Exoskeleton device based on electromyographic signals and implementation method thereof

Abstract

The invention belongs to the technical field of exoskeleton devices, and provides an exoskeleton device machine implementation method based on electromyographic signals. The device comprises a main body part for wearing, walking parts symmetrically arranged on the two sides of the lower end of the main body part, a control module arranged on the main body part and used for control, and two detection rings electrically connected with the control module through wires, used for being connected to the legs of a user in a sleeving mode and used for detecting electromyographic signals. The walking part comprises a supporting fixing rod with one end rotationally connected with the lower end of the main body part, a movable rod arranged at the lower end of the supporting fixing rod and capable of stretching out and drawing back relative to the supporting fixing rod, a foot tower plate rotationally arranged at the bottom end of the movable rod and an adjusting structure used for adjusting the stretching-out and drawing-back position of the movable rod relative to the supporting fixing rod. Two use modes can be achieved, one mode is to achieve the function of an exoskeleton device, the other mode is to achieve the function of a walking stick, a proper use mode is selected according to the state and needs of a user, and great convenience is brought to use of people.

Description

Technical Field

[0001] The present invention belongs to the technical field of exoskeleton devices. Specifically, it relates to an exoskeleton device based on myoelectric signals and a method for implementing the same. Background Art

[0002] An exoskeleton device is a machine device composed of a steel frame and can be worn by a person. This equipment can provide additional energy for limb movement. The exoskeleton device has power drive, that is, it uses the rotation of a motor to generate motive power, and can be used in application scenarios such as lower limb rehabilitation treatment of patients and daily assisted walking. In the prior art, the exoskeleton device generally adopts a fixed structure, with a single usage method, and cannot be adjusted according to the individual situation of the user or the usage requirement situation of the user. Summary of the Invention

[0003] The purpose of the present invention is to provide an exoskeleton device based on myoelectric signals to solve the technical problems existing in the prior art.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is as follows: An exoskeleton device based on myoelectric signals includes a main body part for wearing, walking parts symmetrically arranged on both sides of the lower end of the main body part, a control module arranged on the main body part for control, and two detection rings electrically connected to the control module through wires and used for sleeving on the user's legs to detect myoelectric signals; the walking part includes a support fixing rod whose one end is rotatably connected to the lower end of the main body part, a movable rod arranged at the lower end of the support fixing rod and capable of telescoping relative to it, a foot pedal plate rotatably arranged at the bottom end of the movable rod, and an adjusting structure with one end connected to the support fixing rod and the other end connected to the movable rod and used for adjusting the telescopic position of the movable rod relative to the support fixing rod. An upper driving motor for driving the support fixing rod to rotate is arranged at the lower end of the main body part, and a lower driving motor for driving the foot pedal plate to rotate is arranged at the bottom of the movable rod.

[0005] In one embodiment, axillary support parts are symmetrically arranged on the left and right sides of the main body part.

[0006] In one embodiment, a hand grip ring is arranged on the outer side of the upper end of the support fixing rod.

[0007] In one embodiment, the detection ring is used to collect hip and knee joint speed data, acceleration data, leg trajectory data, and myoelectric signal data of the user.

[0008] In one embodiment, the adjusting structure adopts a hydraulic cylinder, and one end of the cylinder barrel of the hydraulic cylinder is connected to the support fixing rod, and the end of the piston rod of the hydraulic cylinder is connected to the movable rod.

[0009] To achieve the above object, the present invention also provides a method for implementing an exoskeleton device based on myoelectric signals, including: Usage mode one: Wear the main body on the user's waist, wear the foot pedal on the user's feet, and the top of the support fixing rod is located on one side of the human hip. During walking, when the user's knee joint bends, the movable rod can adjust its length appropriately relative to the support fixing rod by telescoping to adapt to the human body, and this length is the distance from the human ankle to the hip during walking; Usage mode two: Wear the main body on the user's chest, and the armpit support part abuts against the user's armpit. The foot pedal is in a non-worn state. During walking, the walking part extends forward to support the user, and the user's foot steps on the ground to walk.

[0010] In an implementation, when the exoskeleton device based on myoelectric signals adopts usage mode one, the detection ring is sleeved on the user's leg, and hip, knee joint speed data, acceleration data, leg trajectory data, and myoelectric signal data of the user are collected, and the above data are transmitted to the control module.

[0011] In an implementation, several preset walking modes are built in the control module.

