Brain wave control exoskeleton robot for assisting paraplegic patient in walking training

Abstract

The invention discloses a brain wave control exoskeleton robot for assisting paraplegia patients in walking training. The brain wave control exoskeleton robot comprises a brain head ring, a control mechanism, an execution mechanism and an armrest frame. The brain-head ring is worn on the head of a patient and is used for collecting and transmitting brain wave signals; the control mechanism is in communication connection with the brain-machine head ring and is used for receiving a signal sent by the brain-machine head ring; the executing mechanism is in communication connection with the control mechanism and is used for executing the knee loosening and knee locking action instructions sent by the control mechanism, and the periodic action of walking is completed through the cyclic action of knee loosening and knee locking; the armrest frame is used for providing auxiliary support for the patient in the standing posture. On one hand, the equipment is compact in overall structure, modularized and integrated and convenient to wear and store, on the other hand, under the auxiliary supporting action of the armrest frame and the executing mechanism, knee locking and knee loosening actions of the motor module are executed according to the decision of a brain instruction of a patient, the periodic walking action is completed, dependence on a rehabilitation therapist can be eliminated, and the training cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation equipment, and particularly to an electroencephalogram-controlled exoskeleton robot for assisting paraplegic patients in walking training. Background Art

[0002] Walking is a simple and effective exercise method that can promote the health of all organs of the body and the stability of physiological functions. However, due to spinal cord transection injury, paraplegic patients lose the ability to walk on their lower limbs and can only stay in bed for a long time, resulting in a decline in physical functions and immunity, which is likely to cause health problems for the patients' psychology and physiology. Therefore, keeping paraplegic patients in a standing position and performing walking training is an effective rehabilitation method.

[0003] During the process of human walking, the knee joint plays a crucial role in support and stability. During the stepping phase, the knee joint needs to be relaxed and bent, that is, the knee-loosing action; during the landing support phase, the knee joint needs to be kept straight, otherwise the human body is likely to lose balance and fall. However, due to spinal cord truncation in paraplegic patients, the brain commands cannot be transmitted to the lower limbs, and the perception of the lower limbs cannot be transmitted to the brain either. Correspondingly, the knee joints of the patients cannot relax or straighten autonomously, that is, they cannot complete the knee-loosing and knee-locking actions autonomously. Therefore, during the walking training of paraplegic patients, rehabilitation therapists need to assist in performing the knee-loosing and knee-locking actions, resulting in high costs for walking training, which can only be carried out in rehabilitation institutions and cannot be carried out at home. Existing exoskeleton robots for paraplegic patients usually bind people inside and drive the patients to walk. However, since the patients are in a completely passive walking position and do not need to exert force themselves, the effect of walking exercise cannot be achieved. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides an electroencephalogram-controlled exoskeleton robot for assisting paraplegic patients in walking training.

[0005] The technical solution for the present invention to solve the above technical problems is as follows: An electroencephalogram-controlled exoskeleton robot for assisting paraplegic patients in walking training includes a brain headband, a control mechanism, an execution mechanism, and a handrail;

[0006] The brain headband is worn on the patient's head and is used to collect and transmit electroencephalogram signals;

[0007] The control mechanism is communicatively connected to the brain headband and is used to receive the signals sent by the brain headband, make control decisions, and send action instructions to the execution mechanism;

[0008] The execution mechanism is communicatively connected to the control mechanism and is used to execute the knee-loosing and knee-locking action instructions sent by the control mechanism, and complete the cyclic actions of walking through the cyclic actions of knee-loosing and knee-locking;

[0009] The handrail can be movably placed in front of the patient in the walking direction and is used to provide auxiliary support for the patient in a standing posture.

[0010] Further, the brain head ring includes a wearing ring, head electrodes arranged on the inner side of the wearing ring and used for collecting brain wave signals, an electroencephalogram module for performing signal feature processing on the brain wave signals, a Bluetooth slave for transmitting the obtained feature information to the control mechanism, and a battery module for supplying power to the head electrodes, the electroencephalogram module and the Bluetooth slave. The head electrodes are in contact with the patient's head.

