive rod 2209 and the axis of the second drive shaft 2221 must also be adjusted synchronously, so as to ensure that the angle output by the knee joint motor 2201 can be accurately transmitted to the knee joint part of the exoskeleton. Manual adjustment will have errors, resulting in inconsistency between the thigh length and the distance between the calf drive rod 2209 and the axis of the second drive shaft 2221. Therefore, this application solves this problem by adding virtual constraints. Figure 3 As shown, the eleventh bearing 2218 is installed in the bearing holes corresponding to the calf left transmission fixing rod 2214, the calf right transmission fixing rod 2212, and the calf transmission sliding rod 2217, and the virtual constraint shaft 2213 passes through the upper end of the first virtual constraint link 2215 and the calf right transmission fixing rod 2212. The lower end of the first virtual constraint link 2215 cooperates with the bearing 2109. The upper end of the second virtual constraint link 2220 cooperates with the eleventh bearing 2218, and the lower end cooperates with the bearing 2111. The virtual constraint connector 2219 is fixedly connected to the second virtual constraint link 2220 by a fastener.

[0050] like Figure 4 As shown in (a), it further clearly shows that the present application uses virtual constraints to form a parallelogram. Here, the left thigh fixing rod 2108 and the right thigh fixing rod 2122 are regarded as CD, the left thigh sliding rod 2111 and the right thigh fixing rod 2122 are regarded as GH, the calf driving rod 2209 is regarded as AC, the right leg transmission fixing rod 2212 and the left calf transmission fixing rod 2214 are regarded as AB, the calf transmission sliding rod 2217 is regarded as EF, the left calf fixing rod 2225 and the right calf fixing rod 2224 are regarded as FHI, the first virtual constraint link 2215 is regarded as M1M2, and the second virtual constraint link 2220 is regarded as N1N2. The thigh CD and GH need to be adjusted in length according to the subject. Since the calf FHI is transmitted through AB and EF, it is necessary to ensure that AF and CH are always equal. Manual adjustment is not precise enough and will appear Figure 4 In the case of (b), the output angle of the knee joint motor is inconsistent with the rotation of the lower leg. Figure 4 In (c), two virtual constraint links M1M2 and N1N2 are added to form two parallelograms, AB and CD are always parallel, and EF and GH are always parallel. Figure 4 In the case of (d), the thigh sliding limit groove 2116 and the calf transmission sliding rod 2217 are regarded as EF, and the corresponding bosses and grooves on the left side fixing rod 2225 and the right side fixing rod 2224 of the calf ensure that the center lines of AB and CD, EF and GH are always in the same line. Figure 4Of the two situations (e) in Figure 4 and (f) in Figure 4, the second one is easy to exclude, thereby making the output angle of the knee joint motor inconsistent with the rotation of the calf.

[0051] In one embodiment of the present application, the isokinetic multi-position rehabilitation exoskeleton module 2 also includes the ankle mechanism 23, which is connected to the calf mechanism; the ankle mechanism 23 includes a pedal 2308 and an adjusting member, the pedal 2308 is fixedly connected to the adjusting member, the adjusting member is rotatably connected relative to the calf sliding member, and the position of the pedal 2308 on the adjusting member is adjusted so that the position of the pedal 2308 corresponds to the position of the sole of the user, and when the pedal 2308 rotates relative to the calf sliding member, the user is driven to perform ankle joint training.

[0052] In one embodiment of the present application, the ankle mechanism 23 also includes an ankle motor 2301 and an ankle sensor 2303, the ankle motor 2301 is fixedly connected to the calf sliding member, the ankle sensor 2303 is connected to the ankle motor 2301, the adjustment member is connected to the ankle sensor 2303, the ankle motor 2301 controls the rotation of the pedal 2308 through the adjustment member, so that the user performs ankle training, and the ankle sensor performs ankle torque measurement.

