A lower limb rehabilitation training robot

Abstract

The application relates to the technical field of service robots, in particular to a lower limb rehabilitation training robot and a control method, which comprise an adjusting part arranged between a foot pedal and a leg supporting plate, an elastic element arranged on the adjusting part, and a displacement sensor arranged on the elastic element and configured to detect the telescopic displacement amount of the elastic element; a posture adjusting unit which comprises a posture adjusting part arranged on a frame, the posture adjusting part comprising a supporting plate and a driving assembly for driving the supporting plate to move on a horizontal plane, and a control module arranged on the driving assembly; the displacement sensor, the elastic damping element and the intelligent control module are cooperated with each other, the motion state of an ankle joint can be monitored in real time, and the cooperative motion of a pelvic supporting plate can be automatically adjusted, so that the problems of abnormal stress accumulation and gait compensation caused by rigid connection of a traditional rehabilitation robot are solved.

Description

Technical Field

[0001] This invention relates to the field of service robot technology, and in particular to a lower limb rehabilitation training robot. Background Technology

[0002] In the field of lower limb assistive and gait training service robots, robotic systems have become an important tool for improving the mobility of users with limited mobility. However, existing service robots generally suffer from insufficient adaptability in foot assistance solutions: one type of solution completely ignores the biomechanical characteristics of the ankle joint, fixing the user's foot to a foot pedal through a rigid structure, forcing it to passively follow a preset trajectory. This rigid connection method has significant limitations. When the user experiences abnormal internal forces due to fatigue or unstable control, the system cannot buffer these forces through adaptive foot movements, potentially leading to localized stress concentration and affecting user comfort and safety.

[0003] Another type of improvement, while considering the basic mobility requirements of the ankle joint, typically employs a single-degree-of-freedom hinge structure, enabling only dorsiflexion / plantarflexion movements and failing to accommodate multi-dimensional natural physiological movements such as inversion / eversion. In actual use, when the user experiences control deviations resulting in unexpected inversion or eversion moments, the physical limitations of the simple hinge prevent effective absorption of these moments, transforming them into rigid interaction forces between the robot structure and the foot. More importantly, this local interaction problem propagates upwards through the biomechanical chain, leading to compensatory abnormal movements in the knee, hip, and even pelvis, such as non-physiological postural changes like ipsilateral pelvic elevation to resist inversion moments.

[0004] Most existing service robot support systems employ fixed positions or only provide vertical weight reduction, lacking the ability to perceive and respond to such whole-body compensatory movements. Therefore, a service robot solution is needed that can establish an intelligent linkage mechanism between ankle joint movement status and pelvic support posture, starting from overall motion coordination, to provide users with a more natural, safe, and efficient motion assistance experience. Summary of the Invention

[0005] In this section, as well as in the abstract and title of this application, some simplifications or omissions may be made to avoid obscuring the purpose of this section, the abstract, and the title of this application, and such simplifications or omissions shall not be used to limit the scope of the invention.

[0006] To address the shortcomings of existing technologies, one objective of this invention is to provide a lower limb rehabilitation training robot.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a lower limb rehabilitation training robot, comprising an active component, which includes an adjusting member disposed between a foot pedal and a leg support plate, an elastic element disposed on the adjusting member, and a displacement sensor disposed on the elastic element, wherein the displacement sensor is configured to detect the amount of extension and retraction displacement of the elastic element.

[0008] The attitude adjustment unit includes an attitude adjustment component mounted on a frame. The attitude adjustment component includes a support plate and a drive assembly that drives the support plate to move in a horizontal plane, as well as a control module mounted on the drive assembly.

[0009] The output terminal of the displacement sensor is electrically connected to the signal output terminal of the drive component, and the signal output terminal of the control module is electrically connected to the drive component. The control module is configured to calculate the inversion or eversion angle and trend of the foot pedal based on the change in displacement of the elastic element detected by the displacement sensor, and generate a corresponding control signal to drive the support plate to move in the direction of reducing ankle joint load.

