Isokinetic multi-body position rehabilitation exoskeleton module, robot and control method

Abstract

The application discloses an isokinetic multi-body position rehabilitation exoskeleton module, a robot and a control method. The isokinetic multi-body position rehabilitation exoskeleton module comprises driving assemblies, a thigh mechanism and a calf mechanism which are respectively connected to a skeleton base. The thigh mechanism is connected to the calf mechanism, and the thigh mechanism and the calf mechanism are respectively connected to the driving assemblies. The thigh mechanism comprises a thigh connecting assembly and a thigh binding part. The thigh connecting assembly is rotationally connected to the skeleton base. The driving assembly is connected to the thigh connecting assembly. The thigh binding part is arranged on the thigh connecting assembly and is worn on the thigh of a user. The calf mechanism comprises a calf connecting assembly and a calf binding part. The calf connecting assembly is rotationally connected to the skeleton base. The driving assembly is connected to the calf connecting assembly. The calf binding part is arranged on the calf connecting assembly and is worn on the calf of the user. The application can realize isokinetic muscle strength training of multiple joints, improve the motion rehabilitation efficiency and the accuracy of muscle strength evaluation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation exoskeleton robots, and particularly relates to an isokinetic multi-body position rehabilitation exoskeleton module, a robot and a control method. BACKGROUND

[0002] Isokinetic training has been proven to be an efficient neuromuscular training method, combining the advantages of isotonic exercise and isometric exercise, and is often used for limb rehabilitation training and muscle strength assessment, and has been widely applied in various cycles of rehabilitation treatment. Isokinetic exercise is a muscle training method that maintains constant speed during limb movement and variable muscle strength antagonistic resistance. Compared with traditional isometric and isotonic training, isokinetic exercise has the advantages of promoting muscle fiber synchronous contraction and preventing muscle joint movement injury. At present, the isokinetic muscle training instrument uses different adapters for specific joints in training, sets the joint limit movement speed, and can obtain muscle strength parameters such as peak torque, peak torque angle, joint flexion and extension ratio, movement power, and movement range by the active force of the subject. The shortcomings of the existing isokinetic instrument are as follows: (1) In the rehabilitation evaluation and training scene, the isokinetic instrument has a single joint movement paradigm, and each time only one joint can be trained. Except for the isokinetic closed chain mode, the multi-joint movement paradigm cannot be realized, the function-oriented multi-joint cooperative training cannot be met, and the isokinetic closed chain mode needs to install an additional adapter and can only be trained in a linear trajectory; (2) The isokinetic instrument is expensive, complicated to operate, and has a large volume. When training bilateral limbs, the equipment adjustment is complicated and inconvenient. For most patients, there is no need to use all the joint training functions of the isokinetic instrument, which can be regarded as a waste of resources. Therefore, there is a lack of small and targeted rehabilitation equipment for home and hospital use.

[0003] Lower extremity exoskeleton is a wearable robotic device designed to enhance or restore the movement ability of lower extremities, especially in the aspects of gait and walking, widely used in medical, rehabilitation, helping the elderly activities and enhancing human strength, etc. It provides power support and movement assistance through robotic devices, helping 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, the rehabilitation of exoskeleton rehabilitation not only reduces the workload of physiotherapists and saves rehabilitation costs, but also provides objective data to evaluate the rehabilitation progress of the rehabilitation, and facilitates the physiotherapists to develop reasonable rehabilitation strategies. Now the exoskeleton robot has begun to gradually realize higher flexibility and adaptability, which can adapt to different postures and body positions. Traditional lower extremity exoskeleton devices are generally effective only in a fixed body position, while multi-position exoskeletons require smooth transition between different body positions, providing more degrees of freedom and flexibility. The shortcomings of existing rehabilitation exoskeletons are: (1) The main design goal is muscle force compensation, which provides assistance to drive the patient's lower extremities, and the joint output torque is small, which cannot realize the training form of constant speed movement. (2) Multi-joint exoskeletons are mainly in series structure, and the actuators near the end will become the load, increasing the moment of inertia of the exoskeleton, considering its mass, it is impossible to choose actuators with large output torque. (3) It cannot cover most of the population, and most existing exoskeletons are mainly for patients with lower extremity function loss such as stroke and stroke, and cannot meet the needs of muscle strength training and evaluation for normal people.

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

[0005] The main purpose of the present application is to provide an isokinetic multi-position rehabilitation exoskeleton module, robot and control method, which aims to solve the problem that the existing isokinetic device can only train one joint at a time and cannot realize the purpose of cooperative training of multiple joints, and the lower extremity exoskeleton takes muscle force compensation as the target, and the joint output torque is small, which cannot realize the purpose of constant speed movement.

[0006] The first aspect of the embodiment of the present application provides an isokinetic multi-position rehabilitation exoskeleton module, which comprises a driving assembly, a thigh mechanism and a shank mechanism connected to the skeleton base respectively, the thigh mechanism is connected with the shank mechanism, and the thigh mechanism and the shank mechanism are connected with the driving assembly respectively; the thigh mechanism comprises a thigh connecting assembly and a thigh binding part, the thigh connecting assembly is rotationally connected with the skeleton base, the driving assembly is connected with the thigh connecting assembly, the thigh binding part is arranged on the thigh connecting assembly, and the thigh binding part is worn on the thigh of a user; the shank mechanism comprises a shank connecting assembly and a shank binding part, the shank connecting assembly is rotationally connected with the skeleton base, the driving assembly is connected with the shank connecting assembly, the shank binding part is arranged on the shank connecting assembly, and the shank binding part is worn on the shank of the user; the thigh connecting assembly corresponds to the length of the thigh of the user, the shank connecting assembly corresponds to the length of the thigh and the shank of the user, and when the driving assembly controls the rotation of the thigh connecting assembly and / or the shank connecting assembly, the thigh connecting assembly drives the user to perform hip joint training through the thigh binding part, and / or the shank connecting assembly drives the user to perform knee joint training through the shank binding part.