[0011] Further, the control mechanism includes a control box, a controller, a driver, a Bluetooth host, a single-chip microcomputer and a power supply module located in the control box;

[0012] The Bluetooth host is used to receive the feature information sent by the Bluetooth slave, and the single-chip microcomputer is used to map the feature information received by the Bluetooth host and transmit a digital signal to the driver;

[0013] The controller is used to read the data in the driver and make a control decision to control the actuator to perform the knee loosening and knee locking actions.

[0014] Further, an emergency stop switch for emergency power-off and a cooling fan for heat dissipation are also arranged in the control box.

[0015] Further, the actuator includes a backboard, a waist connecting rod, a thigh connecting rod assembly, a calf connecting rod assembly and a motor module. The motor module is communicatively connected to the controller;

[0016] The backboard is connected to the patient's back. The waist connecting rod is arranged on both sides of the backboard. The thigh connecting rod assembly is used to bind the patient's thigh part and drive the thigh to move. The calf connecting rod assembly is used to bind the patient's calf part and drive the calf part to move. The motor module is used to provide driving force for the movement of the thigh and calf to realize the knee loosening and knee locking actions;

[0017] The thigh connecting rod assembly is movably connected to the end of the waist connecting rod through a crossed roller bearing. The motor module is connected between the thigh connecting rod assembly and the calf connecting rod assembly, and the calf connecting rod assembly is movably connected to the output shaft of the motor module.

[0018] Further, strip-shaped holes are arranged on both sides of the backboard, and a plurality of positioning holes communicating with the strip-shaped holes are arranged on the waist connecting rod. The waist connecting rod can move horizontally along the backboard and is positioned with the backboard by bolts passing through the strip-shaped holes and the positioning holes.

[0019] Further, the thigh connecting rod assembly includes a hip joint output shaft, a hip joint hinge, a hip joint connecting rod pressing block, a thigh connecting rod, a cylindrical pair slider, a limit slider and a thigh binding ring;

[0020] The hip joint output shaft is connected to the crossed roller bearing. One end of the hip joint hinge is connected to the hip joint output shaft, and the other end is connected to the hip joint connecting rod pressing block. The thigh connecting rod is arranged between the hip joint connecting rod pressing block and the cylindrical pair slider, and a cylindrical pair is formed between the thigh connecting rod and the hip joint connecting rod pressing block. A cylindrical pair is formed between the cylindrical pair slider and the thigh connecting rod. The limit slider is located below the cylindrical pair slider, and the thigh binding ring is arranged on the cylindrical pair slider.

[0021] Further, the motor module includes a knee joint hinge, a knee joint connecting rod pressing block, a knee joint flange, a knee joint output shaft, and a driving motor. The knee joint hinge is arranged between the knee joint connecting rod pressing block and the knee joint flange. The knee joint flange is arranged on the driving motor, and the knee joint output shaft is arranged on the output shaft of the driving motor.

[0022] Further, the calf connecting rod assembly includes a first calf connecting rod pressing block, a second calf connecting rod pressing block, a foot support plate, a calf connecting rod, and a foot binding.

[0023] The first calf connecting rod pressing block is arranged at the end of the knee joint output shaft. The second calf connecting rod pressing block is arranged on the foot support plate. The calf connecting rod is arranged between the first calf connecting rod pressing block and the second calf connecting rod pressing block, and cylindrical pairs are respectively formed between the calf connecting rod and the first calf connecting rod pressing block and between the calf connecting rod and the second calf connecting rod pressing block. The foot binding is arranged on the foot support plate.

[0024] Further, the armrest frame includes a moving base, lifting rods arranged at both ends of the moving base, and an upper limb support panel arranged on the lifting rods. The height of the upper limb support panel is adjusted as the lifting rods move up and down.