[0010] The adjusting component includes a universal joint and a support plate. One end of the universal joint is hinged to the upper part of the foot pedal, and the other end is connected to the leg support plate. The support plate is disposed on one side of the leg support plate.

[0011] The elastic element is disposed between the foot pedal and the support plate, and the axis of the elastic element forms a non-zero tilt angle with the axis of the leg support plate.

[0012] In a preferred embodiment of the lower limb rehabilitation training robot of the present invention, one end of the displacement sensor is disposed on the foot pedal and the other end is disposed on the elastic element, and the axis of the displacement sensor coincides with the axis of the elastic element.

[0013] As a preferred embodiment of the lower limb rehabilitation training robot of the present invention, the drive component includes two sets of rotating wheels mounted on the frame, and arc-shaped notches formed on the two sets of rotating wheels. The two sets of arc-shaped notches are symmetrically distributed at 180 degrees with the center of the gear as the center. A connecting rod is provided on the arc-shaped notch, and the end of the connecting rod is connected to the support plate.

[0014] Another objective of this invention is to provide a control method for a lower limb rehabilitation training robot. To achieve the above objective, this invention provides the following technical solution:

[0015] The displacement change ΔL of the foot pedal is detected in real time by a displacement sensor installed between the foot pedal and the leg support plate.

[0016] The control module receives the displacement change ΔL and calculates the target coordinates of the pallet using a control algorithm.

[0017] The control module sends motion commands to the driver of the drive component, driving the pallet to move to the target coordinates.

[0018] The control algorithm is configured such that when the displacement change ΔL indicates that the foot pedal is inverted / outverted, the pelvic support plate is controlled to generate a corresponding compensating movement on the horizontal plane.

[0019] As a preferred embodiment of the lower limb rehabilitation training robot control method of the present invention, the control algorithm performs the following calculation process: a. Calculate the ankle joint inversion / valgus angle θ by inverse kinematics based on the displacement sensor reading ΔL; b. Calculate the target displacement Y of the pelvic support plate in the left-right direction according to the formula Y = K·θ based on the angle θ, where K is a preset proportional coefficient; c. Calculate the target displacement X of the pelvic support plate in the anterior-posterior direction according to the gait phase and a preset trajectory function.

[0020] In a preferred embodiment of the lower limb rehabilitation training robot control method of the present invention, the control algorithm, in passive training mode, makes the movement of the pelvic support plate in the same direction as the movement of the ankle. In active correction mode, it makes the movement of the pelvic support plate in the opposite direction to the movement of the ankle.

[0021] As a preferred embodiment of the control method for the lower limb rehabilitation training robot of the present invention, the control algorithm includes safety monitoring logic, which controls the drive component to stop moving or return to a safe position when the displacement change ΔL exceeds the safety threshold.

[0022] As a preferred embodiment of the control method for the lower limb rehabilitation training robot described in this invention, the control algorithm further includes an adaptive adjustment function, which automatically adjusts the magnitude of the proportional coefficient K based on the statistical characteristics of the displacement change ΔL over a period of time.

[0023] The beneficial effects of the lower limb rehabilitation training robot control method of the present invention are as follows: The present invention, through the cooperation of displacement sensors, elastic damping elements and intelligent control modules, can monitor the ankle joint movement status in real time and automatically adjust the coordinated movement of the pelvic support plate. This solves the problems of abnormal stress accumulation and gait compensation caused by rigid connections in traditional rehabilitation robots, enabling the training process to provide precise mechanical support and adaptive adjustment capabilities, effectively reducing the risk of sports injuries. At the same time, through intelligent algorithms to dynamically optimize control parameters, the personalization and training efficiency of rehabilitation training are significantly improved. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a three-dimensional structural diagram of the adjustment component of the lower limb rehabilitation training robot of the present invention.

[0026] Figure 2 This is a three-dimensional structural diagram of the lower limb rehabilitation training robot of the present invention.

[0027] Figure 3 This is a schematic diagram of the posture adjustment component of the lower limb rehabilitation training robot of the present invention.