[0053] It should be noted that the ankle mechanism 23 includes an ankle joint motor, an ankle joint sensor and a pedal 2308, which are used to drive the ankle mechanism 23 to achieve isokinetic training of the ankle joint. The height and front and rear position of the pedal 2308 are adjustable to meet the needs of different subjects.

[0054] See also Figure 5 In the ankle mechanism 23, the ankle motor 2301 is fixedly connected to the right side sliding rod 2231 of the calf through a fastener, the adapter 2302 is fixedly connected to the ankle motor 2301 through a fastener, and the ankle sensor 2303 is fixedly connected to the adapter 2302 through a fastener. The pedal height adjustment 2304 is fixedly connected to the ankle sensor 2303 through a fastener. The third adjustment nut 2305 is fixedly connected to the pedal front and rear adjustment 2306 through the straight slot hole of the pedal height adjustment 2304 to ensure that the position is fixed after adjustment. The fourth adjustment nut 2307 is fixedly connected to the pedal 2308 through the straight slot hole of the pedal front and rear adjustment 2306 to ensure that the position is fixed after adjustment.

[0055] It can be understood that the thigh mechanism 21, the hip joint motor 2101 and the hip joint torque sensor 2102 provide drive and torque measurement of the hip joint; the hip joint transmission system (including gears and transmission shafts) realizes the rotational movement of the hip joint; the thigh length adjustment system (including sliding rods and adjustment nuts) allows adjustment according to the subject's leg length; and the thigh binding 2119 is used to fix the thigh mechanism to the subject's thigh. The calf mechanism 22, the knee joint motor 2201 and the knee joint torque sensor 2202 provide drive and torque measurement of the knee joint; the knee joint transmission system (including gears and transmission shafts) realizes the rotational movement of the knee joint; the calf length adjustment system (including sliding rods and adjustment nuts) allows adjustment according to the subject's leg length; the virtual constraint system (including virtual constraint connecting rods and bearings) ensures that the calf maintains the correct kinematic relationship when adjusting the length.

[0056] Based on the above embodiments, the present application also provides a constant speed multi-position rehabilitation exoskeleton robot, such as Figure 6 As shown, the isokinetic multi-position rehabilitation exoskeleton robot includes an isokinetic multi-position rehabilitation exoskeleton module and a seat module as described in any one of the above-mentioned schemes, the skeleton base of the isokinetic multi-position rehabilitation exoskeleton module is fixedly connected to the seat module, the seat module is used to be occupied by a user, and the exoskeleton module is used to be worn by a user.

[0057] It is worth noting that the present application aims at the problems of existing isokinetic dynamometers and lower limb exoskeletons. The mirrorable lower limb three-degree-of-freedom isokinetic multi-position rehabilitation exoskeleton robot of the present application has the following advantages: Compared with traditional isokinetic dynamometer equipment, it solves the problem of single rehabilitation paradigm. The present application can realize isokinetic muscle strength training of single or multiple joints, achieve precise isokinetic control, and improve the efficiency of sports rehabilitation and the accuracy of muscle strength assessment; traditional isokinetic machines need to readjust the seat angle and power head angle for different lower limbs on both sides, and the operation is cumbersome. The present application adopts a modular design, and the main structure of the exoskeleton module is mirrored, which can quickly adjust the position, facilitate bilateral training, and can also install the exoskeleton modules on both sides at the same time according to needs; compared with traditional lower limb exoskeletons, the present application adopts a series-parallel structure, and the knee joint and hip joint adopt a parallel structure. The hip joint and knee joint motors are fixed to the base, and the knee joint transmits torque through the transmission rod. Avoid placing it at the joint, which will cause the overall rotational inertia to increase, the control difficulty to increase, and the overall performance to decrease; the large torque actuator can meet the training needs of most people; this application can achieve seamless switching between sitting and lying positions, and realize multi-position rehabilitation training.