[0007] Optionally, in an embodiment of the present application, the thigh connecting assembly comprises a thigh fixing part and a thigh sliding part, the thigh fixing part is connected with the driving assembly, the thigh sliding part is slidingly connected with the thigh fixing part, the thigh binding part is arranged on the thigh fixing part, 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 length of the thigh of the user; the shank connecting assembly comprises a shank driving part, a shank transmission part, a shank transmission connecting part, a shank fixing part and a shank sliding part, the shank driving part is connected with the driving assembly, the shank transmission part is connected with the shank driving part, the shank transmission connecting part is slidingly connected with the shank transmission part, the shank fixing part is connected with the shank transmission connecting part, the shank sliding part is slidingly connected with the shank fixing part, the shank binding part is arranged on the shank sliding part, the position of the shank transmission connecting part on the shank transmission part is adjusted, so that the length of the shank transmission part and the shank transmission connecting part corresponds to the length of the thigh of the user, and the position of the shank sliding part on the shank fixing part is adjusted, so that the length of the shank fixing part and the shank sliding part corresponds to the length of the shank of the user.

[0008] Optionally, in an embodiment of the present application, the shank connecting assembly further comprises a first virtual constraint and a second virtual constraint, two ends of the first virtual constraint are connected to the shank transmission member and the thigh fixed member respectively, and two ends of the second virtual constraint are connected to the transmission connecting member and the thigh sliding member respectively.

[0009] Optionally, in an embodiment of the present application, the skeleton base comprises a first support base and a second support base; the thigh fixed member comprises a first fixed member, a second fixed member and a connecting shaft, the first fixed member is rotationally connected to the first support base, the second fixed member is rotationally connected to the second support base, and the connecting shaft connects same-side ends of the first fixed member and the second fixed member, and the first fixed member moves synchronously with the second fixed member; the thigh sliding member comprises a first sliding member, a second sliding member and a thigh shaft, the first sliding member is slidingly connected to the first fixed member, the second sliding member is slidingly connected to the second fixed member, and the thigh shaft connects same-side ends of the first sliding member and the second sliding member, and the first sliding member moves synchronously with the second sliding member, and the thigh binding member is installed on the first fixed member or the second fixed member through a thigh binding fixed block.

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

[0011] Optionally, in an embodiment of the present application, the driving assembly comprises a hip joint motor, a knee joint motor, a hip joint sensor and a knee joint sensor, the hip joint motor is connected with the thigh fixing part, the hip joint sensor is connected with the hip joint motor, the knee joint motor is connected with the shank driving part, the knee joint sensor is connected with the knee joint motor, the hip joint sensor is used for hip joint torque measurement, and the knee joint sensor is used for knee joint torque measurement.

[0012] Optionally, in an embodiment of the present application, the constant velocity multi-body position rehabilitation exoskeleton module further comprises an ankle mechanism, the ankle mechanism is connected with the shank mechanism; the ankle mechanism comprises a foot pedal and an adjusting part, the foot pedal is fixedly connected with the adjusting part, the adjusting part is rotationally connected with the shank sliding part, the position of the foot pedal on the adjusting part is adjusted, so that the position of the foot pedal corresponds to the position of the sole of the user, and when the foot pedal rotates relative to the shank sliding part, the user is trained for ankle joint.

[0013] Optionally, in an embodiment of the present application, the ankle mechanism further comprises an ankle joint motor and a knee joint sensor, the ankle joint motor is fixedly connected with the shank sliding part, the ankle joint sensor is connected with the ankle joint motor, the adjusting part is connected on the knee joint sensor, the ankle joint motor controls the rotation of the foot pedal through the adjusting part, so that the user is trained for ankle joint, and the ankle joint sensor measures the ankle joint torque.

[0014] The second aspect of the embodiments of the present application further provides a constant velocity multi-body position rehabilitation exoskeleton robot, wherein the constant velocity multi-body position rehabilitation exoskeleton robot comprises the constant velocity multi-body position rehabilitation exoskeleton module and the seat module according to any one of the above solutions, the skeleton base of the constant velocity multi-body position rehabilitation exoskeleton module is fixedly connected with the seat module, the seat module is used for being occupied by a user, and the constant velocity multi-body position rehabilitation exoskeleton module is used for being worn by a user.

[0015] The third aspect of the embodiments of the application further provides a control method of the isokinetic multi-joint rehabilitation exoskeleton module according to any one of the above-mentioned schemes, wherein the control method comprises: when the passive training mode is adopted after the user wears the thigh binding member and the lower leg binding member, the driving assembly controls the thigh connecting assembly and the lower leg connecting assembly to rotate according to preset parameters, so that the thigh binding member and the lower leg binding member drive the user to simultaneously perform hip joint and knee joint muscle strength training; when the active training mode is adopted, according to the measured torque in the process of the user performing leg force, the driving assembly controls the thigh connecting assembly and the lower leg connecting assembly to rotate at a set speed according to the measured torque, so that the thigh binding member and the lower leg binding member drive the user to simultaneously perform isokinetic muscle strength training of the hip joint and the knee joint.

[0016] Beneficial effects: the application provides an isokinetic multi-joint rehabilitation exoskeleton module, a robot and a control method. In the exoskeleton module, the thigh connecting assembly of the thigh mechanism and the thigh binding member and the lower leg connecting assembly of the lower leg mechanism and the lower leg binding member are controlled by the driving assembly, so that the thigh connecting assembly drives the user to perform hip joint training through the thigh binding member, and the lower leg connecting assembly drives the user to perform knee joint training through the lower leg binding member, thereby realizing isokinetic muscle strength training of multiple joints (including the hip joint and the knee joint), precise isokinetic control, improving the efficiency of motion rehabilitation and the accuracy of muscle strength evaluation. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Figure 1 a perspective view of a preferred embodiment of the isokinetic multi-joint rehabilitation exoskeleton module of the application;

[0019] Figure 2 an assembly diagram of the thigh mechanism in the preferred embodiment of the isokinetic multi-joint rehabilitation exoskeleton module of the application;

[0020] Figure 3 an assembly diagram of the lower leg mechanism in the preferred embodiment of the isokinetic multi-joint rehabilitation exoskeleton module of the application;

[0021] Figure 4 a schematic diagram of the length adjustment part in the preferred embodiment of the isokinetic multi-joint rehabilitation exoskeleton module of the application;

[0022] Figure 5 Assembly diagram of ankle mechanism in preferred embodiment of isokinetic multi-body position rehabilitation exoskeleton module of the present application;

[0023] Figure 6 Isometric view of mirrorable lower limb three-degree-of-freedom isokinetic multi-body position rehabilitation exoskeleton robot assembly of the present application;

[0024] Figure 7 Schematic diagram used in preferred embodiment of isokinetic multi-body position rehabilitation exoskeleton robot of the present application;

[0025] Figure 8 Flowchart of preferred embodiment of control method of isokinetic multi-body position rehabilitation exoskeleton module of the present application.

