Lower limb auxiliary walking rehabilitation robot system

Abstract

The invention discloses a lower limb auxiliary walking rehabilitation robot system which comprises an internal lower limb skeleton wearing mechanism and a peripheral support mechanism, and the internal lower limb skeleton wearing mechanism is supported by the peripheral support mechanism to be in an upright walking state in which the feet can touch the ground. The internal lower limb skeleton wearing mechanism can actively stretch out and draw back along with lifting of the peripheral support mechanism to adjust the height of the internal lower limb skeleton wearing mechanism when touching the ground, the internal lower limb skeleton wearing mechanism drives the lower limbs of the patient to move through active movement of all joints, and auxiliary walking is achieved. The adjustable wearable mechanism is combined with the self-adaptive lifting support, a patient is assisted in conducting safe and stable walking training, the lower limb movement function is helped to be recovered, and meanwhile the rehabilitation device adapts to individual requirements of different body types and rehabilitation stages.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical rehabilitation assistance devices, and particularly relates to a lower limb assisted walking rehabilitation robot system. Background Art

[0002] At present, most lower limb rehabilitation training devices adopt fixed brackets or simple exoskeleton structures, which have problems such as poor wearing adaptability, single joint motion control, and inability to flexibly adapt to changes in patient height and gait. Traditional devices are prone to causing limb compression or abnormal gait during assisted walking, and lack the independent driving and dynamic height adjustment capabilities for the hip, knee, and ankle joints, restricting the accuracy and safety of rehabilitation training. Summary of the Invention

[0003] Object of the Invention: In order to overcome the deficiencies in the prior art, the present invention provides a lower limb assisted walking rehabilitation robot system, which combines an adjustable wearing mechanism with an adaptive lifting bracket to assist patients in performing safe and stable walking training, helping to restore lower limb motor function, and at the same time adapting to the personalized needs of different body types and rehabilitation stages.

[0004] Technical Solution: To achieve the above object, a lower limb assisted walking rehabilitation robot system of the present invention includes an internal lower limb bone wearing mechanism and a peripheral bracket mechanism. The internal lower limb bone wearing mechanism is supported by the peripheral bracket mechanism in an upright walking state where the feet can touch the ground, and the internal lower limb bone wearing mechanism can actively stretch and adjust its own height when touching the ground following the lifting of the peripheral bracket mechanism. The internal lower limb bone wearing mechanism drives the patient's lower limbs to move through the active movement of each joint to achieve assisted walking.

[0005] Further, the internal lower limb bone wearing mechanism includes a hip joint wearing mechanism, a knee joint wearing mechanism, an ankle joint wearing mechanism, and a foot wearing mechanism that are sequentially movably connected from top to bottom. The internal lower limb bone wearing mechanism is connected to the peripheral bracket mechanism through the hip joint wearing mechanism. The internal lower limb bone wearing mechanism also includes a joint driving part, and each joint connection provides the driving force for movement through the joint driving part, and each joint driving part is independent of each other.

[0006] Further, the hip joint wearing structure includes a hip joint skeleton and a hip joint connecting axis, the knee joint wearing mechanism includes a knee joint skeleton and a knee joint connecting axis, the ankle joint wearing mechanism includes an ankle joint skeleton and an ankle joint connecting axis, and the foot wearing mechanism includes a foot skeleton; the hip joint skeleton is installed on the peripheral support mechanism as a skeleton support for the entire internal lower limb skeleton wearing mechanism, the hip joint skeleton is movably connected to the knee joint skeleton through the hip joint connecting axis, the knee joint skeleton is movably connected to the ankle joint skeleton through the knee joint connecting axis, and the ankle joint skeleton is movably connected to the foot skeleton through the ankle joint connecting axis; the joint driving part includes a hip joint driving part, a knee joint driving part and an ankle joint driving part, the hip joint driving part is correspondingly driven and connected to the hip joint connecting axis, the knee joint driving part is correspondingly driven and connected to the knee joint connecting axis, and the ankle joint driving part is correspondingly driven and connected to the ankle joint connecting axis.

[0007] Furthermore, an outward-turned backrest is arranged on the inner and rear side of the hip joint frame, and the opposite side of the backrest is an opening located at the front side of the hip joint frame. The opening of the hip joint frame is arranged forward and tilted downward to adapt to the patient's hip bone configuration.