[0012] In an implementation, after the control module receives the data, it analyzes and processes the data, identifies the walking mode that conforms to the user's walking state, and converts the walking mode from the current walking mode to the identified walking mode. The control module outputs new control commands to the upper drive motor and the lower drive motor according to the identified walking mode.

[0013] Compared with the prior art, the present invention has the following beneficial effects: (1) According to the present invention, two usage modes can be realized. One is to wear the main body on the user's waist and wear the foot pedal on the user's feet, and the device realizes the function of the exoskeleton device. The other is to wear the main body on the user's chest, and the armpit support part abuts against the user's armpit, and the foot pedal is in a non-worn state, and the device realizes the function of a walking stick; The appropriate usage mode is selected according to the user's state and needs, which greatly facilitates people's use.

[0014] (2) According to the present invention, the main body is installed on the user's waist, the user wears the foot pedal on the feet, and the top of the support fixing rod is located on one side of the human hip. During walking, when the user's knee joint bends, the movable rod can adjust its length appropriately relative to the support fixing rod by telescoping to adapt to the human body. At the same time, since the movable rod can extend or contract relative to the support fixing rod, it can itself adapt to users of different heights.

[0015] (3) The present invention is provided with a detection ring. When used as an exoskeleton device, during the user's walking process, hip and knee joint speed data, acceleration data, leg trajectory data, and electromyogram signal data of the user are collected. According to the above data, a walking pattern that conforms to the user's walking state can be identified, and the walking pattern can be converted from the current walking pattern to the identified walking pattern, realizing timely, natural, and seamless conversion between different walking patterns, thereby improving the effect of the user using this device for walking training. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of the present invention.

[0017] Figure 2 It is a side view of the present invention.

[0018] Among them, the names corresponding to the reference numerals are as follows: 1 - main body part, 2 - control module, 3 - support fixing rod, 4 - movable rod, 5 - foot pedal, 6 - adjustment structure, 7 - upper driving motor, 8 - lower driving motor, 9 - detection ring, 10 - armpit support part, 11 - hand grip ring, 12 - connecting member, 13 - fixing belt. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] In order to enable those skilled in the art to have a clearer understanding and knowledge of the present invention, the present invention will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described below are only used to explain the present invention for easy understanding, and the technical solutions provided by the present invention are not limited to the technical solutions provided by the following embodiments, and the technical solutions provided by the embodiments should not limit the protection scope of the present invention.

[0020] Embodiment As Figures 1-2 shown, this embodiment provides an exoskeleton device based on electromyogram signals, which mainly includes a main body part, a walking part, a control module, and a detection ring; among them, the main body part is for wearing, and its structure is annular. The control module is arranged at the rear end of the main body part. A detachable connecting member, such as a connecting belt, is arranged at the front end of the main body part for fixing the main body part when the user wears the main body part. In this embodiment, the main body part can be worn at two positions of the user's waist and chest, and different wearing positions correspond to two different usage modes of this device: exoskeleton device and cane.

[0021] The walking parts are two and symmetrically arranged on both sides of the lower end of the main body part. In this embodiment, the walking parts include support fixing rods, movable rods, foot pedal plates and adjusting structures. Among them, the upper end of the support fixing rod is rotatably connected to the lower end of the main body part. At the same time, an upper driving motor for driving the support fixing rod to rotate is arranged at the lower end of the main body part. The support fixing rod can rotate relative to the main body part, and through the drive of the upper driving motor, power can be provided for the rotation of the support fixing rod. The upper driving motor can be configured with a speed reducer to reduce the rotation speed of the upper driving motor.

[0022] The movable rod is arranged at the lower end of the support fixing rod. The movable rod and the support fixing rod are combined to form a telescopic rod structure. For example, the support fixing rod is a sleeve structure, and the end of the movable rod is inserted into the support fixing rod. The movable rod can extend and contract relative to the support fixing rod. When this device is used as an exoskeleton device, this device drives the human body to walk. During the walking process, the human knee joint bends. The support fixing rod and the movable rod automatically adjust the appropriate length through telescoping to adapt to the human body. This length is the distance from the ankle to the hip of the human body during the walking process.

[0023] The foot pedal plate is arranged at the lower end of the movable rod. It is rotatably connected to the lower end of the movable rod and rotates relative to the movable rod. At the same time, a lower driving motor for driving the foot pedal plate to rotate is arranged at the bottom of the movable rod. Through the drive of the lower driving motor, power can be provided for the rotation of the foot pedal plate. The lower driving motor can be configured with a speed reducer to reduce the rotation speed of the lower driving motor. Fixing belts can be arranged on the foot pedal plate for fixing the user's feet on the foot pedal plate.