[0026] Explanation of reference signs:

[0027] 1, seat module; 2, exoskeleton module; 11, adjustable seat; 12, base; 21, thigh mechanism; 22, shank mechanism; 23, ankle mechanism; 24, skeleton base;

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

[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 fixed part (i.e. left thigh fixed rod); 2109, third bearing; 2110, length adjustment nut; 2111, fourth bearing; 2112, first sliding part (i.e. left thigh sliding rod); 2113, fifth bearing; 2114, thigh shaft gland; 2115, thigh shaft; 2116, thigh sliding limit groove; 2117, thigh adjustment pressing plate; 2118, thigh binding fixed block; 2119, thigh binding part; 2120, hip joint transmission shaft; 2121, second sliding part (right thigh sliding rod); 2122, second fixed part (right thigh fixed rod);

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

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

[0032] The specific embodiments of the present application have been shown through the above drawings, and will be described in more detail hereinafter. These drawings and written descriptions are not intended to limit the scope of the concept 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 solutions and effects of the present application more clear and explicit, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. The described embodiments are only possible technical implementations of the present application, and are not all possible implementations. Based on the embodiments in the present application, those skilled in the art can combine the embodiments of the present application to obtain other embodiments without creative labor, and these embodiments are also within the protection scope of the present application.

[0034] The isokinetic multi-body position rehabilitation exoskeleton module, robot and control method of the embodiments of the present application are described below with reference to the accompanying drawings. In view of the problem in the related art that the isokinetic instrument can only train one joint at a time and cannot achieve the purpose of coordinated training of multiple joints, and the problem that the lower limb exoskeleton takes muscle compensation as the goal and the joint output torque is small and cannot achieve the purpose of isokinetic movement, the present application provides an isokinetic multi-body position rehabilitation exoskeleton module. In the exoskeleton module, the thigh connecting assembly and the thigh binding piece of the thigh mechanism and the calf connecting assembly and the calf binding piece of the calf mechanism are controlled by the driving assembly, so that the thigh connecting assembly drives the user to perform hip joint training through the thigh binding piece, and the calf connecting assembly drives the user to perform knee joint training through the calf binding piece, thereby achieving isokinetic muscle training of multiple joints (including the hip joint and the knee joint), achieving precise isokinetic control, improving the efficiency of exercise rehabilitation and the accuracy of muscle strength evaluation. Thus, the technical problems in the related art that the isokinetic instrument can only train one joint at a time and cannot achieve the purpose of coordinated training of multiple joints, and the problem that the lower limb exoskeleton takes muscle compensation as the goal and the joint output torque is small and cannot achieve the purpose of isokinetic movement are solved.

[0035] The technical solutions of the present application are described in detail below with specific embodiments. 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] As Figure 1As shown, the embodiment of the present application provides an isokinetic multi-joint rehabilitation exoskeleton module 2, which comprises a driving assembly, a thigh mechanism 21 and a lower leg mechanism 22 connected on the skeleton base 24 respectively, the thigh mechanism 21 is connected with the lower leg mechanism 22, and the thigh mechanism 21 and the lower leg mechanism 22 are connected with the driving assembly respectively; the thigh mechanism 21 comprises a thigh connecting assembly and a thigh binding piece 2119, the thigh connecting assembly is rotationally connected with the skeleton base 24, the driving assembly is connected with the thigh connecting assembly, the thigh binding piece 2119 is arranged on the thigh connecting assembly, and the thigh binding piece 2119 is worn on the thigh of the user; the lower leg mechanism 22 comprises a lower leg connecting assembly and a lower leg binding piece, the lower leg connecting assembly is rotationally connected with the skeleton base 24, the driving assembly is connected with the lower leg connecting assembly, the lower leg binding piece is arranged on the lower leg connecting assembly, and the lower leg binding piece is worn on the lower leg of the user; the thigh connecting assembly corresponds to the length of the thigh of the user, the lower leg connecting assembly corresponds to the length of the thigh and the lower leg of the user, and when the driving assembly controls the rotation of the thigh connecting assembly and / or the lower leg connecting assembly, the thigh connecting assembly drives the user to perform hip joint training through the thigh binding piece 2119, and / or the lower leg connecting assembly drives the user to perform knee joint training through the lower leg binding piece.

[0037] It should be noted that the traditional isokinetic instrument joint can only train one joint at a time, cannot realize multi-joint motion paradigm except for the isokinetic closed chain mode, and the isokinetic closed chain mode needs to install an additional adapter and can only train in a linear trajectory; the traditional lower limb exoskeleton mainly takes muscle force compensation as the design target, plays a role of assisting power, drives the movement of the lower limbs of the patient, the joint output torque is small, and cannot realize the efficient training form of isokinetic motion. The present application realizes the training of one joint or multiple joints (such as two joints of hip and knee or three joints of hip, knee and ankle) of the lower limbs through the exoskeleton mode, each joint can realize isokinetic motion, and the coordinated training of multiple joints in the sagittal plane of the lower limbs can be realized, which meets the task-oriented rehabilitation requirements, and can cover most of the population, including patients with stroke, apoplexy and the like for the purpose of rehabilitation and healthy people for the purpose of muscle strength training and evaluation.

[0038] Specifically, the driving assembly includes a hip joint motor 2101, a hip joint sensor 2102, a transmission gear, a fixed rod, and the like, which are used to drive and support the thigh mechanism 21 to realize the isokinetic training of the hip joint; the driving assembly further includes a knee joint motor 2201, a knee joint sensor 2202, a transmission gear, and a driving rod, which are used to drive and support the shank knee joint to realize the isokinetic training of the knee joint, and through the gear and connecting rod transmission, the distance between the shank driving rod and the first driving shaft axis is adjusted synchronously when the length of the thigh is adjusted. The skeletal base 24 is a support structure of the lower extremity exoskeleton module 2, which includes a skeletal base 2401, support adjustment universal wheels 2402, reinforcing members, and the like, to ensure the stability and adjustability of the device.