[0025] The present invention has the following beneficial effects: The electroencephalogram-controlled exoskeleton robot for assisting paraplegic patients in walking training provided by the present invention has a reliable structure and good performance. It integrates an electroencephalogram head ring, an armrest frame, a control mechanism, and an execution mechanism to form a new type of exoskeleton robot, solving the problem of inability to lock and unlock the knees autonomously when assisting paraplegic patients in walking training. On the one hand, the overall structure is compact and modularly integrated, facilitating wearing and storage. On the other hand, under the auxiliary support of the armrest frame and the execution mechanism, the locking and unlocking actions of the motor module are determined by the patient's brain commands to complete the periodic actions of walking, enabling the patient to get rid of the dependence on rehabilitation therapists, reducing training costs, and allowing the patient to conduct walking training at home. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic structural diagram of the present invention;

[0027] Figure 2 is a schematic structural diagram of the electroencephalogram head ring in the present invention;

[0028] Figure 3Schematic structural diagram of the control mechanism in the present invention;

[0029] Figure 4 Schematic structural diagram of the actuator in the present invention;

[0030] Figure 5 Schematic structural diagram of the armrest frame in the present invention;

[0031] Figures 1 to 5 The reference numerals shown in the figure are respectively represented as: 1 - brain machine head ring, 2 - control mechanism, 3 - actuator, 4 - armrest frame, 10 - wearing ring, 11 - head electrode, 12 - electroencephalogram module, 13 - Bluetooth slave, 14 - battery module, 20 - control box, 21 - controller, 22 - driver, 23 - Bluetooth master, 24 - single-chip microcomputer, 25 - power supply module, 26 - emergency stop switch, 27 - cooling fan, 30 - back plate, 31 - waist connecting rod, 32 - thigh connecting rod assembly, 33 - calf connecting rod assembly, 34 - motor module, 301 - strip hole, 302 - positioning hole, 320 - hip joint output shaft, 321 - hip joint hinge, 322 - hip joint connecting rod pressing block, 323 - thigh connecting rod, 324 - cylindrical pair slider, 325 - limit slider, 326 - thigh binding ring, 340 - knee joint hinge, 341 - knee joint connecting rod pressing block, 342 - knee joint flange, 343 - knee joint output shaft, 344 - drive motor, 330 - first calf connecting rod pressing block, 331 - second calf connecting rod pressing block, 332 - foot support plate, 333 - calf connecting rod, 334 - foot binding, 40 - moving base, 41 - lifting rod, 42 - upper limb support panel. Detailed implementation manners

[0032] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0033] As Figure 1 shown, a brain wave-controlled exoskeleton robot for assisting paraplegic patients in walking training includes a brain machine head ring 1, a control mechanism 2, an actuator 3, and an armrest frame 4. The brain machine head ring 1 is worn on the patient's head and is used to collect and transmit brain wave signals. The control mechanism 2 is communicatively connected to the brain machine head ring 1 and is used to receive the signals sent by the brain machine head ring 1, make control decisions, and send action instructions to the actuator 3. The actuator 3 is communicatively connected to the control mechanism 2 and is used to execute the action instructions of loosening the knee and locking the knee sent by the control mechanism 2, and complete the cyclic actions of walking through the cyclic actions of loosening the knee and locking the knee.

[0034] The handrail 4 can be movably placed in front of the patient's walking direction and is used to provide auxiliary support for the patient in a standing posture. This exoskeleton robot integrates the brain head ring 1, the handrail 4, the controller 21 module and the execution module, solving the problem of inability to lock and unlock the knees independently when assisting paraplegic patients in walking training. On the one hand, the overall structure is compact and modularly integrated, facilitating wearing and storage. On the other hand, under the auxiliary support of the handrail 4 and the actuator 3, the knee-locking and knee-unlocking actions of the motor module are executed according to the patient's brain commands, completing the cyclic actions of walking, enabling the patient to get rid of the dependence on rehabilitation therapists, reducing training costs, and allowing the patient to perform walking training at home.

[0035] As Figure 2 shown, the brain head ring 1 includes a wearing ring 10, a head electrode 11 disposed inside the wearing ring 10 and used for collecting electroencephalogram signals, an electroencephalogram module 12 for performing signal feature processing on the electroencephalogram signals, a Bluetooth slave 13 for transmitting the obtained feature information to the control mechanism 2, and a battery module 14 for supplying power to the head electrode 11, the electroencephalogram module 12 and the Bluetooth slave 13. The head electrode is in contact with the patient's head. Among them, the head electrode 11 is in contact with the patient's forehead to collect electroencephalogram signals. The electroencephalogram module 12, the Bluetooth slave 13 and the battery module 14 are fixed on both sides of the head ring. The signal feature processing is performed by the electroencephalogram module 12, and finally the feature information is sent to the Bluetooth host 23 of the control mechanism 2 through the Bluetooth slave 13 to achieve wireless transmission.