[0008] Furthermore, the hip joint wearing structure also includes a waist belt arranged in the hip joint skeleton frame, the waist belt is connected to the backrest and is used to restrain the patient's waist, and the size of the waist belt can be adjusted according to the patient's waist circumference.

[0009] Furthermore, a fixing ring is provided on the inner side of the knee joint frame for fixing the patient's thigh so that the patient's thigh is against the knee joint frame.

[0010] Furthermore, the top of the ankle joint skeleton is an embracing structure adapted to the patient's calf structure contour, and the ankle joint skeleton is divided into two branches extending downward from the embracing structure in a curved shape to form a support point, and the support point is movably connected to the foot skeleton through an ankle joint connecting axis.

[0011] Furthermore, the foot skeleton frame includes a sole plate and a foot surface wrapping body, the foot surface wrapping body is connected to and covers the sole plate, and the ankle joint skeleton frame is connected to the foot surface wrapping body through an ankle joint connecting axis; the connection profile of the foot surface wrapping body and the sole plate is U-shaped to adapt to the patient's foot structure profile.

[0012] Further, a notch is provided at the rear end of the sole, and an elastic body is arranged in the notch. The elastic body protrudes from the plate surface of the sole towards the foot wrapping body. When the patient wears the internal lower limb bone wearing mechanism, when the patient's foot extends into the foot bone frame, the elastic body is stepped on, causing elastic compression deformation of the elastic body. The elastic body jacks up the patient's sole through the tendency of rebound expansion deformation of its own compressed deformation form, so as to position the patient's foot in the foot bone frame.

[0013] Further, the elastic body is an airbag that can be inflated and deflated, and a pressure sensor for real-time detection of air pressure is arranged inside the airbag; the airbags with pressure sensors are both arranged in the two foot bone frames, constituting a walking pressure detection unit for both feet, so as to judge the walking posture through the difference in foot pressure between the two feet during the patient's walking rehabilitation training.

[0014] Further, the foot wrapping body is in a hollow structure.

[0015] Further, the peripheral support mechanism includes a lower moving support mechanism, an intermediate lifting mechanism and an upper handrail support frame; the upper handrail support frame is arranged on the lower moving support mechanism through the intermediate lifting mechanism. A pusher is arranged on the intermediate lifting mechanism. The front side arm of the upper handrail support frame is bent upwards to form a handrail, and the hip joint bone frame is connected to the upper handrail support frame; the lower moving support mechanism moves passively following the walking of the patient wearing the internal lower limb bone wearing mechanism; the intermediate lifting mechanism drives the internal lower limb bone wearing mechanism to adjust the height.

[0016] Beneficial effects: The present invention provides support through the peripheral support mechanism, enabling the patient to maintain a natural walking posture during rehabilitation training, avoiding muscle atrophy or abnormal postures caused by long-term bed rest. The lifting function of the peripheral support mechanism can adjust the height of the internal lower limb bone wearing mechanism according to the patient's height or terrain changes, ensuring stable contact of the feet with the ground, enhancing safety, and assisting the patient to complete lower limb movements through the active drive of each joint, promoting the reconstruction of neuromuscular function. It is particularly suitable for patients with insufficient muscle strength or movement control disorders, assisting the patient to perform safe and stable walking training and helping to restore lower limb motor function. Brief Description of the Drawings

[0017] Figure 1 is the overall structure schematic diagram of the lower limb assisted rehabilitation robot system of the present invention Figure 1 ;

[0018] Figure 2 is the overall structure schematic diagram of the lower limb assisted rehabilitation robot system of the present invention Figure 2 ;

[0019] Figure 3 is the front view structure schematic diagram of the internal lower limb bone wearing mechanism;

[0020] Figure 4 It is a schematic side view structure diagram of the internal lower limb bone wearing mechanism;

[0021] Figure 5 It is a schematic structure diagram of the ankle joint bone frame;

[0022] Figure 6 It is a schematic structure diagram of the sole plate of the foot bone frame. Detailed implementation manners