[0039] Referring to Figure 1 , the exoskeleton base 24 includes a skeletal base 2401, support adjustment universal wheels 2402, a left side support base 2403, a right side support base 2406, a front side reinforcing member 2405, and a rear side reinforcing member 2404. Several profiles are fixedly connected by fasteners to form the skeletal base 2401, and the skeletal base 2401 is fixedly connected to the four support adjustment universal wheels 2402 at the bottom corners through fasteners. The left side support base 2403, the right side support base 2406, the front side reinforcing member 2405, and the rear side reinforcing member 2404 are fixedly connected by fasteners to ensure that the bottom surfaces are flush, and are then fixedly connected to the upper surface of the skeletal base 2401 through fasteners.

[0040] In an embodiment of the present application, as shown in Figure 2 and Figure 3 , the thigh connection assembly includes a thigh fixed member and a thigh sliding member, the thigh fixed member is connected with the driving assembly, the thigh sliding member is slidingly connected on the thigh fixed member, the thigh binding member 2119 is arranged on the thigh fixed member, the position of the thigh sliding member on the thigh fixed member is adjusted, so that the length of the thigh fixed member and the thigh sliding member corresponds to the length of the thigh of the user; the shank connection assembly includes a shank driving member 2209, a shank transmission member, a shank transmission connecting member, a shank fixed member, and a shank sliding member, the shank driving member 2209 is connected with the driving assembly, the shank transmission member is connected with the shank driving member 2209, the shank transmission connecting member is slidingly connected on the shank transmission member, the shank fixed member is connected with the shank transmission connecting member, the shank sliding member is slidingly connected on the shank fixed member, the shank binding member is arranged on the shank sliding member, the position of the shank transmission connecting member on the shank transmission member is adjusted, so that the length of the shank transmission member and the shank transmission connecting member corresponds to the length of the thigh of the user, and the position of the shank sliding member on the shank fixed member is adjusted, so that the length of the shank fixed member and the shank sliding member corresponds to the length of the shank of the user.

[0041] In an embodiment of the present application, as shown in Figure 2 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 rotationally connected with the first support base 2403, the second fixing member 2122 is rotationally connected with 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 2112, a second sliding member 2121 and a thigh shaft 2115, the first sliding member 2112 is slidingly connected on the first fixing member 2108, the second sliding member 2121 is slidingly connected on 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 a thigh binding fixing block 2118.

[0042] In an 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 with the thigh fixing member, the hip joint sensor 2102 is connected with the hip joint motor 2101, the knee joint motor 2201 is connected with the calf driving member 2209, the knee joint sensor 2202 is connected with the knee joint motor 2201, the hip joint sensor 2102 is used for hip joint torque measurement, and the knee joint sensor 2202 is used for knee joint torque measurement.

[0043] Referring to Figure 2In the thigh mechanism 21, the hip joint motor 2101 is fixedly connected with the left support base 2403 through fasteners, and during installation, the hip joint motor 2101 is ensured to be concentric with the corresponding notch of the left support base 2403. The hip joint sensor 2102 is fixedly connected with the hip joint motor 2101 through fasteners, the hip joint output gear 2103 is connected with the hip joint sensor 2102 through fasteners, and during installation, the hip joint output gear 2103 is ensured to be concentric. The hip joint transmission gear 2104 is engaged with the hip joint output gear 2103, is fixedly connected with the hip joint transmission shaft 2120 through fasteners, the outer diameter of both ends of the hip joint transmission shaft 2120 is matched with the inner diameter of the first bearing 2105, and the first bearing 2105 is respectively installed in the corresponding bearing hole of the left support base 2403 and the right support base 2406. The hip joint secondary gear 2106 is engaged with the intermediate gear of the hip joint transmission shaft 2120. The intermediate gear of the hip joint transmission shaft 2120 has the same gear parameters as the hip joint transmission gear 2104, the hip joint secondary gear 2106 has the same gear parameters as the hip joint output gear 2103, and the two gear sets ensure that the rotation direction, speed and torque of the hip joint secondary gear 2106 are consistent with the output end of the motor. The hip joint secondary gear 2106 is fixedly connected with the left thigh fixing rod 2108 through fasteners, the left thigh fixing rod 2108 is fixedly connected with the right thigh fixing rod 2122 through fasteners, and both are matched with the second bearing 2107. The second bearing 2107 is respectively installed in the corresponding bearing hole of 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 corresponding bearing holes of the left thigh fixing rod 2108 and the right thigh fixing rod 2122. The two thigh length adjusting nuts 2110 are respectively passed 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, and are fixedly connected with the thigh adjusting pressure plate 2117 to realize the fixation after the length adjustment of the thigh. The thigh shaft 2115 is fixedly connected with the thigh shaft pressure cover 2114 through fasteners, and passes through the fifth bearing 2113. The thigh sliding limiting groove 2116 is fixedly connected with the left thigh fixing rod 2108 and the right thigh fixing rod 2122 through fasteners at the upper and lower ends, so that the center lines of the left thigh sliding rod 2112 and the right thigh sliding rod 2121 are always coincided 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 with the left thigh fixing rod 2108 or the right thigh fixing rod 2122 through fasteners according to different training legs, and is fixedly connected with the thigh binding piece 2119. During training, the thigh binding piece 2119 is closely attached to the thigh of the trainer (i.e. the user).

[0044] It can be understood that the sliding member is adjusted according to the leg length of the trainer to align the joint axis with the exoskeleton, because the length of the fixed member is greater than that of the sliding member, the binding is basically in the middle position of the thigh and the shank, so that the binding position is fixed. The binding is to fix the leg and the exoskeleton, and the sliding is to adjust the length of the exoskeleton to be the same as the leg length; the thigh binding member is on the corresponding fixed member, and the shank binding member is on the corresponding sliding member.