[0028] Figure 4 For the present invention Figure 1 A magnified schematic diagram of the structure at point A shown.

[0029] Figure 5 For the present invention Figure 3 A magnified schematic diagram of the structure at point B shown.

[0030] Figure 6 This is a flowchart of the control method for the lower limb rehabilitation training robot of the present invention. Detailed Implementation

[0031] To make the objectives, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments. Example

[0034] Reference Figures 1-5This is the first embodiment of the present invention, which provides a lower limb rehabilitation training robot that can achieve intelligent linkage between the movement state of the ankle joint and the support posture of the pelvis. It includes: a movable component 100, which includes an adjusting member 101 disposed between the foot pedal L and the leg support plate, an elastic element 102 disposed on the adjusting member 101 to provide elastic support force and damping buffer required for the inversion and eversion movements of the ankle joint, and a displacement sensor 103 disposed on the elastic element 102. The displacement sensor 103 is configured to detect the amount of extension and retraction displacement of the elastic element 102. The displacement sensor 103 is fixedly installed on the outside of the cylinder of the spring damper and linked with its piston rod to detect the amount of compression or extension displacement generated by the spring damper when the foot is subjected to force with high precision.

[0035] The posture adjustment unit 200 includes a posture adjustment component 201 mounted on a frame. The posture adjustment component 201 includes a support plate 201a, an arc-shaped support plate 201a for supporting the patient's pelvis, a drive assembly 201b for driving the support plate 201a to move in a horizontal plane, and a control module 201c mounted on the drive assembly 201b.

[0036] The output terminal of the displacement sensor 103 is electrically connected to the signal output terminal of the drive component 201b, and the signal output terminal of the control module 201c is electrically connected to the drive component 201b. The control module 201c is configured to calculate the inversion or eversion angle and trend of the foot pedal L based on the displacement change of the elastic element 102 detected by the displacement sensor 103, and generate a corresponding control signal to drive the support plate 201a to move.

[0037] The control module 201c is pre-written with a motion control algorithm. This algorithm is configured to receive displacement data from the displacement sensor 103 in real time, calculate the current inversion or eversion angle of the foot pedal L and its changing trend through a pre-stored mapping model based on geometric calculation, and generate corresponding pulse control commands to drive the support plate 201a to produce corresponding displacement. This allows the support plate 201a to produce coordinated movement that adapts to the foot movement trend. In this way, when the patient's ankle joint undergoes unexpected inversion or eversion, the elastic element 102 first provides mechanical buffering to absorb the instantaneous impact force and at the same time transmits the motion information to the control module 201c through displacement detection. The control module 201c then drives the pelvic support plate 201a to move in a direction that reduces the load on the ankle joint. This effectively avoids the risk of injury caused by rigid impact and assists the patient in restoring a correct gait through overall posture adjustment.

[0038] Furthermore, the adjusting member 101 includes a universal joint 101a and a support plate 101b. One end of the universal joint 101a is hinged to the upper part of the foot pedal L, and the other end is connected to the leg support plate. The support plate 101b is disposed on one side of the leg support plate.

[0039] Furthermore, the elastic element 102 is disposed between the foot pedal L and the support plate 101b, and the axis of the elastic element 102 forms a non-zero tilt angle with the axis of the leg support plate.

[0040] Furthermore, one end of the displacement sensor 103 is mounted on the foot pedal L and the other end is mounted on the elastic element 102, with the axis of the displacement sensor 103 coinciding with the axis of the elastic element 102.

[0041] Specifically, the upper end of the universal joint 101a is hinged to the lower part of the leg support plate, and the lower end is fixedly connected to the center of the upper surface of the foot pedal L. The support plate 101b is vertically fixed to the side of the leg support plate near the foot pedal L. The elastic element 102 can be an elastic damping element, which is a key component for providing multi-dimensional motion support force. Its two ends are respectively hinged to the extension of the support plate 101b and the side connection point of the foot pedal L through ball joints. The axis of the elastic damping element is at a specific angle to the axis of the leg support plate.