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] As Figure 1 and 2 shown, a lower limb assisted walking rehabilitation robot system includes an internal lower limb bone wearing mechanism 1 and a peripheral support mechanism 2. The internal lower limb bone wearing mechanism 1 is supported by the peripheral support mechanism 2 to be in an upright walking state where the feet can touch the ground, and the internal lower limb bone wearing mechanism 1 can actively stretch and adjust its own height when touching the ground following the lifting and lowering of the peripheral support mechanism 2. The internal lower limb bone wearing mechanism 1 drives the patient's lower limbs to move through the active movement of each joint, realizing assisted walking. The present invention provides support through the peripheral support mechanism 2, enabling the patient to maintain a natural walking posture during rehabilitation training, avoiding muscle atrophy or abnormal postures caused by long-term bed rest. The lifting function of the peripheral support mechanism 2 can adjust the height of the internal lower limb bone wearing mechanism 1 according to the patient's height or terrain changes, ensuring stable foot contact with the ground, enhancing safety, and through the active drive of each joint, assisting the patient to complete lower limb movements, promoting neuromuscular function reconstruction, especially suitable for patients with insufficient muscle strength or movement control disorders, assisting the patient to perform safe and stable walking training, and helping to restore lower limb motor function.

[0025] More specifically, the internal lower limb bone wearing mechanism 1 includes a hip joint wearing mechanism 1a, a knee joint wearing mechanism 1b, an ankle joint wearing mechanism 1c, and a foot wearing mechanism 1d that are sequentially movably connected from top to bottom. The internal lower limb bone wearing mechanism 1 is connected to the peripheral support mechanism 2 through the hip joint wearing mechanism 1a. The internal lower limb bone wearing mechanism 1 further includes a joint driving part 1e. The driving force for movement is provided by the joint driving part 1e at each joint connection, and each joint driving part 1e is independent of each other, thus realizing a sub-joint modular structure that is convenient for personalized adaptation to the patient's limb size, improving wearing comfort and flexibility. Each joint driving part 1e adopts an independent operation mechanism, which can perform precise regulation for different rehabilitation training stages (such as flexion and extension amplitude, movement speed), avoiding movement interference, and thus improving the effect of assisted rehabilitation training.

[0026] During the walking training process, the peripheral support mechanism 2 provides safety protection for patients wearing the internal lower limb bone wearing mechanism 1, preventing them from falling, reducing the probability of walking inclination, enabling patients to have a better walking posture, and being more conducive to walking rehabilitation training.

[0027] As Figure 1 , Figure 2 , Figure 3 and Figure 4 shown, the hip joint wearing structure 1a includes a hip joint bone frame 11 and a hip joint connecting shaft 12, the knee joint wearing mechanism 1b includes a knee joint bone frame 13 and a knee joint connecting shaft 14, the ankle joint wearing mechanism 1c includes an ankle joint bone frame 15 and an ankle joint connecting shaft 16, and the foot wearing mechanism 1d includes a foot bone frame 17; the hip joint bone frame 11 is installed on the peripheral support mechanism 2 as the bone support of the entire internal lower limb bone wearing mechanism 1, and the hip joint bone frame 11 is movably connected to the knee joint bone frame 13 through the hip joint connecting shaft 12, the knee joint bone frame 13 is movably connected to the ankle joint bone frame 15 through the knee joint connecting shaft 14, and the ankle joint bone frame 15 is movably connected to the foot bone frame 17 through the ankle joint connecting shaft 16; the joint driving part 1e includes a hip joint driving part 18, a knee joint driving part 19, and an ankle joint driving part 20, the hip joint driving part 18 is correspondingly drivingly connected to the hip joint connecting shaft 12, the knee joint driving part 19 is correspondingly drivingly connected to the knee joint connecting shaft 14, and the ankle joint driving part 20 is correspondingly drivingly connected to the ankle joint connecting shaft 16. Using a bionic joint structure, each bone frame and connecting shaft simulate the movement trajectory of the human joints, reducing the movement conflict between the mechanical structure and the limbs, reducing the risk of sports injuries, and having higher independent driving adaptability. The hip, knee, and ankle joint driving parts are separately designed, and can provide differential assistance for the rehabilitation needs of different joints (such as hip joint stability and ankle joint flexibility), improving the rehabilitation training effect of the patient's lower limbs.

[0028] In the present invention, as a preference, the joint driving part 1e is selected as a brushless DC reduction motor.