[0036] As Figure 3As shown in the figure, the control mechanism 2 includes a control box 20, a controller 21, a driver 22, a Bluetooth host 23, a single-chip microcomputer 24, and a power module 25 for supplying electrical energy, all of which are located inside the control box 20. The Bluetooth host 23 is used to receive the characteristic information sent by the Bluetooth slave 13. The single-chip microcomputer 24 is used to map the characteristic information received by the Bluetooth host 23 and transmit a digital signal to the driver 22. The controller 21 is used to read the data in the driver 22 and make a control decision to control the actuator 3 to perform the knee loosening and knee locking actions. In addition, an emergency stop switch 26 for emergency power-off and a cooling fan 27 for heat dissipation are also provided inside the control box 20. Among them, the single-chip microcomputer 24 maps the information in the Bluetooth host 23, sends a digital signal to the I / O port of the driver 22, and then the controller 21 reads the data of the driver 22 in real time through the Ethercat bus, makes a decision using the digital signal corresponding to the brain wave, and sequentially executes the knee loosening and knee locking actions of both knees. The knee loosening action is executed through the force control mode of the controller 21, while the knee locking action is executed through the servo function in the position mode of the controller 21. The entire control loop is cooled in real time by the cooling fan 27 to ensure operation safety. When an emergency occurs, the emergency stop switch 26 can be used for emergency handling. The control mechanism 2 and the actuator mechanism are powered by a battery provided inside the control box 20.

[0037] As Figure 4As shown in the figure, the actuator 3 includes a back plate 30, a waist link 31, a thigh link assembly 32, a calf link assembly 33, and a motor module 34. The motor module 34 is communicatively connected to the controller 21. The back plate 30 is in contact with the patient's back. The area formed by the two waist links 31 is for the patient's waist to be placed in, and the waist link 31 is in contact with the patient's waist. The waist links 31 are arranged on both sides of the back plate 30. The thigh link assembly 32 is movably connected to the end of the waist link 31 through a crossed roller bearing. The motor module 34 is connected between the thigh link assembly 32 and the calf link assembly 33, and the calf link assembly 33 is movably connected to the output shaft of the motor module 34. The thigh link assembly 32 is used to bind the patient's thigh part and drive the thigh to move. The calf link assembly 33 is used to bind the patient's calf part and drive the calf part to move. The motor module 34 is used to provide driving force for the movement of the thigh and calf, realizing the knee relaxation and knee locking actions. The motor module 34 is located at the position of the knees. When the human body is in an upright posture, the motor modules 34 of the knees turn on the servo in the position mode to realize the knee locking action. The overall weight of the execution module is transmitted to the ground through the thigh and calf links 333 and the foot sheet metal. Under the action of the human walking will, the concentration information of the brain wave will be transmitted to the controller 21, and a walking decision will be implemented. Accordingly, the motor module 34 of the right knee turns on the force control mode, and the knee bends to execute the knee relaxation action. The hip joint movement of the human body is completed by the movement of the human waist, and the leg lifting action of walking is realized under the support of the arm and the armrest 4. Subsequently, the relaxation information of the brain wave is transmitted to the controller 21, so that the motor module 34 of the right knee turns on the servo mode in the position mode to realize the knee locking action. Then, the motor module 34 of the left knee turns on the force control mode, and the knee bends to execute the knee relaxation action. Such a cycle is carried out to complete the walking action training.