[0058] Specifically, Figure 6As shown, the seat module 1 and the lower limb exoskeleton module 2. The seat module 1 and the lower limb exoskeleton module 2 are connected by fasteners, and can be quickly disassembled and assembled. The seat module 1 includes an adjustable seat 11 and a seat base 12 that can adjust the front and rear position, height and backrest angle. The seat base 12 profiles are connected by fasteners, and the adjustable seat 11 and the seat base 12 are connected by fasteners. The lower limb exoskeleton module 2 includes a thigh mechanism 21, a calf mechanism 22, an ankle mechanism 23 and an exoskeleton base 24, and each part is connected by fasteners.

[0059] See also Figure 7 When in use, the lower limb exoskeleton module 2 is moved to the corresponding position of the seat module 1 according to the trained lower limbs, and is fixedly connected by fasteners. Figure 7 The ankle mechanism shown in (b) and (b) can be removed as a whole and changed in direction. The subject's hip joint, knee joint and ankle joint are aligned with the exoskeleton respectively, and the corresponding lengths of the thigh and calf are adjusted. The positions of the thigh bindings 2119 and 2233 are adjusted, and the bindings are fixed to the subject's thigh and calf, and the feet are fixed to the pedals. Figure 7 When performing single joint isokinetic or rehabilitation training as shown in (c), (d), and (e), when performing ankle joint training, the hip joint motor 2101 and the knee joint motor 2201 are disabled; when performing knee joint training, the hip joint motor 2101 and the ankle joint motor 2301 are disabled; when performing hip joint training, the knee joint motor 2201 and the ankle joint motor 2301 are disabled. When performing multi-joint isokinetic training or rehabilitation training, all motors are enabled. The present invention can also train both lower limbs at the same time, such as Figure 7 As shown in (f), two lower limb exoskeleton modules 2 are installed on the left and right sides.

[0060] It should be noted that traditional isokinetic operation is complicated, and different adapters need to be installed for the hip joint, knee joint, and ankle joint, and the corresponding power head angle, seat angle, position, etc. need to be manually adjusted. This application adopts the form of an exoskeleton. After adjusting the length of the exoskeleton thigh and calf and fixing it, the corresponding joint motor can be used according to the training joint disability without additional adjustment.

[0061] The application adopts a modular design, and the main structure of the exoskeleton module is mirror-symmetrical, so you can choose unilateral lower limb training or bilateral lower limb training according to your needs. During unilateral training, the traditional isokinetic instrument needs to readjust the power head angle, seat angle, position, etc. when changing the left or right lower limb. This application can directly move the exoskeleton module to the opposite side for quick adjustment. Since the main structure is mirror-symmetrical, you only need to adjust the binding position and the ankle joint.

[0062] This application realizes multi-position training through seamless conversion between sitting and lying positions, which not only provides more training options, but also greatly improves the flexibility and applicability of rehabilitation training, meets the training needs of different task orientations, and helps patients achieve their rehabilitation goals through personalized joint training.

[0063] Traditional isokinetics are huge in size, while traditional exoskeletons are mainly of series structure. In order to meet the needs of isokinetic training, this application adopts a series-parallel structure. The hip and knee joint actuators are installed on the base through a parallel structure design, and the gear set and connecting rod transmission are used to reduce the mass and inertia of the exoskeleton part. The torque required for the ankle joint is small, the actuator is light in weight, and is installed in series at the end to reduce the transmission structure. The series-parallel structure as a whole reduces the mass and inertia of the main part of the exoskeleton, reducing the difficulty of torque compensation and control. At the same time, a robot joint module is selected as the actuator. Compared with the traditional isokinetic instrument power head, it is smaller in size and lighter in weight, and has a miniaturized design to meet the needs of miniaturized lower limb rehabilitation equipment for homes, hospitals and other places.

[0064] In this application, since the knee joint adopts a parallel structure, it needs to be transmitted through a connecting rod. In order to meet the requirements of adjusting the length of the exoskeleton and ensure the transmission accuracy and angle accuracy, two sets of virtual constraint connecting rods are added.