[0045] In an embodiment of the present application, as shown in Figure 3 The shank 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 shank driving member 2209 is rotationally connected with the connecting shaft, the other end of the shank driving member 2209 is connected with the first drive shaft 2210, the first transmission member 2214 is oppositely arranged with the first fixed member 2108, and the second transmission member 2212 is oppositely arranged with the second fixed member 2122; the shank 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 slidingly connected on the first transmission member 2214, the second transmission connecting member 2217 is slidingly connected on the second transmission member 2212, the first transmission connecting member is oppositely arranged with the first sliding member 2112, and the second transmission connecting member 2217 is oppositely arranged with the second sliding member 2121, the length of the first transmission member 2214 and the first transmission connecting member is the same as the length of the first fixed member 2108 and the first sliding member 2112; the shank fixed member includes a third fixed member and a fourth fixed member, the same side ends of the third fixed member and the fourth fixed member are connected on the second drive shaft, and the third fixed member moves synchronously with the fourth fixed member; the shank sliding member includes a third sliding member and a fourth sliding member, the third sliding member is slidingly connected on the third fixed member, and the fourth sliding member is slidingly connected on the fourth fixed member, the third sliding member moves synchronously with the fourth sliding member, and the shank binding member is installed on the third sliding member or the fourth sliding member through a shank binding fixing block.

[0046] In an embodiment of the present application, as shown in Figure 3 The shank 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 shank driving member 2209 is rotationally connected with the connecting shaft, the other end of the shank driving member 2209 is connected with the first drive shaft 2210, the first transmission member 2214 is oppositely arranged with the first fixed member 2108, and the second transmission member 2212 is oppositely arranged with the second fixed member 2122; the shank 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 slidingly connected on the first transmission member 2214, the second transmission connecting member 2217 is slidingly connected on the second transmission member 2212, the first transmission connecting member is oppositely arranged with the first sliding member 2112, and the second transmission connecting member 2217 is oppositely arranged with the second sliding member 2121, the length of the first transmission member 2214 and the first transmission connecting member is the same as the length of the first fixed member 2108 and the first sliding member 2112; the shank fixed member includes a third fixed member and a fourth fixed member, the same side ends of the third fixed member and the fourth fixed member are connected on the second drive shaft, and the third fixed member moves synchronously with the fourth fixed member; the shank sliding member includes a third sliding member and a fourth sliding member, the third sliding member is slidingly connected on the third fixed member, and the fourth sliding member is slidingly connected on the fourth fixed member, the third sliding member moves synchronously with the fourth sliding member, and the shank binding member is installed on the third sliding member or the fourth sliding member through a shank binding fixing block.

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

[0048] Referring to Figure 3In the lower leg mechanism 22, the knee joint motor 2201 is fixed to the right side support base 2406 by fasteners, and during installation, the knee joint motor 2201 is ensured to be concentric with the corresponding notch of the right side support base 2406. The knee joint sensor 2202 is fixed 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 during installation, they are ensured to be concentric. The knee joint transmission gear 2204 is engaged with the knee joint output gear 2203, and is fixed to the knee joint transmission shaft 2205 by fasteners. The outer diameter of the two ends of the knee joint transmission shaft 2205 is matched with the inner diameter of the sixth bearing 2206, and the bearing 2206 is installed in the corresponding bearing hole of the left side support base 2403 and the right side support base 2406, respectively. The knee joint secondary gear 2207 is engaged with the intermediate gear of the knee joint transmission shaft 2205. The intermediate gear of the knee joint transmission shaft 2205 has the same gear parameters as the knee joint transmission gear 2204, and the knee joint secondary gear 2207 has the same gear parameters as the knee joint output gear 2203. The two gear sets ensure that the rotation direction, speed, and torque of the knee joint secondary gear 2207 are consistent with those of the output end of the motor, i.e., the knee joint output gear 2203. The knee joint secondary gear 2207 is fixed to the lower leg driving rod 2209 by fasteners. The seventh bearing 2208 has an inner diameter matched with the corresponding stepped shaft of the left thigh fixed rod 2108 and the right thigh fixed rod 2122, and an outer diameter matched with the lower leg driving rod 2209. The eighth bearing 2211 is installed in the corresponding bearing hole of the lower leg driving rod 2209, the lower leg right side transmission fixed rod 2212, and the lower leg left side transmission fixed rod 2214, respectively, and the inner ring of the eighth bearing 2211 is matched with the first driving shaft 2210. The lower leg adjusting nut 2216 passes through the straight slot hole of the lower leg left side transmission fixed rod 2214 and the lower leg right side transmission fixed rod 2212, and is fixed to the lower leg transmission sliding rod 2217 by fasteners, ensuring the position fixed after adjusting the length. The ninth bearing 2222 is installed in the corresponding bearing hole of the lower leg transmission sliding rod 2217, the lower leg left side fixed rod 2225, and the lower leg right side fixed rod 2224, and the inner ring is matched with the second driving shaft 2221. The tenth bearing 2223 is installed in the corresponding bearing hole of the lower leg left side fixed rod 2225 and the lower leg right side fixed rod 2224, and is matched with the thigh shaft 2115. The lower leg adjusting nut 2226 passes through the corresponding through hole of the lower leg left side fixed rod 2225, the lower leg right side fixed rod 2224, the lower leg left side sliding rod 2229, and the lower leg right side sliding rod 2231, and is fixed to the lower leg adjusting pressure plate 2227 by fasteners, realizing the fixation after adjusting the length of the lower leg. The first reinforcing member 2228 and the second reinforcing member 2230 are fixed to the lower leg left side sliding rod 2229 and the lower leg right side fixed rod 2231, respectively, by fasteners, increasing the strength. The lower leg binding fixed block 2232 is fixed to the lower leg left side sliding rod 2229 or the lower leg right side sliding rod 2231 by fasteners according to different training legs, and is fixed to the lower leg binding member 2233 at the same time.The calf binding part 2233 is closely attached to the calf of the trainer during training.