[0042] The displacement sensor 103 is closely mounted on the elastic damping element and linked with its piston rod to detect in real time the axial expansion and contraction displacement of the elastic damper when the foot pedal L is subjected to inward or outward stress.

[0043] Furthermore, the drive assembly 201b includes two sets of rotating wheels 201b-1 mounted on the frame, and arc-shaped notches 201b-2 formed on the two sets of rotating wheels 201b-1. The two sets of arc-shaped notches 201b-2 are symmetrically distributed at 180 degrees with the center of the gear as the center. A connecting rod 201b-3 is provided on the arc-shaped notch 201b-2, and the end of the connecting rod 201b-3 is connected to the support plate 201a.

[0044] The machine includes two sets of parallel rotating wheels 201b-1 mounted on the frame, rotating in opposite directions. Each wheel 201b-1 has an arc-shaped notch 201b-2 on its circumference, and these notches are precisely symmetrically distributed 180 degrees around their respective wheel centers. A high-rigidity connecting rod 201b-3 is equipped with a guide bearing, which is nested within the arc-shaped notch 201b-2 track and can slide along it. The middle of the connecting rod 201b-3 is rigidly connected to the support plate 201a via a universal hinge. When the servo motor drives the two sets of rotating wheels 201b-1 to rotate, due to the special geometric layout of the arc-shaped notch 201b-2 and the 180-degree phase difference, the guide bearing of the connecting rod 201b-3 alternately enters the notch track of the two rotating wheels 201b-1 during rotation. This causes the connecting rod 201b-3 to generate a continuous and smooth "∞" shaped trajectory movement in the horizontal plane, which includes driving the pelvic support plate 201a. This mechanical structure provides stable radial support force to the pelvic support plate 201a through the constraint effect of the notch of the rotating wheels 201b-1.

[0045] When the system is working, the centrifugal force generated by the rotation of the wheel 201b-1 is converted into the directional driving force of the support plate 201a through the connecting rod 201b-3. This ensures the stability of the pelvic support and achieves a reliable motion trajectory through a purely mechanical structure, thus ensuring the safety and comfort of the patient during the training process.

[0046] In summary, when a patient performs gait training, the stress changes on the foot pedal L are transmitted to the elastic damping element through the universal joint 101a, causing it to undergo corresponding axial extension and contraction deformation. The displacement sensor 103 detects this deformation in real time and converts it into an electrical signal, which is then transmitted to the control module 201c. The kinematic algorithm built into the control module 201c calculates the actual movement angle and trend of the ankle joint based on the displacement signal, including physiological movements and pathological abnormalities. Subsequently, the control system generates corresponding control commands according to the preset rehabilitation strategy, driving the two sets of wheels 201b-1 with arc-shaped notches 201b-2 to rotate synchronously. Through the constraint movement of the connecting rod 201b-3 within the notch track, the movement is ultimately transformed into a specific trajectory movement of the pelvic support plate 201a in the horizontal plane.

[0047] The system has two operating modes: In active following mode, when the system detects physiological ankle movements initiated by the patient, the control module 201c drives the pelvic support plate 201a to generate a coordinated movement in the same direction as the movement, providing auxiliary support that is ahead of or synchronized with the patient's center of gravity changes. In passive correction mode, when pathological inversion of the foot is detected and the stress exceeds the safety threshold, the system immediately triggers a protection mechanism, driving the pelvic support plate 201a to move laterally towards the affected limb, generating a corrective torque opposite to the inversion direction. Simultaneously, the elastic damping element provides mechanical buffering to absorb abnormal impact forces. This design achieves significant rehabilitation effects through mechatronics: First, the combination of the universal joint 101a and the elastic damping element provides multi-degree-of-freedom movement support and cushioning protection for the ankle joint, effectively avoiding the injury risks associated with traditional rigid connections. Second, the pelvic posture adjustment unit 200 can reproduce the "∞" shaped trajectory movement of the physiological gait, providing patients with a training experience that conforms to biomechanical characteristics. Furthermore, the intelligent switching mechanism of dual working modes ensures both the coordination of movement during normal training and the safety protection capability in abnormal situations.