[0038] Since the waist sizes of different people are different, in order to meet the usage needs of different people, in the present invention, strip holes 301 are provided on both sides of the back plate 30, and a plurality of positioning holes 302 communicating with the strip holes 301 are provided on the waist link 31. The waist link 31 can move horizontally along the back plate 30, and the waist link 31 and the back plate 30 are positioned by bolts passing through the strip holes 301 and the positioning holes 302. By horizontally moving the waist link 31 on the back plate 30, the size of the waist can be adjusted, so as to meet the usage needs of different people and effectively improve the usage performance of the device.

[0039] The thigh link assembly 32 includes a hip joint output shaft 320, a hip joint hinge 321, a hip joint link pressing block 322, a thigh link 323, a cylindrical pair slider 324, a limit slider 325, and a thigh binding ring 326; the hip joint output shaft 320 is connected to a crossed roller bearing, one end of the hip joint hinge 321 is connected to the hip joint output shaft 320, and the other end is connected to the hip joint link pressing block 322. The thigh link 323 is arranged between the hip joint link pressing block 322 and the cylindrical pair slider 324. The cylindrical pair slider 324 and the thigh link 323 form a cylindrical pair. The limit slider 325 is located below the cylindrical pair slider 324, and the thigh binding ring 326 is arranged on the cylindrical pair slider 324. Specifically, one end of the crossed roller bearing is fixed to the end of the waist link 31 by threaded connection, the hip joint output shaft 320 is fixed to the other end of the crossed roller bearing by threaded connection, one end of the hip joint hinge 321 is fixed to the end of the hip joint output shaft 320 by threaded connection, the hip joint link pressing block 322 is fixed to the other end of the hip joint hinge 321 by threaded connection. One end of the thigh link 323 forms a cylindrical pair with the hip joint link pressing block 322 and is mutually pressed and self-locked by threaded connection. The cylindrical pair slider 324 and the thigh link 323 form a cylindrical pair. The thigh binding ring 326 is fixed to the cylindrical pair slider 324 by threaded connection. The limit slider 325 is fixed to a position on the thigh link 323 by threaded connection. The hip joint link pressing block 322 and the other end of the thigh link 323 form a cylindrical pair and are mutually pressed and self-locked by threaded connection. The crossed roller bearing at the hip joint provides the flexion and extension freedom of the human hip joint. The hip joint hinge 321 provides the abduction and adduction freedom of the human hip joint and is also convenient for the storage of the overall structure. The thigh binding and the thigh link 323 form a cylindrical pair, providing the freedom of internal and external rotation of the hip joint. Under the limitation of the limit slider 325, it is convenient for walking. The thigh link 323 and the hip joint link pressing block 322 form a cylindrical pair, which is convenient for length adjustment to adapt to the length of the human thigh.

[0040] The motor module 34 includes a knee joint hinge 340, a knee joint link pressing block 341, a knee joint flange 342, a knee joint output shaft 343, and a driving motor 344. The knee joint hinge 340 is arranged between the knee joint link pressing block 341 and the knee joint flange 342. The knee joint flange 342 is arranged on the driving motor 344, and the knee joint output shaft 343 is arranged on the output shaft of the driving motor 344. The knee joint hinge 340 provides the abduction and adduction freedom of the calf link 333 for convenient storage and also facilitates the alignment of the rotation center of the knee joint and the motor module 34 when the hip joint abducts and adducts, which is beneficial to comfortable wearing during walking motion training. The knee joint link pressing block 341 is fixed to the end of the knee joint output shaft 343 by threaded connection. Both ends of the calf link 333 form cylindrical pairs with the link pressing block respectively.

[0041] The lower leg link assembly 33 includes a first lower leg link pressing block 330, a second lower leg link pressing block 331, a foot support plate 332, a lower leg link 333, and a foot strap 334; the first lower leg link pressing block 330 is disposed at the end of the knee joint output shaft 343, the second lower leg link pressing block 331 is disposed on the foot support plate 332, the lower leg link 333 is disposed between the first lower leg link pressing block 330 and the second lower leg link pressing block 331, and the lower leg link 333 forms a cylindrical pair with the first lower leg link pressing block 330 and the second lower leg link pressing block 331 respectively, and the foot strap 334 is disposed on the foot support plate 332. Specifically, one end of the knee joint hinge 340 is fixedly connected to the knee joint link pressing block 341 by means of a threaded connection, the knee joint flange 342 is fixedly connected to the other end of the knee joint hinge 340 by means of a threaded connection, one end of the motor module 34 is fixedly connected to the knee joint flange 342 by means of a threaded connection, and the knee joint output shaft 343 is fixedly connected to the motor module 34 by means of a threaded connection. The cylindrical pair formed by the lower leg link 333 and the lower leg link 333 pressing block is mutually pressed and self-locked by means of a threaded connection, which is convenient for length adjustment to adapt to the length of the human lower leg.