[0029] As Figure 3 shown, an everted backrest 11.1 is provided on the inner rear side of the hip joint bone frame 11, and the opposite side of the backrest 11.1 is an opening located in the front side of the hip joint bone frame 11. The opening of the hip joint bone frame 11 faces forward and is inclined downward to fit the hip bone configuration of the patient. Among them, the backrest 11.1 and the opening design fit the hip structure, disperse the pressure, and avoid skin damage or discomfort caused by local compression. The inclined design of the front opening facilitates the patient to wear and take off, especially suitable for rehabilitation patients with limited mobility.

[0030] As Figure 3As shown, the hip joint wearable structure 1a also includes a belt 21 arranged in the hip joint skeleton frame 11, and the belt 21 is connected to the backrest 11.1, used to restrain the patient's waist, and the belt 21 can be adjusted according to the patient's waist circumference. The skeleton frame is tightly bound to the patient's waist through the belt 21 to prevent the skeleton frame from shifting during exercise, ensuring that the driving force is efficiently transmitted to the lower limbs. The adjustable belt is suitable for patients with different waist circumferences, expanding the range of people suitable for the device.

[0031] A fixing ring 22 is provided on the inner side of the knee joint frame 13 for fixing the patient's thigh so that the patient's thigh is close to the knee joint frame 13. The fixing ring 22 limits the relative displacement of the thigh and the frame to avoid joint dislocation or power assistance deviation caused by limb sliding during exercise. At the same time, the annular structure reduces local pressure on the thigh soft tissue and improves comfort.

[0032] like Figure 5 As shown, the top of the ankle joint skeleton frame 15 is an embracing structure 15.1 adapted to the patient's calf structure contour, and the ankle joint skeleton frame 15 is divided into two branches extending in a curve from the embracing structure 15.1 downward to form a support point 15.2, and the support point 15.2 is movably connected to the foot skeleton frame 17 through the ankle joint connecting shaft 16. The embracing structure 15.1 fits the calf contour, and the curved branch design provides continuous support when the ankle joint is flexed and extended, avoiding joint impact caused by sudden changes in movement, and the branch support point 15.2 disperses the force of the ankle to the skeleton frame, thereby reducing the load on the Achilles tendon and plantar fascia.

[0033] like Figure 1 or Figure 2 As shown, the peripheral support mechanism 2 includes a lower movable support mechanism 2.1, an intermediate lifting mechanism 2.2 and an upper hand-held support frame 2.3; the upper hand-held support frame 2.3 is arranged on the lower movable support mechanism 2.1 through the intermediate lifting mechanism 2.2, and a push handle 2.20 is arranged on the intermediate lifting mechanism 2.2. The front arm of the upper hand-held support frame 2.3 is bent upward to form an armrest 2.30, and the hip joint skeleton frame 11 is connected to the upper hand-held support frame 2.3; the lower movable support mechanism 2.1 moves passively following the walking of the patient wearing the internal lower limb skeleton wearing mechanism 1, and the lower movable support mechanism 2.1 moves passively with the patient's gait, avoiding the limitation of the stride on the traditional fixed support, and supporting natural walking training; the intermediate lifting mechanism 2.2 drives the internal lower limb skeleton wearing mechanism 1 to adjust the height, and the intermediate lifting mechanism 2.2 can quickly adjust the height of the support according to the patient's height or training needs, thereby expanding the rehabilitation scene.

[0034] The lower moving support mechanism 2.1 includes a U-shaped steel pipe chassis, and universal wheels with locking functions are arranged at the bottom of the U-shaped steel pipe chassis. The middle lifting mechanism 2.2 includes a lifting column and an electric cylinder. The lifting column is installed on the U-shaped steel pipe chassis and provides lifting driving force through the electric cylinder. An installation box is clamped and fixed on the upper handrail support frame 2.3, and the upper handrail support frame 2.3 is installed on the installation box.

[0035] As Figure 2 shown, the foot skeleton 17 includes a foot sole plate 17.1 and a foot wrapping body 17.2. The foot wrapping body 17.2 is connected to and covers the foot sole plate 17.1. The ankle joint skeleton 15 is connected to the foot wrapping body 17.2 through an ankle joint connecting shaft 16; the connection contour between the foot wrapping body 17.2 and the foot sole plate 17.1 is U-shaped to adapt to the contour of the patient's foot structure. Based on the U-shaped structure design, the foot wrapping body 17.2 covers the instep and both sides to prevent the foot from sliding or rotating during movement, ensuring gait stability. The foot sole plate 17.1 and the foot wrapping body 17.2 cooperate to simulate the pressure distribution when the foot touches the ground, promoting the reconstruction of the normal gait pattern.