[0048] Specifically, this device can adapt to changes in the patient's condition in real time through the synergy of its mechanical structure and control system: providing auxiliary guidance during active training to enhance training effectiveness; and intervening promptly to correct abnormalities and prevent the solidification of incorrect movement patterns. This adaptive characteristic allows it to meet the personalized needs of patients at different stages of rehabilitation, ensuring the safety of the training process while improving the efficiency and comfort of rehabilitation training. Example

[0049] Reference Figure 6 This is the second embodiment of the present invention. Unlike the previous embodiment, this embodiment provides a control method for a lower limb rehabilitation training robot, which solves the problems of abnormal stress accumulation and gait compensation caused by rigid connections in traditional rehabilitation robots.

[0050] Specifically, the displacement change ΔL of the foot pedal L is detected in real time by a displacement sensor 103 installed between the foot pedal L and the leg support plate.

[0051] The control module 201c receives the displacement change ΔL and calculates the target coordinates of the pallet 201a through the control algorithm.

[0052] The control module 201c sends a motion command to the driver of the drive component 201b, and the drive plate 201a moves to the target coordinate.

[0053] The control algorithm is configured such that when the displacement change ΔL indicates that the foot pedal L is inverted / outverted, the pelvic support plate 201a is controlled to generate a corresponding compensating movement on the horizontal plane.

[0054] Specifically, a high-precision displacement sensor 103, installed between the foot pedal L and the leg support plate, detects in real time the multidimensional displacement change ΔL generated by the foot pedal L during training. The displacement sensor 103 can be a linear variable differential transformer with a measurement accuracy of 0.1 mm, and is installed on the outer wall of the elastic damping element connecting the foot pedal L and the leg support plate.

[0055] The control module 201c uses a 32-bit ARM architecture embedded processor. It acquires the analog signal from the displacement sensor 103 through a 24-bit ADC module and first calculates the real-time inversion / outversion angle θ of the ankle joint through a preset inverse kinematics algorithm. The algorithm establishes a triangular solution model based on the installation geometric parameters of the elastic damping element.

[0056] Specifically, the angle value is calculated using the formula θ=arcsin(ΔL / L0), where L0 is the initial length of the elastic damping element. Then, the control module 201c calculates the target displacement Y of the pelvic support plate 201a in the coronal plane according to the preset proportional control law Y=K·θ, where the proportional coefficient K is determined through optimization based on clinical trial data. Simultaneously, combined with the timing signal output from the gait phase detector based on the encoder signal, the target displacement X in the sagittal plane is generated using a lookup table, thus obtaining the comprehensive target coordinates (X, Y) of the support plate 201a. The control module 201c then sends a motion command containing the target coordinates to the driver of the drive component 201b via the CAN bus protocol, driving the two sets of electric cylinders to move collaboratively, precisely moving the pelvic support plate 201a to the target position.

[0057] Specifically, the control algorithm is configured to move the pelvic support plate 201a laterally to generate an abduction compensating movement when the displacement change ΔL indicates that the foot pedal L has inverted; conversely, when eversion is detected, it moves the support plate 201a medially to generate an adduction compensating movement. The amplitude of the compensating movement is directly proportional to the ankle joint angle θ. Throughout the movement, the elastic damping element continuously provides an adjustable radial mechanical support force of 200–500 N through its pre-compressed spring structure, effectively absorbing abnormal stress impacts. This implementation scheme achieves intelligent rehabilitation training with ankle-pelvis coordination through electromechanical linkage, matching the pelvic movement trajectory with the natural gait, significantly improving training safety and rehabilitation effectiveness.

[0058] Furthermore, the control algorithm performs the following calculation process:

[0059] a. Based on the reading ΔL from displacement sensor 103, calculate the inversion / valgus angle θ of the ankle joint using inverse kinematics.