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

[0050] As shown in Figure 4 (a) of the figure, further clearly showing that the present application uses virtual constraints to form parallelogram action. Here, the left thigh fixed rod 2108 and the right thigh fixed rod 2122 are regarded as CD, the left thigh sliding rod 2111 and the right thigh fixed rod 2122 are regarded as GH, the calf driving rod 2209 is regarded as AC, the right calf transmission fixed rod 2212 and the left calf transmission fixed rod 2214 are regarded as AB, the calf transmission sliding rod 2217 is regarded as EF, the left calf fixed rod 2225 and the right calf fixed rod 2224 are regarded as FHI, the first virtual constraint connecting rod 2215 is regarded as M1M2, and the second virtual constraint connecting rod 2220 is regarded as N1N2. The thigh CD and GH need to be adjusted in length according to the subject, and since the calf FHI is driven through AB and EF, AF and CH need to be kept equal at all times. Inaccurate manual adjustment may result in the situation shown in Figure 4 (b), which makes the output angle of the knee motor inconsistent with the calf rotation. As shown in Figure 4 (c), by adding two virtual constraint connecting rods M1M2 and N1N2, two parallelograms are formed, AB is always parallel to CD, and EF is always parallel to GH. When adjusting, the situation shown in Figure 4 (d) may occur. By regarding the thigh sliding limiting groove 2116 and the calf transmission sliding rod 2217 as EF, and by regarding the corresponding bosses and grooves on the left calf fixed rod 2225 and the right calf fixed rod 2224 as AB and CD, EF and GH center lines are always collinear, then during the adjustment process, only the situation shown in Figure 4In the case of both (e) in (4) and (f) in (4), the second case is easily excluded, so as to make the knee motor output angle inconsistent with the shank rotation.

[0051] In an embodiment of the present application, the isokinetic multi-joint rehabilitation exoskeleton module 2 further comprises the ankle mechanism 23 connected with the shank mechanism; the ankle mechanism 23 comprises a foot pedal 2308 and an adjusting member, the foot pedal 2308 is fixedly connected with the adjusting member, the adjusting member is rotationally connected with the shank sliding member, the position of the foot pedal 2308 on the adjusting member is adjusted, so that the position of the foot pedal 2308 corresponds to the position of the sole of the user, and the user is guided to perform ankle training when the foot pedal 2308 rotates relative to the shank sliding member.

[0052] In an embodiment of the present application, the ankle mechanism 23 further comprises an ankle motor 2301 and an ankle sensor 2303, the ankle motor 2301 is fixedly connected with the shank sliding member, the ankle sensor 2303 is connected with the ankle motor 2301, the adjusting member is connected on the ankle sensor 2303, the ankle motor 2301 controls the rotation of the foot pedal 2308 through the adjusting member, so that the user performs ankle training, and the ankle sensor measures the ankle torque.

[0053] It should be noted that the ankle mechanism 23 comprises an ankle motor, an ankle sensor and a foot pedal 2308, which is used to drive the ankle mechanism 23 to realize isokinetic training of the ankle, and the height and front and rear position of the foot pedal 2308 are adjustable to adapt to the needs of different subjects.

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

[0055] Understandably, the thigh mechanism 21, hip joint motor 2101, and hip joint torque sensor 2102 provide drive and torque measurement for the hip joint; the hip joint transmission system (including gears and drive shafts) enables rotational movement of the hip joint; the thigh length adjustment system (including sliding rods and adjusting nuts) allows adjustment according to the subject's leg length; and the thigh binding 2119 is used to secure the thigh mechanism to the subject's thigh. The lower leg mechanism 22, knee joint motor 2201, and knee joint torque sensor 2202 provide drive and torque measurement for the knee joint; the knee joint transmission system (including gears and drive shafts) enables rotational movement of the knee joint; the lower leg length adjustment system (including sliding rods and adjusting nuts) allows adjustment according to the subject's leg length; and the virtual constraint system (including virtual constraint links and bearings) ensures that the lower leg maintains correct kinematic relationships during length adjustment.

[0056] Based on the above embodiments, this application also provides an isokinetic 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 of the above embodiments. 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 the user, and the exoskeleton module is used to be worn by the user.

[0057] It is worth noting that this application addresses the problems of existing isokinetic kinesiology devices and lower limb exoskeletons. The mirror-image lower limb three-DOF isokinetic multi-position rehabilitation exoskeleton robot of this application has the following advantages: Compared to traditional isokinetic kinesiology devices, it solves the problem of a single rehabilitation paradigm. This application can achieve isokinetic muscle strength training for single or multiple joints, achieving precise isokinetic control and improving the efficiency of motor rehabilitation and the accuracy of muscle strength assessment. Traditional isokinetic devices require readjustment of the seat angle and power head angle for different lower limbs on both sides, which is cumbersome. This application adopts a modular design, with a mirror-image design of the main structure of the exoskeleton module, allowing for quick position adjustment and facilitating bilateral training. Exoskeleton modules can also be installed on both sides simultaneously as needed. Compared to traditional lower limb exoskeletons, this application uses a series-parallel structure, with the knee and hip joints using a parallel structure. The hip and knee joint motors are fixed to the base, and the knee joint transmits torque through a transmission rod. This avoids the problems of increased overall rotational inertia, increased control difficulty, and reduced overall performance caused by placing the actuator at the joint; the high-torque actuator can meet the training needs of most people; this application can achieve seamless switching between sitting and lying positions, enabling multi-position rehabilitation training.

[0058] Specifically, such as 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 fixed by fasteners, which can be quickly disassembled. The seat module 1 includes an adjustable seat 11 that can adjust the front and rear position, height and backrest angle, and a seat base 12, which is fixed by fasteners between the profiles. The adjustable seat 11 and the seat base 12 are fixed 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, which are fixed by fasteners between the parts.

[0059] Referring to 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 limb, and is fixed by fasteners. As shown in (b) of Figure 7 , the ankle mechanism can be replaced as a whole. The subject's hip joint, knee joint and ankle joint are aligned with the exoskeleton, and the length of the thigh and calf is adjusted. The position of the thigh binding 2119, 2233 is adjusted to fix the binding with the subject's thigh and calf, and the foot is fixed with the foot pedal. As shown in (c), (d) and (e) of Figure 7 , when performing single joint isokinetic or rehabilitation training, 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 application can also train both lower limbs at the same time, as shown in (f) of Figure 7 .