[0065] It should be noted that in another embodiment, the driving method may be different, and the joint motor drive is replaced by a linear motor drive; the transmission method may be different, and the gear set and connecting rod drive is changed to a flexible Bowden cable drive; in another embodiment, the number of actuators may be different, changing the ankle joint from active to passive without a power source.

[0066] Based on the above embodiments, the present application also provides a control method for the isokinetic multi-position rehabilitation exoskeleton module based on any one of the above schemes, such as Figure 8 As shown, the control method of the isokinetic multi-position rehabilitation exoskeleton module includes the following steps:

[0067] In step S101, after the user puts on the thigh binding and the calf binding, when the passive training mode is adopted, the driving component controls the thigh connection component and the calf connection component to rotate according to preset parameters, so that the thigh binding and the calf binding drive the user to perform muscle strength training of the hip joint and the knee joint at the same time;

[0068] In step S102, when the active training mode is adopted, according to the measured torque during the leg force exertion of the user, the driving component controls the thigh connection component and the calf connection component to rotate at a set speed according to the measured torque, so that the thigh binding and the calf binding drive the user to perform isokinetic muscle strength training of the hip joint and the knee joint at the same time.

[0069] In the embodiment of the present application, the passive training function can be realized. The angle and speed are set to allow the exoskeleton to drive the human body to move. This is suitable for patients in the early stage of rehabilitation who do not have motor function, but the main emphasis here is on isokinetic training; the purpose of dynamic training is to stimulate the maximum muscle strength of the person. The angle and limit speed are set, the lower limbs actively exert force, and the sensor measures the torque. No matter how much force the person exerts, the corresponding joint of the exoskeleton must output the corresponding torque to ensure that the speed remains unchanged. This is suitable for the late stage of rehabilitation, with active movement ability, and lower limb training for healthy people.

[0070] The above control method of the present application is further described below through specific embodiments:

[0071] Step K10, installation and preparation: according to the lower limb to be trained (left or right), move the lower limb exoskeleton module to the corresponding position of the seat module and fix it with fasteners; if the other lower limb needs to be trained, the ankle mechanism can be removed as a whole and changed in direction, and then reinstalled in the corresponding position of the seat module; the subject adjusts the sitting posture so that the hip joint, knee joint and ankle joint are aligned with the various parts of the exoskeleton respectively; according to the length of the subject's lower limbs, adjust the length of the thigh and calf mechanisms to ensure that the exoskeleton fits the subject's lower limbs; adjust the position of the thigh binding and calf binding, fix them tightly to the subject's thigh and calf, and ensure that the foot and pedal are fixed.

[0072] Step K20, select the training mode: select single-joint isokinetic training, multi-joint isokinetic training or rehabilitation training mode according to training needs; in the single-joint training mode, select the corresponding motor to work according to the joint that needs to be trained (hip joint, knee joint or ankle joint), and the other motors are in a disabled state; when performing ankle joint training, the hip joint motor and the knee joint motor are disabled; when performing knee joint training, the hip joint motor and the ankle joint motor are disabled; when performing hip joint training, the knee joint motor and the ankle joint motor are disabled; in multi-joint isokinetic training or rehabilitation training mode, enable all motors to achieve coordinated training of multiple joints.

[0073] Step K30, start training: start the training program, the motor will drive the various parts of the exoskeleton to move according to the preset parameters (such as speed, angle, torque, etc.); the subject cooperates according to the training instructions and performs corresponding joint movements by feeling the drive of the exoskeleton; during the training process, the subject's joint movement, such as joint angle, speed, torque, etc., can be monitored in real time, and adjusted as needed.

[0074] Step K40, end training: when the scheduled training time is reached or the scheduled training task is completed, stop the training program; loosen the thigh and calf bindings to release the subject from the exoskeleton; clean and maintain the lower limb exoskeleton module as needed for next use.