[0042] As Figure 5 shown, the armrest 4 includes a moving base 40, lifting rods 41 disposed at both ends of the moving base 40, and an upper limb support panel 42 disposed on the lifting rods 41. The height of the upper limb support panel 42 is adjusted as the lifting rods 41 move up and down. The knee loosening and locking actions of both knees can be performed with the assistance of the armrest 4 to keep the human body in an upright state. Under the side effect of the movement of the lifting rods 41, it is adjusted according to the height of the patient to keep the comfortable contact between the human arm and the upper limb support panel 42. On the other hand, the moving base 40 is provided with universal wheels around it, which is convenient for the overall movement. The moving base 40 is provided with universal wheels around it, which is convenient for the overall movement. The lifting rod 41 adopts a structure of an outer rod and an inner rod. The inner rod is disposed inside the outer rod and can move up and down along the outer rod and is locked by bolts to achieve the purpose of positioning height adjustment. The overall structure is reliable and the operation is convenient.

[0043] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A brain wave controlled exoskeleton robot for assisting paraplegic patients in walking training, characterized in that: It comprises a brain machine head ring (1), a control mechanism (2), an actuator (3) and an armrest (4); The brain-computer headband (1) is worn on the patient's head and is used to collect and transmit brain wave signals; The control mechanism (2) is connected to the brain-machine headband (1) in communication, and is used to receive signals sent by the brain-machine headband (1), make control decisions, and send action instructions to the execution mechanism (3); The actuator (3) is connected to the control mechanism (2) for communication and is used to execute the knee loosening and knee locking action instructions issued by the control mechanism (2), and complete the cyclic action of walking through the cyclic action of knee loosening and knee locking; The armrest (4) is movably placed in front of the patient's walking direction, and is used to provide auxiliary support for the patient in a standing posture.

2. The brainwave-controlled exoskeleton robot for assisting paraplegic patients in walking training according to claim 1, characterized in that: The brain-computer head ring (1) comprises a wearing ring (10), a head electrode (11) arranged on the inner side of the wearing ring (10) and used for collecting brain wave signals, an electroencephalogram module (12) for performing signal feature processing on the brain wave signals, a Bluetooth slave (13) for transmitting feature information obtained after processing to a control mechanism (2), and a battery module (14) for providing electric energy to the head electrode (11), the electroencephalogram module (12) and the Bluetooth slave (13), wherein the head electrode (11) is in contact with the patient's head.

3. The brainwave-controlled exoskeleton robot for assisting paraplegic patients in walking training according to claim 2, characterized in that: The control mechanism (2) comprises a control box (20), a controller (21) located in the control box (20), a driver (22), a Bluetooth host (23), a single-chip microcomputer (24), and a power module (25) for providing electric energy; The Bluetooth host (23) is used to receive characteristic information sent by the Bluetooth slave (13), and the single-chip microcomputer (24) is used to map the characteristic information received by the Bluetooth host (23) and transmit a digital signal to the driver (22); The controller (21) is used to read data in the driver (22) and make a control decision to control the actuator (3) to perform knee loosening and knee locking actions.

4. The brainwave-controlled exoskeleton robot for assisting paraplegic patients in walking training according to claim 3, characterized in that: The control box (20) is also provided with an emergency stop switch (26) for emergency power off and a cooling fan (27) for heat dissipation.