[0060] It should be noted that the traditional isokinetic operation is complex, different adapters need to be installed for the hip joint, knee joint and ankle joint, and the corresponding power head angle, seat angle and position need to be manually adjusted. After adjusting the length of the thigh and calf of the exoskeleton and fixing the binding, the corresponding joint motor can be disabled according to the training joint, without the need for additional adjustment.

[0061] The application adopts modular design, and the main structure of the exoskeleton module is mirror-symmetrical, which can choose unilateral lower limb training and bilateral lower limb training according to the needs. When unilateral training, the traditional isokinetic instrument needs to be adjusted in power head angle, seat angle, position, etc. when replacing left and right lower limbs. The present application can directly move the exoskeleton module to the opposite side to achieve quick adjustment. Since the main structure is mirror-symmetrical, only the binding position and the ankle joint part need to be adjusted.

[0062] The application realizes multi-position training through seamless conversion of sitting and lying positions, provides more training options, greatly improves the flexibility and applicability of rehabilitation training, meets different task-oriented training needs, and helps patients achieve rehabilitation goals through personalized joint training.

[0063] The traditional isokinetic instrument has a large volume, and the traditional exoskeleton is mainly a series structure. In order to meet the demand of isokinetic training, a series-parallel structure is adopted. The hip joint and knee joint actuators are installed on the base through parallel structure design, gear sets and connecting rod transmission are used, the mass and inertia of the exoskeleton part are reduced, the torque required by the ankle joint is smaller, the actuator is lighter, and is installed in the terminal in the form of series, and the transmission structure is reduced. The series-parallel structure reduces the mass and inertia of the exoskeleton part as a whole, and reduces the difficulty of torque compensation and control. At the same time, the robot joint module is selected as the actuator, which is smaller and lighter than the traditional isokinetic instrument power head, and small size design is realized, which meets the demand of small lower limb rehabilitation equipment for family, hospital and other places.

[0064] Since the knee joint adopts a parallel structure, it needs to be transmitted through a connecting rod. In order to meet the demand of adjusting the length of the exoskeleton, while ensuring the transmission accuracy and angle accuracy, two groups of virtual constraint connecting rods are added.

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

[0066] Based on the above embodiment, the application also provides a control method of the isokinetic multi-position rehabilitation exoskeleton module according to any one of the above schemes, as shown in Figure 8 The control method of the isokinetic multi-position rehabilitation exoskeleton module comprises the following steps:

[0067] In step S101, after the user wears the thigh binding part and the calf binding part, when the passive training mode is adopted, the driving assembly controls the thigh connecting assembly and the calf connecting assembly to rotate according to the preset parameters, so that the thigh binding part and the calf binding part drive the user to simultaneously perform hip joint and knee joint muscle strength training;

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

[0069] In the embodiments of the present application, passive training can be implemented, the angle and speed are set, and the exoskeleton drives the human body to move, which is suitable for patients in the early rehabilitation stage who have no movement function, but the main emphasis here is isokinetic training; active training aims to stimulate the maximum muscle strength of the human body, the angle and limit speed are set, the lower limbs actively exert force, the sensor measures the torque, and no matter how much force the human body exerts, the exoskeleton corresponding joint needs to output a corresponding torque to ensure that the speed is unchanged, which is suitable for patients in the later rehabilitation stage who have active movement ability, and healthy people for lower limb training.

[0070] The above control method of the present application will be further described through specific embodiments as follows:

[0071] Step K10, installation and preparation: according to the trained lower limb (left or right), the lower limb exoskeleton module is moved to the corresponding position of the seat module and fixedly connected through fasteners; if the other side of the lower limb needs to be trained, the ankle mechanism can be integrally disassembled 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 respectively aligned with the parts of the exoskeleton; according to the length of the lower limb of the subject, the length of the thigh and calf mechanism is adjusted to ensure that the exoskeleton is adapted to the lower limb of the subject; the position of the thigh binding and the calf binding is adjusted to tightly fix them with the thigh and calf of the subject, while ensuring the fixation of the foot and the foot pedal.

[0072] Step K20, selection of training mode: according to the training requirements, the single-joint isokinetic training, multi-joint isokinetic training or rehabilitation training mode is selected; in the single-joint training mode, according to the joint (hip joint, knee joint or ankle joint) to be trained, the corresponding motor is selected to work, while the other motors are in a disabled state; when training the ankle joint, the hip joint motor and the knee joint motor are disabled; when training the knee joint, the hip joint motor and the ankle joint motor are disabled; when training the hip joint, the knee joint motor and the ankle joint motor are disabled; in the multi-joint isokinetic training or rehabilitation training mode, all the motors are enabled to realize the coordinated training of multiple joints.

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

[0074] Step K40, end training: when the predetermined training time is reached or the predetermined training task is completed, stop the training program; release the subject from the exoskeleton by loosening the thigh and calf bindings; clean and maintain the lower extremity exoskeleton modules as needed for the next use.

[0075] In the description of the present application, unless specifically and explicitly defined and limited, the terms "mount", "connect", "connect", "fix", and other terms should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or integrated; can be mechanically connected, or electrically connected or can communicate with each other; can be directly connected, or indirectly connected through an intermediate medium, can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0076] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise explicitly and specifically limited.

[0077] The terms "first", "second", "third", "fourth" and the like (if any) in the description of the present application and claims and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units 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, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An isokinetic multi-body position rehabilitation exoskeleton module, characterized in that, The isokinetic multi-body position rehabilitation exoskeleton module comprises a driving assembly, a thigh mechanism and a shank mechanism connected to a skeleton base respectively, the thigh mechanism is connected to the shank mechanism, and the thigh mechanism and the shank mechanism are connected to the driving assembly respectively; The thigh mechanism comprises a thigh connecting assembly and a thigh binding part, the thigh connecting assembly is rotationally connected to the skeleton base, the driving assembly is connected to the thigh connecting assembly, and the thigh binding part is arranged on the thigh connecting assembly and worn on the thigh of a user; The shank mechanism comprises a shank connecting assembly and a shank binding part, the shank connecting assembly is rotationally connected to the skeleton base, the driving assembly is connected to the shank connecting assembly, and the shank binding part is arranged on the shank connecting assembly and worn on the shank of the user; The thigh connecting assembly corresponds to the length of the thigh of the user, the shank connecting assembly corresponds to the length of the thigh and the shank of the user, and when the driving assembly controls the rotation of the thigh connecting assembly and / or the shank connecting assembly, the thigh connecting assembly drives the user to perform hip joint training through the thigh binding part, and / or the shank connecting assembly drives the user to perform knee joint training through the shank binding part; The thigh connecting assembly comprises a thigh fixing part and a thigh sliding part, the thigh fixing part is connected to the driving assembly, the thigh sliding part is slidingly connected to the thigh fixing part, and the thigh binding part is arranged on the thigh fixing part, 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 length of the thigh of the user; The shank connecting assembly further comprises a first virtual constraint part and a second virtual constraint part, two ends of the first virtual constraint part are connected to the shank transmission part and the thigh fixing part respectively, and two ends of the second virtual constraint part are connected to the transmission connecting part and the thigh sliding part respectively.