[0024] The adjusting structure is used to adjust the telescopic position of the movable rod relative to the support fixing rod, that is, to adjust the extension or contraction of the movable rod relative to the support fixing rod. In this embodiment, the adjusting structure adopts a hydraulic cylinder structure. One end of the cylinder barrel of the hydraulic cylinder is connected to the support fixing rod, and the end of the piston rod of the hydraulic cylinder is connected to the movable rod. When the piston rod of the hydraulic cylinder extends, it drives the movable rod to extend relative to the support fixing rod. When the piston rod of the hydraulic cylinder contracts, it drives the movable rod to contract relative to the support fixing rod.

[0025] A box body is provided at the rear end of the main body part, and the control module is placed inside the box body. The control module mainly includes two parts: one is the controller part, which is used to receive and analyze information data, generate corresponding driving commands according to the selected walking mode and the received information data situation, and is used to control the upper driving motor and the lower driving motor. The controller has several preset walking modes built-in, and based on different walking modes, the control of the upper driving motor and the lower driving motor is adjusted; the controller part can realize functions such as data collection, analysis and processing, driving command generation, and built-in walking modes. It exists in the form of the hardware structure of an integrated circuit, and it realizes the above functions through a combination of hardware or software driven by hardware. For example, the controller uses the model Samsung artik-710; for those skilled in the art, its hardware structure is known technology, so it will not be elaborated here. The other part is the battery for power supply. When the adjustment structure uses a hydraulic cylinder, a hydraulic pump and a hydraulic oil tank are also built-in in the above box body to supply oil to the hydraulic cylinder.

[0026] Based on the above structure, this device can be used for two functions: One is to be used as an exoskeleton device. When applied, the main body part is worn on the user's waist, the user's feet are worn with foot pedals, and the top of the support fixing rod is located on one side of the human hip. During walking, the user's knee joint bends, and the movable rod can adjust a suitable length relative to the support fixing rod by telescoping to adapt to the human body. This length is the distance from the human ankle to the hip during walking.

[0027] The other is to be used as a crutch. When applied, the main body part is worn on the user's chest, the armpit support part abuts against the user's armpit, and the foot pedal is in a non-worn state. During walking, the walking part extends forward and supports the user, and the user's foot steps on the ground to walk. Based on the use of the crutch, in this embodiment, armpit support parts are symmetrically arranged on both sides of the main body part, and a hand grip is arranged on the outer side of the upper end of the support fixing rod. Preferably, the hand grip and the support fixing rod are of an integral structure. The user's armpit abuts against the armpit support part, and holds the hand grip, which is suitable for the human body to walk while leaning on it. When used as a crutch, during walking, since the walking part can also rotate at the bottom of the main body part, this rotation effect acts on the main body part and finally acts on the human body, which can push the human body forward, reduce the force on the human legs, effectively relieve the leg pressure, and facilitate the use of people with inconvenient mobility; on the other hand, when used as a crutch, since the movable rod can be adjusted relative to the support fixing rod, it is applicable to people of different heights, and at the same time, it can make the main body part and the walking part in different included angle states, which is convenient for use in different situations.

[0028] When this device is used as an exoskeleton device, the walking data of the user is detected by the detection ring. The detection ring is electrically connected to the controller part of the control module through a wire. When this device is used as an exoskeleton device, the detection ring is sleeved on the user's leg and used to detect relevant data during the user's walking. Specifically, the detection ring is used to collect the hip and knee joint speed data, acceleration data, leg trajectory data, and electromyogram signal data of the user. To achieve the above functions, several sensors can be built into the detection ring, such as: speed sensors, acceleration sensors, angle sensors, electromyogram sensors (pressure sensors), etc.

[0029] The data collected by the detection ring is transmitted to the control module. When the control module receives the data, it analyzes and processes the data, identifies the walking pattern that conforms to the user's walking state, and converts the walking pattern from the current walking pattern to the identified walking pattern. The control module outputs new control commands to the upper drive motor and the lower drive motor according to the identified walking pattern. For example, the walking pattern selected by the user is walking pattern one, and the corresponding electromyogram signal data is A. When the detected electromyogram signal data does not meet A but meets the electromyogram signal data B, the control module recognizes that the current walking pattern does not conform to the user's walking state, and can adjust the walking pattern from walking pattern one to walking pattern two corresponding to the electromyogram signal data B. It should be noted that the above example is only a simple case description and should not be limited to this example. Through the above, different walking patterns are recognized, and timely and natural seamless conversion between different walking patterns is achieved, so that the user's movement gait can be predicted. By converting the signals and transmitting the converted various signals to the corresponding driving bodies, various walking states of the human body can be reproduced on the exoskeleton device, thus achieving the effect of walking training for the human body.