[0075] In the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0076] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0077] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An isokinetic multi-position rehabilitation exoskeleton module, characterized in that: The isokinetic multi-position rehabilitation exoskeleton module comprises a driving assembly, a thigh mechanism and a calf mechanism respectively connected to a skeletal base, wherein the thigh mechanism is connected to the calf mechanism, and the thigh mechanism and the calf mechanism are respectively connected to the driving assembly; The thigh mechanism comprises a thigh engaging component and a thigh binding, wherein the thigh engaging component is rotatably connected to the skeleton base, the driving component is connected to the thigh engaging component, the thigh binding is arranged on the thigh engaging component, and the thigh binding is worn on the thigh of the user; The calf mechanism comprises a calf connection component and a calf binding, the calf connection component is rotatably connected to the skeletal base, the driving component is connected to the calf connection component, the calf binding is arranged on the calf connection component, and the calf binding is worn on the calf of the user; The thigh connecting component corresponds to the length of the user's thigh, and the calf connecting component corresponds to the length of the user's thigh and calf. When the driving component controls the thigh connecting component and / or the calf connecting component to rotate, the thigh connecting component drives the user to perform hip joint training through the thigh binding, and / or the calf connecting component drives the user to perform knee joint training through the calf binding.

2. The isokinetic multi-position rehabilitation exoskeleton module according to claim 1, characterized in that: The thigh engagement assembly includes a thigh fixing member and a thigh sliding member, the thigh fixing member is connected to the driving assembly, the thigh sliding member is slidably connected to the thigh fixing member, the thigh binding member is arranged on the thigh fixing member, and the position of the thigh sliding member on the thigh fixing member is adjusted so that the length of the thigh fixing member and the thigh sliding member corresponds to the thigh length of the user; The calf connection component includes a calf driving member, a calf transmission member, a calf transmission connecting member, a calf fixing member and a calf sliding member, the calf driving member is connected to the driving member, the calf transmission member is connected to the calf driving member, the calf transmission connecting member is slidably connected to the calf transmission member, the calf fixing member is connected to the calf transmission connecting member, the calf sliding member is slidably connected to the calf fixing member, the calf binding member is arranged on the calf sliding member, the position of the calf transmission connecting member on the calf transmission member is adjusted so that the lengths of the calf transmission member and the calf transmission connecting member correspond to the thigh length of the user, and the position of the calf sliding member on the calf fixing member is adjusted so that the lengths of the calf fixing member and the calf sliding member correspond to the calf length of the user.

3. The isokinetic multi-position rehabilitation exoskeleton module according to claim 2, characterized in that: The calf connection assembly also includes a first virtual constraint member and a second virtual constraint member, wherein the two ends of the first virtual constraint member are respectively connected to the calf transmission member and the thigh fixing member, and the two ends of the second virtual constraint member are respectively connected to the transmission connection member and the thigh sliding member.

4. The isokinetic multi-position rehabilitation exoskeleton module according to claim 3, characterized in that: The skeleton base includes a first support base and a second support base; The thigh fixing member includes a first fixing member, a second fixing member and a connecting shaft, the first fixing member is rotatably connected to the first support base, the second fixing member is rotatably connected to the second support base, the connecting shaft connects the same side ends of the first fixing member and the second fixing member, and the first fixing member and the second fixing member move synchronously; The thigh sliding member includes a first sliding member, a second sliding member and a thigh shaft, the first sliding member is slidably connected to the first fixing member, the second sliding member is slidably connected to the second fixing member, the thigh shaft connects the same side ends of the first sliding member and the second sliding member, the first sliding member moves synchronously with the second sliding member, and the thigh binding member is installed on the first fixing member or the second fixing member through a thigh binding fixing block.