2. The isokinetic multi-body position rehabilitation exoskeleton module according to claim 1, characterized in that, The skeleton base comprises a first support base and a second support base; 3. The isokinetic multi-body position rehabilitation exoskeleton module according to claim 2, characterized in that, ​ The thigh fixing part comprises a first fixing part, a second fixing part and a connecting shaft, the first fixing part is rotationally connected with the first support base, the second fixing part is rotationally connected with the second support base, the connecting shaft connects the same side ends of the first fixing part and the second fixing part, and the first fixing part moves synchronously with the second fixing part; The thigh sliding part comprises a first sliding part, a second sliding part and a thigh shaft, the first sliding part is slidingly connected on the first fixing part, the second sliding part is slidingly connected on the second fixing part, the thigh shaft connects the same side ends of the first sliding part and the second sliding part, the first sliding part moves synchronously with the second sliding part, and the thigh binding part is installed on the first fixing part or the second fixing part through a thigh binding fixing block.

4. The isokinetic multi-body position rehabilitation exoskeleton module according to claim 3, characterized in that, The calf transmission part comprises a first transmission part, a second transmission part and a first driving shaft, the first driving shaft connects the same side ends of the first transmission part and the second transmission part, one end of the calf driving part is rotationally connected with the connecting shaft, the other end of the calf driving part is connected with the first driving shaft, the first transmission part is oppositely arranged with the first fixing part, and the second transmission part is oppositely arranged with the second fixing part; The calf transmission connecting part comprises a first transmission connecting part, a second transmission connecting part and a second driving shaft, the second driving shaft connects the same side ends of the first transmission connecting part and the second transmission connecting part, the first transmission connecting part is slidingly connected on the first transmission part, the second transmission connecting part is slidingly connected on the second transmission part, the first transmission connecting part is oppositely arranged with the first sliding part, the second transmission connecting part is oppositely arranged with the second sliding part, the lengths of the first transmission part and the first transmission connecting part are the same as the lengths of the first fixing part and the first sliding part; The calf fixing part comprises a third fixing part and a fourth fixing part, the same side ends of the third fixing part and the fourth fixing part are connected on the second driving shaft, and the third fixing part moves synchronously with the fourth fixing part; The calf sliding part comprises a third sliding part and a fourth sliding part, the third sliding part is slidingly connected on the third fixing part, the fourth sliding part is slidingly connected on the fourth fixing part, the third sliding part moves synchronously with the fourth sliding part, and the calf binding part is installed on the third sliding part or the fourth sliding part through a calf binding fixing block.

5. The isokinetic multi-body position rehabilitation exoskeleton module according to claim 1, characterized in that, The driving assembly comprises a hip joint motor, a knee joint motor, a hip joint sensor and a knee joint sensor, the hip joint motor is connected with the thigh fixing part, the hip joint sensor is connected with the hip joint motor, the knee joint motor is connected with the calf driving part, the knee joint sensor is connected with the knee joint motor, the hip joint sensor is used for hip joint torque measurement, and the knee joint sensor is used for knee joint torque measurement.

6. The isokinetic multi-body position rehabilitation exoskeleton module according to claim 1, characterized in that, The constant velocity multi-body position rehabilitation exoskeleton module further comprises an ankle mechanism connected with the calf mechanism. The ankle mechanism comprises a foot pedal and an adjusting member, the foot pedal is fixedly connected with the adjusting member, the adjusting member is rotationally connected with the lower leg sliding member, the position of the foot pedal on the adjusting member is adjusted so that the position of the foot pedal corresponds to the position of the sole of the user, and the user is guided to perform ankle joint training when the foot pedal rotates relative to the lower leg sliding member.

7. The isokinetic multi-body position rehabilitation exoskeleton module according to claim 6, characterized in that, The ankle mechanism further comprises an ankle motor and an ankle sensor, the ankle motor is fixedly connected with the lower leg sliding member, the ankle sensor is connected with the ankle motor, the adjusting member is connected on the ankle sensor, the ankle motor controls the rotation of the foot pedal through the adjusting member so that the user performs ankle joint training, and the ankle sensor measures the torque of the ankle joint.

8. An isokinetic multi-body position rehabilitation exoskeleton robot, characterized by, The isokinetic multi-joint rehabilitation exoskeleton robot comprises the isokinetic multi-joint rehabilitation exoskeleton module and the seat module as claimed in any one of claims 1 to 6, the skeleton base of the isokinetic multi-joint rehabilitation exoskeleton module is fixedly connected with the seat module, the seat module is used for being occupied by the user, and the isokinetic multi-joint rehabilitation exoskeleton module is used for being worn by the user.

9. A control method of the isokinetic multi-body position rehabilitation exoskeleton module according to any one of claims 1 to 8, characterized in that, The control method comprises: After the user wears the thigh binding member and the lower leg binding member, when the passive training mode is adopted, the driving assembly controls the thigh connecting assembly and the lower leg connecting assembly to rotate according to preset parameters, so that the thigh binding member and the lower leg binding member guide the user to simultaneously perform hip joint and knee joint muscle strength training; When the active training mode is adopted, according to the measured torque in the process that the user exerts force on the leg, the driving assembly controls the thigh connecting assembly and the lower leg connecting assembly to rotate at a set speed according to the measured torque, so that the thigh binding member and the lower leg binding member guide the user to simultaneously perform isokinetic muscle strength training of the hip joint and the knee joint.

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