[0030] To achieve more data collection and application, sensors for collecting ankle joint speed data, acceleration data, torque data, and plantar pressure data are also provided in the foot pedal of this embodiment, such as: speed sensors, acceleration sensors, torque sensors, pressure sensors. Based on the above data, it can be used as the recorded data for walking training, and / or the above data can be combined into the control of the drive motor.

[0031] The above embodiments only illustrate the principles and effects of the present invention by way of example, and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. An exoskeleton device based on electromyographic signals, characterized in that: The invention comprises a wearable main body (1), a walking part symmetrically arranged on both sides of the lower end of the main body (1), a control module (2) arranged on the main body (1) and used for control, and two detection rings (9) electrically connected to the control module (2) through wires and used for sleeved on the legs of a user and used for detecting myoelectric signals; the walking part comprises a supporting fixed rod (3) with one end rotatably connected to the lower end of the main body (1), a movable rod (4) arranged at the lower end of the supporting fixed rod (3) and capable of being extended and retracted relative to the supporting fixed rod (3), a foot tower plate (5) rotatably arranged at the bottom end of the movable rod (4), and an adjustment structure (6) with one end connected to the supporting fixed rod (3) and the other end connected to the movable rod (4) and used for adjusting the telescopic position of the movable rod (4) relative to the supporting fixed rod (3); an upper driving motor (7) for driving the supporting fixed rod (3) to rotate is arranged at the lower end of the main body (1), and a lower driving motor (8) for driving the foot tower plate (5) to rotate is arranged at the bottom of the movable rod (4).

2. The exoskeleton device based on electromyographic signals according to claim 1, characterized in that: Underarm support parts (10) are symmetrically arranged on the left and right sides of the main body (1).

3. The exoskeleton device based on electromyographic signals according to claim 2, characterized in that: A hand grip ring (11) is provided on the outer side of the upper end of the supporting fixing rod (3).

4. The exoskeleton device based on electromyographic signals according to claim 3, characterized in that: The detection ring (9) is used to collect the user's hip and knee joint velocity data, acceleration data, leg trajectory data and myoelectric signal data.

5. The exoskeleton device based on electromyographic signals according to claim 4, characterized in that: The adjustment structure (6) adopts a hydraulic cylinder, and one end of the cylinder barrel of the hydraulic cylinder is connected to the supporting fixed rod (3), and the end of the piston rod of the hydraulic cylinder is connected to the movable rod (4).

6. The method for implementing an exoskeleton device based on electromyographic signals according to any one of claims 1 to 5, characterized in that: include: Mode of use 1: Wear the main body on the user's waist, wear the foot tower plate on the user's feet, and the top of the support and fixed rod is located on the side of the human body's hip. During walking, the user's knee joint bends, and the movable rod adjusts itself to a suitable length relative to the support and fixed rod through telescoping to adapt to the human body. This length is the distance from the human ankle to the hip during walking; Usage mode two: the main body is worn on the user's chest, the armpit support part is against the user's armpit, and the foot tower plate is not worn. During walking, the walking part extends forward and supports the user, and the user walks with his feet on the ground.

7. The method for implementing an exoskeleton device based on electromyographic signals according to claim 6, characterized in that: When the exoskeleton device based on electromyographic signals adopts usage mode 1, the detection ring is mounted on the user's leg and collects the user's hip and knee joint velocity data, acceleration data, leg trajectory data and electromyographic signal data, and transmits the above data to the control module.

8. The method for implementing an exoskeleton device based on electromyographic signals according to claim 7, characterized in that: The control module has several preset walking modes built in.

9. The method for implementing an exoskeleton device based on electromyographic signals according to claim 8, characterized in that: After the control module receives the data, it analyzes and processes the data, identifies a walking mode that matches the user's walking state, and converts the walking mode from the current walking mode to the identified walking mode. The control module outputs new control commands to the upper drive motor and the lower drive motor according to the identified walking mode.

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