5. The isokinetic multi-position rehabilitation exoskeleton module according to claim 4, characterized in that: The calf transmission member includes a first transmission member, a second transmission member and a first driving shaft, the first driving shaft connects the same side ends of the first transmission member and the second transmission member, one end of the calf driving member is rotatably connected to the connecting shaft, the other end of the calf driving member is connected to the first driving shaft, the first transmission member is arranged opposite to the first fixing member, and the second transmission member is arranged opposite to the second fixing member; The calf transmission connection member includes a first transmission connection member, a second transmission connection member and a second drive shaft, the second drive shaft connects the same side ends of the first transmission connection member and the second transmission connection member, the first transmission connection member is slidably connected to the first transmission member, the second transmission connection member is slidably connected to the second transmission member, the first transmission connection member is arranged opposite to the first sliding member, the second transmission connection member is arranged opposite to the second sliding member, and the lengths of the first transmission member and the first transmission connection member are the same as the lengths of the first fixing member and the first sliding member; The calf fixing member includes a third fixing member and a fourth fixing member, the same side ends of the third fixing member and the fourth fixing member are connected to the second driving shaft, and the third fixing member and the fourth fixing member move synchronously; The calf sliding member includes a third sliding member and a fourth sliding member, the third sliding member is slidably connected to the third fixing member, the fourth sliding member is slidably connected to the fourth fixing member, the third sliding member moves synchronously with the fourth sliding member, and the calf binding member is installed on the third sliding member or the fourth sliding member through a calf binding fixing block.

6. The isokinetic multi-position rehabilitation exoskeleton module according to claim 2, characterized in that: The driving assembly includes a hip joint motor, a knee joint motor, a hip joint sensor and a knee joint sensor. The hip joint motor is connected to the thigh fixing component, the hip joint sensor is connected to the hip joint motor, the knee joint motor is connected to the calf driving component, the knee joint sensor is connected to the knee joint motor, the hip joint sensor is used to measure the hip joint torque, and the knee joint sensor is used to measure the knee joint torque.

7. The isokinetic multi-position rehabilitation exoskeleton module according to claim 2, characterized in that: The isokinetic multi-position rehabilitation exoskeleton module further includes an ankle mechanism, which is connected to the calf mechanism; The ankle mechanism includes a pedal and an adjusting member, wherein the pedal is fixedly connected to the adjusting member, and the adjusting member is rotatably connected relative to the calf sliding member. The position of the pedal on the adjusting member is adjusted so that the position of the pedal corresponds to the position of the sole of the user, and when the pedal rotates relative to the calf sliding member, the user is driven to perform ankle joint training.

8. The isokinetic multi-position rehabilitation exoskeleton module according to claim 7, characterized in that: The ankle mechanism also includes an ankle motor and an ankle sensor, wherein the ankle motor is fixedly connected to the calf sliding member, the ankle sensor is connected to the ankle motor, the adjusting member is connected to the ankle sensor, the ankle motor controls the rotation of the pedal through the adjusting member, so that the user performs ankle training, and the ankle sensor measures ankle torque.

9. A constant-speed multi-position rehabilitation exoskeleton robot, characterized in that: The isokinetic multi-position rehabilitation exoskeleton robot includes the isokinetic multi-position rehabilitation exoskeleton module and the seat module as described in any one of claims 1 to 7, the skeleton base of the isokinetic multi-position rehabilitation exoskeleton module is fixedly connected to the seat module, the seat module is used to be occupied by a user, and the isokinetic multi-position rehabilitation exoskeleton module is used to be worn by a user.

10. A control method based on the isokinetic multi-position rehabilitation exoskeleton module according to any one of claims 1 to 8, characterized in that: The control method comprises: After the user puts on the thigh binding and the calf binding, when the passive training mode is adopted, the driving component controls the thigh connection component and the calf connection component to rotate according to preset parameters, so that the thigh binding and the calf binding drive the user to perform muscle strength training of the hip joint and the knee joint at the same time; When the active training mode is adopted, according to the measured torque of the user during the leg force process, the driving component controls the thigh connection component and the calf connection component to rotate at a set speed according to the measured torque, so that the thigh binding and the calf binding drive the user to perform isokinetic muscle strength training of the hip joint and the knee joint at the same time.

Images