5. The brainwave-controlled exoskeleton robot for assisting paraplegic patients in walking training according to claim 1, characterized in that: The actuator (3) comprises a back plate (30), a waist connecting rod (31), a thigh connecting rod assembly (32), a calf connecting rod assembly (33) and a motor module (34), and the motor module (34) is communicatively connected with the controller (21); The backboard (30) is connected to the back of the patient, the waist connecting rod (31) is arranged on both sides of the backboard (30), the thigh connecting rod assembly (32) is used to bind the patient's thigh and drive the thigh to move, the calf connecting rod assembly (33) is used to bind the patient's calf and drive the calf to move, and the motor module (34) is used to provide driving force for the movement of the thigh and calf to achieve knee loosening and knee locking actions; The thigh connecting rod assembly (32) is movably connected to the end of the waist connecting rod (31) through a cross roller bearing, the motor module (34) is connected between the thigh connecting rod assembly (32) and the calf connecting rod assembly (33), and the calf connecting rod assembly (33) is movably connected to the output shaft of the motor module (34).

6. The brainwave-controlled exoskeleton robot for assisting paraplegic patients in walking training according to claim 5, characterized in that: The back plate (30) is provided with strip holes (301) on both sides, and the waist connecting rod (31) is provided with a plurality of positioning holes (302) connected with the strip holes (301). The waist connecting rod (31) can move horizontally along the back plate (30) and pass bolts through the strip holes (301) and the positioning holes (302) to achieve positioning of the waist connecting rod (31) and the back plate (30).

7. The brainwave-controlled exoskeleton robot for assisting paraplegic patients in walking training according to claim 5, characterized in that: The thigh connecting rod assembly (32) comprises a hip joint output shaft (320), a hip joint hinge (321), a hip joint connecting rod pressing block (322), a thigh connecting rod (323), a cylindrical auxiliary slider (324), a limit slider (325), a cross roller bearing (327) and a thigh binding ring (326); The hip joint output shaft (320) is connected to the cross roller bearing (327); one end of the hip joint hinge (321) is connected to the hip joint output shaft (320), and the other end is connected to the hip joint connecting rod pressure block (322); the thigh connecting rod (323) is arranged between the hip joint connecting rod pressure block (322) and the cylindrical auxiliary slider (324); the thigh connecting rod (323) and the hip joint connecting rod pressure block (322) form a cylindrical pair; the cylindrical auxiliary slider (324) and the thigh connecting rod (323) form a cylindrical pair; the limiting slider (325) is located below the cylindrical auxiliary slider (324); and the thigh binding ring (326) is arranged on the cylindrical auxiliary slider (324).

8. The brainwave-controlled exoskeleton robot for assisting paraplegic patients in walking training according to claim 5, characterized in that: The motor module (34) includes a knee joint hinge (340), a knee joint connecting rod pressure block (341), a knee joint flange (342), a knee joint output shaft (343) and a driving motor (344); the knee joint hinge (340) is arranged between the knee joint connecting rod pressure block (341) and the knee joint flange (342); the knee joint flange (342) is arranged on the driving motor (344); and the knee joint output shaft (343) is arranged on the output shaft of the driving motor (344).

9. The brainwave-controlled exoskeleton robot for assisting paraplegic patients in walking training according to claim 8, characterized in that: The calf connecting rod assembly (33) comprises a first calf connecting rod pressing block (330), a second calf connecting rod pressing block (331), a foot supporting plate (332), a calf connecting rod (333) and a foot binding (334); The first calf connecting rod pressure block (330) is arranged at the end of the knee joint output shaft (343), the second calf connecting rod pressure block (331) is arranged on the foot support plate (332), the calf connecting rod (333) is arranged between the first calf connecting rod pressure block (330) and the second calf connecting rod pressure block (331), and the calf connecting rod (333) forms a cylindrical pair with the first calf connecting rod pressure block (330) and the second calf connecting rod pressure block (331), respectively, and the foot binding (334) is arranged on the foot support plate (332).

10. The brainwave-controlled exoskeleton robot for assisting paraplegic patients in walking training according to claim 1, characterized in that: The armrest frame (4) comprises a movable base (40), lifting rods (41) arranged at both ends of the movable base (40), and an upper limb support panel (42) arranged on the lifting rod (41); the upper limb support panel (42) can be adjusted in height as the lifting rod (41) is raised or lowered.

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