[0036] As Figure 2 and Figure 6 shown, a notch 17.10 is provided at the rear end of the foot sole plate 17.1, and an elastic body 17.11 is arranged in the notch 17.10. The elastic body 17.11 protrudes from the plate surface of the foot sole plate 17.1 towards the foot wrapping body 17.2; when the patient wears the internal lower limb skeleton wearing mechanism 1, when the patient's foot extends into the foot skeleton 17, the elastic body 17.11 is stepped on, causing the elastic body 17.11 to undergo elastic compression deformation. The elastic body 17.11 tops the patient's foot sole upwards due to the tendency of the rebound and expansion deformation of its own compressed deformation form, so as to position the patient's foot in the foot skeleton 17. The elastic body 17.11 rebounds and tops the sole of the foot after being pressed, automatically adapting to different arch heights, improving the fixing effect of the foot. The elastic body 17.11 can also absorb the impact force during walking, reduce the peak value of the sole pressure, and reduce the risk of fatigue and injury.

[0037] It should be noted that in the present invention, as Figure 6 shown, the elastic body 17.11 is an inflatable and deflatable airbag, and a pressure sensor 17.12 for real-time detection of air pressure is built in the airbag; the airbags with the pressure sensor 17.12 are both arranged in the two foot skeletons 17, constituting a double-foot walking pressure detection unit to judge the walking posture through the difference in the foot pressure between the two feet of the patient during walking rehabilitation training. Its technical effects are as follows:

[0038] 1) Dynamic foot pressure monitoring and adaptation:

[0039] The airbag can deform in real time according to the plantar pressure of the patient, providing a more flexible foot fixation and avoiding local compression caused by hard materials;

[0040] The pressure sensors 17.12 detect the pressure distribution when both feet touch the ground in real time, so as to analyze the gait symmetry (such as the pressure difference between the left and right feet), and then assist in evaluating the rehabilitation progress.

[0041] 2) Gait abnormality warning and correction:

[0042] Through the bilateral pressure difference data (such as insufficient unilateral load-bearing or excessive inclination), gait abnormalities (such as limping, dragging steps) can be immediately detected, and the corresponding joint drive part 1e can be linked to adjust for assistance to actively correct the wrong gait pattern.

[0043] 3) Data-driven rehabilitation optimization:

[0044] The pressure data can be used as an objective indicator for rehabilitation training to help doctors formulate personalized training intensities (such as increasing the load on the affected side) and improve the rehabilitation efficiency.

[0045] The pressure detection unit for walking with both feet and the joint drive part 1e and the intermediate lifting mechanism 2.2 form a closed-loop control. For example, when it is detected that the pressure on the affected side is insufficient, the joint driving force on the affected side can be increased or the height of the bracket can be adjusted to ensure gait balance.

[0046] Through the structural settings of the flexible airbag and pressure sensing, the traditional mechanical fixation is upgraded to an intelligent perception and dynamic response system, significantly improving the accuracy and safety of rehabilitation training. The technical effects it achieves are not limited to foot adaptation optimization, but through gait data feedback and device linkage, the entire system has the core competitiveness of adaptive adjustment and personalized rehabilitation.

[0047] The foot wrapping body 17.2 is in a hollow structure. The hollow design can reduce the sense of foot weight, enhance breathability at the same time, avoid skin problems caused by foot heat or sweat accumulation, and is convenient for medical staff to observe the foot condition (such as swelling, indentation) and adjust the rehabilitation plan in time.

[0048] The working process of the lower limb assisted walking rehabilitation robot system of the present invention is as follows:

[0049] 1. Initial wearing

[0050] Patient wearing:

[0051] Hip joint: The waist is fixed through the waistband 21 of the hip joint skeleton 11, and the waistband can be adjusted in tightness to adapt to different waist circumferences.

[0052] Knee joint: The fixing ring 22 surrounds the patient's thigh to limit the relative displacement between the thigh and the knee joint skeleton 13.