[0060] b. Calculate the target displacement Y of the pelvic support plate 201a in the left and right directions according to the formula Y = K·θ, based on the angle θ, where K is a preset proportional coefficient.

[0061] c. Calculate the target displacement X of the pelvic support plate 201a in the anterior-posterior direction according to the gait phase and the preset trajectory function.

[0062] Specifically, gait phase typically divides a complete gait cycle into two main phases: the stance phase (foot contacts the ground) and the swing phase (foot leaves the ground). The stance phase can be further subdivided into initial landing, weight-bearing response, mid-stance, and late-stance sub-phases, while the swing phase includes early swing, mid-swing, and late swing. In the rehabilitation robot control system of this invention, the patient's current gait phase is detected in real time using an encoder or plantar pressure sensor. Based on this, the movement trajectory of the pelvic support plate in the anterior-posterior direction is dynamically adjusted. For example, during the mid-stance phase, the support plate is moved to its forwardmost position to assist in shifting the center of gravity forward, ensuring that the robot's movement remains synchronized with the patient's natural gait.

[0063] First, a high-precision displacement sensor 103 installed between the foot pedal L and the leg support plate collects the real-time extension and contraction displacement ΔL of the elastic damping element. The control module 201c performs inverse kinematics calculations based on the established ankle joint kinematic model, specifically calculating the precise inversion / valgus angle θ using the formula θ=arcsin(ΔL / L0·cosφ) (where L0 is the initial length of the elastic damping element and φ is its installation tilt angle). Then, the target displacement of the pelvic support plate 201a in the coronal plane is calculated according to the proportional control law Y=K·θ, where the proportional coefficient K is optimized to 10mm / degree through clinical trials. For example, when 5 degrees of inversion is detected, the support plate 201a will move 50mm outward. Simultaneously, based on the gait phase detected by the encoder installed on the motor, the target sagittal plane displacement is generated using the trajectory function X=A·sin(2πt / T) (where A is the stride length parameter, T is the gait period, and t is the current phase time). For example, at mid-gait support t=T / 2, the support plate 201a moves to its foremost position. Throughout the entire control process, the elastic damping element continuously provides a radial support force of 300N±50N to ensure motion stability.

[0064] Furthermore, in passive training mode, the control algorithm makes the movement of the pelvic support plate 201a in the same direction as the ankle movement. In active correction mode, it makes the movement of the pelvic support plate 201a in the opposite direction to the ankle movement.

[0065] Specifically, the control algorithm of the lower limb rehabilitation training robot provides two differentiated working modes during implementation: In passive training mode, when the displacement sensor 103 detects that the foot pedal L undergoes physiological inversion / outversion movement, the control module 201c obtains the ankle movement angle θ through kinematic calculation, and then calculates the displacement of the pelvic support plate 201a according to the formula Y=K1·θ (where K1 is a positive proportional coefficient), so that the movement direction of the support plate 201a is consistent with the movement direction of the ankle. For example, when 5 degrees of inversion is detected, the support plate 201a moves 50mm inward synchronously. At this time, the elastic damping element provides a basic support force of 200-300N, realizing the accompanying assistance for the human body's natural gait. In active correction mode, when the system detects pathological abnormal movement (such as spastic inversion) and the angle exceeds the safety threshold, it immediately switches the control algorithm to calculate the displacement using the formula Y=-K2·θ (where K2 is the correction coefficient), causing the support plate 201a to move in the opposite direction to the ankle movement. For example, when an 8-degree pathological inversion is detected, the support plate 201a moves 80mm laterally. Simultaneously, the elastic damping element automatically increases the support force to 400-500N to provide additional stability, generating reverse mechanical stimulation to promote ankle joint return. Both modes are implemented through the same electromechanical system. Clinically verified, this reduces abnormal joint torque during training by 62.3% and improves gait symmetry by 45.6%, ensuring both the safety of rehabilitation training and significantly improving the correction effect.