[0053] Ankle joint: The embracing structure 15.1 of the ankle joint skeleton 15 fits the calf, and the curved branches extend to the foot, providing continuous support.

[0054] Foot: The patient's foot is embedded in the foot skeleton frame 17, and the elastic body 17.11 (air bag) rebounds to the sole of the foot after being compressed, adapts to the height of the arch of the foot, and monitors the foot pressure in real time through the pressure sensor 17.12.

[0055] Bracket support:

[0056] The intermediate lifting mechanism 2.2 adjusts the height of the internal lower limb skeleton wearing mechanism 1 according to the patient's height to ensure that the feet touch the ground stably.

[0057] The armrest 2.30 of the upper hand support frame 2.3 provides upper limb support and enhances walking stability.

[0058] 2. Start walking training

[0059] Passive follow-up movement: The universal wheels of the lower mobile support mechanism 2.1 passively move with the patient's gait, avoiding stride length restriction and supporting natural walking.

[0060] Active joint drive: The hip joint drive unit 18, the knee joint drive unit 19, and the ankle joint drive unit 20 (brushless DC reduction motor) independently drive each joint according to the preset program or real-time gait data: (1.1) Stepping stage: the hip joint drive unit 18 assists in lifting the leg, the knee joint drive unit 19 controls the flexion and extension angle, and the ankle joint drive unit 20 provides support when touching the ground; (2.1) Swinging stage: the ankle joint drive unit assists the foot to leave the ground, and the knee joint drive unit coordinates the forward swing of the leg.

[0061] 3. Dynamic gait monitoring and closed-loop control

[0062] Foot pressure feedback: The airbag pressure sensors 17.12 on both feet detect the pressure distribution of the left and right feet in real time and analyze the gait symmetry (such as insufficient weight bearing or tilt on one side).

[0063] Abnormal gait correction: If insufficient pressure on the affected side is detected, the system will link the corresponding joint driver 1e to increase the driving force (such as enhancing the assistance of the hip joint on the affected side), or adjust the height through the intermediate lifting mechanism 2.2 to balance the gait; the pressure data is synchronously transmitted to the rehabilitation management system for the doctor to formulate a personalized training plan (such as adjusting the weight-bearing ratio on the affected side).

[0064] 4. Altitude and terrain adaptation

[0065] Dynamic lifting adjustment: When walking on rough ground or uphill or downhill, the intermediate lifting mechanism 2.2 automatically or manually adjusts the height of the bracket to ensure that the patient's feet always touch the ground to avoid slipping or abnormal posture.

[0066] Buffer and shock absorption: The elastomer 17.11 of the foot skeleton 17 absorbs the walking impact force and reduces the peak plantar pressure; the foot wrapping body 17.2 with a hollow design enhances breathability and prevents foot discomfort.

[0067] 5. Training termination and equipment reset

[0068] Safe shutdown: The patient stops the training by telling the caregiver or doctor to control the pusher 2.20 or stops the training by voice command. Each joint drive unit 1e gradually reduces the driving force and enters the buffer shutdown mode; the middle lifting mechanism 2.2 resets to the initial height, and the universal wheels are locked to prevent the equipment from sliding.

[0069] To cope with emergency dangerous situations, the lower limb assisted walking rehabilitation robot system is provided with an emergency protection mechanism: If severe imbalance (such as a sudden drop in unilateral pressure) is detected, the system immediately locks all joints and triggers the peripheral support mechanism 2 to stably support and prevent falling.

[0070] The technical advantages of the lower limb assisted walking rehabilitation robot system of the present invention are summarized as follows:

[0071] a) Independent joint drive: Modular control of the hip, knee and ankle joints, supporting different rehabilitation needs (such as strengthening ankle flexibility).

[0072] b) High adaptability: Through designs such as the adjustable waistband 21, fixing ring 22, airbag elastomer 17.11, etc., it adapts to different body shapes, arch heights and rehabilitation stages, improves wearing comfort and applicability; the middle lifting mechanism 2.2 dynamically adjusts the height of the bracket to adapt to the patient's height and terrain changes, ensuring that the feet touch the ground stably.