[0066] Furthermore, the control algorithm includes safety monitoring logic. When the displacement change ΔL is detected to exceed the safety threshold, the control drive component 201b stops moving or returns to a safe position.

[0067] Furthermore, the control algorithm also includes an adaptive adjustment function, which automatically adjusts the proportional coefficient K based on the statistical characteristics of the displacement change ΔL over a period of time.

[0068] The control algorithm of the lower limb rehabilitation training robot further includes a dual intelligent mechanism of safety monitoring and adaptive adjustment: In terms of safety monitoring, the system monitors the change ΔL output by the displacement sensor 103 in real time. When ΔL is detected to exceed the safety threshold set according to ergonomics (such as the corresponding ankle joint angle exceeding 15 degrees), the control module 201c immediately triggers a three-level safety response mechanism. First, the PID controller limits the output torque of the drive component 201b to 30% of the rated value within 100ms. At the same time, it controls the pelvic support plate 201a to return to the initial zero position at a safe speed of 5mm / s and triggers the audible and visual alarm device to prompt the therapist to intervene. In terms of adaptive adjustment, the system statistically analyzes the standard deviation and extreme values ​​of the displacement change ΔL every minute. When increased muscle strength is detected (ΔL fluctuation range reduced by more than 40% for 3 minutes), the proportional coefficient K is automatically increased from the initial value of 10 mm / degree to 12 mm / degree to increase training intensity. Conversely, when fatigue is detected (abnormal ΔL fluctuation exceeds the baseline value by more than 50%), the coefficient K is reduced to 8 mm / degree and the speed of the drive component 201b is simultaneously reduced by 20%. This intelligent algorithm has been clinically validated to improve training safety.

[0069] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A lower limb rehabilitation training robot, characterized in that: The utility model relates to a kind of active component (100), including the adjusting piece (101) being arranged between foot pedal (L) and leg support plate, the elastic element (102) being arranged on the adjusting piece (101), and the displacement sensor (103) being arranged on elastic element (102), the displacement sensor (103) is configured to detect the telescopic displacement amount of elastic element (102); The posture adjusting unit (200) includes a posture adjusting piece (201) arranged on a rack, the posture adjusting piece (201) includes a support plate (201a) and a drive assembly (201b) for driving the support plate (201a) to move in a horizontal plane, and a control module (201c) arranged on the drive assembly (201b); The output end of the displacement sensor (103) is electrically connected to the signal output end of the drive assembly (201b), and the signal output end of the control module (201c) is electrically connected to the drive assembly (201b). The control module (201c) is configured to calculate the inversion or eversion angle and trend of the foot pedal (L) according to the displacement amount change of the elastic element (102) detected by the displacement sensor (103), and generate a corresponding control signal to drive the support plate (201a) to move in a direction that reduces the ankle joint load. The adjusting piece (101) includes a universal joint (101a) and a support plate (101b), one end of the universal joint (101a) is hinged to the upper part of the foot pedal (L), and the other end is connected to the leg support plate. The support plate (101b) is arranged on one side of the leg support plate. The elastic element (102) is arranged between the foot pedal (L) and the support plate (101b), and the axis of the elastic element (102) forms a non-zero inclination angle with the axis of the leg support plate. One end of the displacement sensor (103) is arranged on the foot pedal (L), and the other end is arranged on the elastic element (102). The axis of the displacement sensor (103) coincides with the axis of the elastic element (102).

2. The lower limb rehabilitation training robot according to claim 1, characterized in that: The drive assembly (201b) includes two groups of rotating wheels (201b-1) arranged on the rack, arc-shaped notches (201b-2) opened on the two groups of rotating wheels (201b-1), and the two groups of arc-shaped notches (201b-2) are symmetrically distributed at 180 degrees with the gear center as the center. The arc-shaped notches (201b-2) are provided with connecting rods (201b-3), and the ends of the connecting rods (201b-3) are connected to the support plate (201a).

3. The lower limb rehabilitation training robot according to claim 2, characterized in that: ​

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