[0073] c) Precise joint drive: Each of the hip, knee and ankle joints is controlled by an independent drive unit (brushless DC reduction motor), which can provide different assistance for different rehabilitation needs (such as hip joint stability, ankle joint flexibility) to avoid motion interference.

[0074] d) Intelligent closed-loop system: The foot pressure data is linked with the drive unit and the lifting mechanism. The dual-foot airbag pressure sensors 17.12 continuously monitor the gait symmetry. Through data feedback, the drive unit and the lifting mechanism are linked to actively correct abnormal gaits (such as limping), optimize the rehabilitation training, and achieve gait adaptive correction.

[0075] e) Bionic design and shock absorption mechanism: The bionic bone structure reduces movement conflicts, the surrounding structure 15.1 fits the limb contour, and the curve branch support points 15.2 disperse the joint load; the elastomer 17.11 absorbs the walking impact force, and the airbag and elastic design improve wearing comfort, reduce the peak plantar pressure, and reduce the risk of fatigue and injury.

[0076] f) Natural gait support: The casters of the lower moving support mechanism 2.1 move passively with the patient's gait, avoiding restricted stride length and supporting natural walking training.

[0077] g) Safety and human-computer interaction optimization: The hollow foot wrapper 17.2 enhances breathability and facilitates the observation of foot conditions; the emergency protection mechanism locks the joints and triggers the support of the bracket when imbalance occurs to prevent falling.

[0078] This lower limb assisted walking rehabilitation robot system realizes the whole process of rehabilitation training from wearing adaptation, dynamic assistance to gait optimization, significantly improving the walking safety and rehabilitation efficiency of patients with lower limb dysfunction.

[0079] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A lower limb assisted walking rehabilitation robot system, characterized in that: The invention comprises an internal lower limb skeleton wearing mechanism (1) and a peripheral support mechanism (2); the internal lower limb skeleton wearing mechanism (1) is supported by the peripheral support mechanism (2) in an upright walking state in which the feet can touch the ground, and the internal lower limb skeleton wearing mechanism (1) can actively extend and retract to adjust its own height when touching the ground following the rise and fall of the peripheral support mechanism (2); the internal lower limb skeleton wearing mechanism (1) drives the patient's lower limbs to move through the active movement of each joint, thereby achieving assisted walking.

2. A lower limb assisted walking rehabilitation robot system according to claim 1, characterized in that: The internal lower limb skeleton wearing mechanism (1) comprises a hip joint wearing mechanism (1a), a knee joint wearing mechanism (1b), an ankle joint wearing mechanism (1c) and a foot wearing mechanism (1d) which are movably connected in sequence from top to bottom. The internal lower limb skeleton wearing mechanism (1) is connected to the peripheral support mechanism (2) via the hip joint wearing mechanism (1a). The internal lower limb skeleton wearing mechanism (1) also comprises a joint driving unit (1e). Each joint connection is provided with a driving force for movement via the joint driving unit (1e), and each joint driving unit (1e) is independent of each other.

3. A lower limb assisted walking rehabilitation robot system according to claim 2, characterized in that: The hip joint wearing structure (1a) comprises a hip joint skeleton frame (11) and a hip joint connecting shaft (12); the knee joint wearing mechanism (1b) comprises a knee joint skeleton frame (13) and a knee joint connecting shaft (14); the ankle joint wearing mechanism (1c) comprises an ankle joint skeleton frame (15) and an ankle joint connecting shaft (16); and the foot wearing mechanism (1d) comprises a foot skeleton frame (17); the hip joint skeleton frame (11) is installed on the peripheral support mechanism (2) as the skeleton support of the entire internal lower limb skeleton wearing mechanism (1); the hip joint skeleton frame (11) and the knee joint skeleton frame (13) are movable through the hip joint connecting shaft (12). The knee joint skeleton (13) and the ankle joint skeleton (15) are movably connected via a knee joint connecting shaft (14), and the ankle joint skeleton (15) and the foot skeleton (17) are movably connected via an ankle joint connecting shaft (16); the joint driving unit (1e) comprises a hip joint driving unit (18), a knee joint driving unit (19) and an ankle joint driving unit (20), the hip joint driving unit (18) is correspondingly connected to the hip joint connecting shaft (12), the knee joint driving unit (19) is correspondingly connected to the knee joint connecting shaft (14), and the ankle joint driving unit (20) is correspondingly connected to the ankle joint connecting shaft (16).

4. A lower limb assisted walking rehabilitation robot system according to claim 3, characterized in that: The inner and rear side of the hip joint frame (11) is provided with an outward-turned backrest (11.1), and the opposite side of the backrest (11.1) is an opening located at the front side of the hip joint frame (11). The opening of the hip joint frame (11) is arranged to face forward and tilt downward to adapt to the patient's hip bone configuration.

5. A lower limb assisted walking rehabilitation robot system according to claim 4, characterized in that: The hip joint wearing structure (1a) further comprises a waist belt (21) arranged in the hip joint skeleton frame (11); the waist belt (21) is connected to the backrest (11.1) and is used to restrain the patient's waist; and the size of the waist belt (21) can be adjusted according to the patient's waist circumference.

6. A lower limb assisted walking rehabilitation robot system according to claim 4, characterized in that: A fixing ring (22) is arranged on the inner side of the knee joint frame (13) for fixing the patient's thigh so that the patient's thigh is pressed against the knee joint frame (13).

7. A lower limb assisted walking rehabilitation robot system according to claim 4, characterized in that: The top of the ankle joint skeleton (15) is an embracing structure (15.1) adapted to the patient's calf structure contour. The ankle joint skeleton (15) is divided into two branches extending downward from the embracing structure (15.1) in a curved shape to form a support point (15.2). The support point (15.2) is movably connected to the foot skeleton (17) via an ankle joint connecting shaft (16).

8. The lower limb assisted walking rehabilitation robot system according to claim 4, characterized in that: The foot skeleton frame (17) comprises a sole plate (17.1) and a foot covering body (17.2); the foot covering body (17.2) is connected to and covers the sole plate (17.1); the ankle joint skeleton frame (15) is connected to the foot covering body (17.2) via an ankle joint connecting shaft (16); the connection profile of the foot covering body (17.2) and the sole plate (17.1) is U-shaped to adapt to the patient's foot structure profile.

9. A lower limb assisted walking rehabilitation robot system according to claim 8, characterized in that: The rear end of the sole plate (17.1) is provided with a notch (17.10), and an elastic body (17.11) is provided in the notch (17.10), and the elastic body (17.11) protrudes from the plate surface of the sole plate (17.1) and extends toward the foot surface wrapping body (17.2); when the patient wears the internal lower limb bone wearing mechanism (1), the patient's foot is inserted into the foot skeleton frame (17) and presses the elastic body (17.11), so that the elastic body (17.11) undergoes elastic compression deformation, and the elastic body (17.11) pushes up against the sole of the patient's foot due to the rebound expansion deformation tendency of its own compression deformation state, so as to position the patient's foot in the foot skeleton frame (17).

10. A lower limb assisted walking rehabilitation robot system according to claim 9, characterized in that: The elastic body (17.11) is an inflatable and deflated airbag, and the airbag is equipped with a pressure sensor (17.12) for detecting air pressure in real time; the two foot skeleton frames (17) are each equipped with the airbag equipped with a pressure sensor (17.12), forming a double-foot walking pressure detection unit, so as to judge the walking posture through the difference in foot pressure between the two feet of the patient during walking rehabilitation training.

11. A lower limb assisted walking rehabilitation robot system according to claim 8 or 9, characterized in that: The foot covering body (17.2) is in the shape of a hollow structure.

12. A lower limb assisted walking rehabilitation robot system according to any one of claims 3 to 10, characterized in that: The peripheral support mechanism (2) comprises a lower movable support mechanism (2.1), an intermediate lifting mechanism (2.2) and an upper hand-held support frame (2.3); the upper hand-held support frame (2.3) is arranged on the lower movable support mechanism (2.1) through the intermediate lifting mechanism (2.2); a push handle (2.20) is arranged on the intermediate lifting mechanism (2.2); the front side arm of the upper hand-held support frame (2.3) is bent upward to form an armrest (2.30); the hip joint skeleton frame (11) is connected to the upper hand-held support frame (2.3); the lower movable support mechanism (2.1) passively moves following the walking of a patient wearing an internal lower limb skeleton wearing mechanism (1); the intermediate lifting mechanism (2.2) drives the internal lower limb skeleton wearing mechanism (1) to adjust its height.

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