Wearable lower limb rehabilitation training system

Abstract

The invention relates to the technical field of rehabilitation medical equipment, and discloses a wearable lower limb rehabilitation training system which comprises a rack, a leg traction driving mechanism and clamping devices symmetrically arranged on the two sides of the execution tail end of the leg traction driving mechanism. The clamping device comprises a self-adaptive clamping mechanism, and the self-adaptive clamping mechanism is provided with a mounting base; the pair of first arc-shaped clamping plates can be driven by the first driving assembly to be opened and closed; and the self-adaptive adjusting assembly is arranged on the first arc-shaped clamping plate. The driving sliding block is arranged in the arc-shaped sliding way in a sliding manner; the rotating ring is linked with the driving sliding block through a transmission structure and is rotatably arranged on the annular seat; the connecting arm is fixed with the rotating ring; and the pair of second arc-shaped clamping plates is hinged to the tail end of the connecting arm. When the driving sliding block slides, the connecting arm and the second arc-shaped clamping plate are driven to swing, so that the second arc-shaped clamping plate swings and presses the leg from an inclined state. By means of the device, wearing automation and clamping self-adaption are achieved, and the problems that a traditional bandage is inconvenient to wear and cannot be fixed in an attached mode are solved.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical equipment technology, and in particular to a wearable lower limb rehabilitation training system. Background Technology

[0002] With the accelerating aging of the population and the increasing number of patients with neurological diseases such as stroke and spinal cord injury, the demand for lower limb rehabilitation training is becoming increasingly prominent. Wearable lower limb rehabilitation training robots can provide high-intensity, repetitive, and task-oriented training, which is of great significance for promoting neural function remodeling and motor function recovery. These systems typically consist of a powered exoskeleton frame or traction drive mechanism, and a fixation device for transmitting power to the patient's limbs.

[0003] Currently, most limb immobilization devices in these systems use nylon hook and loop fasteners or inflatable airbag-type immobilization straps. Nylon fasteners require patients or medical staff to manually wrap, tighten, and secure them. For patients with limited upper limb function, poor balance, or cognitive impairment, self-wearing is extremely difficult, significantly increasing the dependence on care. Furthermore, the tightness of the fasteners is entirely subjective and difficult to quantify. Too loose a fastener can cause relative slippage between the limb and the mechanical structure during training, affecting the accurate transmission of training effects and potentially causing safety hazards; too tight a fastener can compress blood vessels and nerves, leading to limb numbness, poor blood circulation, affecting comfort, and even causing injury. While inflatable immobilization straps can provide uniform circumferential pressure, their inflation and deflation process is time-consuming, and their adaptability to individual differences in limb contours is limited, resulting in unsatisfactory long-term comfort.

[0004] Therefore, existing technologies lack a fixation device that allows patients to quickly and easily put on the device, adapts to different leg shapes during training, and provides comfortable and stable clamping force. This deficiency has become a key technical bottleneck restricting the improvement of user experience and the expansion of clinical applicability of wearable lower limb rehabilitation training systems. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of existing lower limb rehabilitation training systems that rely on manual straps, such as inconvenience of wearing, poor fixation, poor comfort, and safety hazards. The invention provides a wearable lower limb rehabilitation training system that can be automatically worn, adaptively adjust the clamping force, and comfortably fit the contour of the leg.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A wearable lower limb rehabilitation training system includes a frame, a leg traction drive mechanism mounted on the frame, and clamping devices symmetrically connected to both sides of the execution end of the leg traction drive mechanism for clamping the patient's legs. The clamping devices include an adaptive clamping mechanism. The adaptive clamping mechanism includes: a mounting base; a pair of first arc-shaped clamps rotatably mounted on the mounting base and capable of rotating in opposite directions or in opposite directions by a first driving component; at least one adaptive adjustment component disposed on at least one of the first arc-shaped clamps; the adaptive adjustment component includes: A drive slider is slidably disposed within the arc-shaped slide rail of the first arc-shaped clamping plate; a rotating ring is rotatably fitted onto an annular seat fixed on the first arc-shaped clamping plate; a connecting arm is fixedly connected at one end to the rotating ring; and a pair of second arc-shaped clamping plates are rotatably connected to the other end of the connecting arm via a hinge shaft. The drive slider and the rotating ring are provided with a transmission structure. When the drive slider slides along the arc-shaped slide, the transmission structure drives the rotating ring to rotate, which in turn drives the second arc-shaped clamp to swing through the connecting arm.

[0007] This invention discloses a wearable lower limb rehabilitation training system, wherein the transmission structure includes: The first transmission pin is fixed on the drive slider; A spiral guide groove is formed on the inner wall of the rotating ring; One end of the first transmission pin extends into the spiral guide groove.

[0008] The present invention provides a wearable lower limb rehabilitation training system, wherein the first drive component includes a drive motor disposed on the mounting base, a main gear connected to the output shaft of the drive motor, and two driven gears respectively fixedly connected to two first arc-shaped clamps and meshing with the main gear.

[0009] The present invention discloses a wearable lower limb rehabilitation training system, wherein the driving slider is connected to a second driving component, the second driving component being used to drive the driving slider to slide along the arc-shaped slide rail; the second driving component includes an adjusting motor disposed on the first arc-shaped clamp, a driving gear connected to the output shaft of the adjusting motor, and a rack portion disposed on the outer arc surface of the driving slider and meshing with the driving gear.

[0010] The present invention discloses a wearable lower limb rehabilitation training system, wherein the inner side of the second arc-shaped splint that contacts the leg is provided with a flexible pad.

[0011] This invention discloses a wearable lower limb rehabilitation training system, wherein the second arc-shaped clamp is provided with a limiting opening and closing structure; The limiting opening and closing structure includes an arc-shaped limiting hole opened on each of the second arc-shaped clamps, a guide pin slidably disposed in the arc-shaped limiting hole, and a connecting rod with one end hinged to the guide pin. The other end of the connecting rod is hinged to the side wall of the first arc-shaped clamp.

[0012] The present invention provides a wearable lower limb rehabilitation training system, wherein two adaptive adjustment components are provided on the first arc-shaped splint.

[0013] The present invention provides a wearable lower limb rehabilitation training system, wherein the system further includes a control system, the control system being electrically connected to the first drive component and the second drive component, for receiving user commands and controlling the opening and closing of the first arc-shaped clamp and the swinging clamping action of the second arc-shaped clamp.

[0014] The present invention provides a wearable lower limb rehabilitation training system, wherein the mounting base is an adjustable crossbar connected to the end of the leg traction drive mechanism.

[0015] The beneficial effects of this invention are as follows: Fully automated wearable device, simple and efficient operation: Motor drive replaces all manual operation. Patients only need to stand in the device and trigger the complete wear process with simple instructions (such as buttons), which significantly reduces the threshold for use and reduces the workload of nursing staff.

[0016] Adaptive clamping for both comfort and safety: A unique two-stage adjustment mechanism (first-stage outer clamp for coarse adjustment of circumference, second-stage inner clamp for fine adjustment of compression and fit), combined with the limiting opening and closing design of the inner clamp, allows the device to intelligently adapt to individual differences in leg thickness and shape. The clamping force is evenly distributed, achieving a "surface contact" wrapping effect, greatly improving comfort during extended training sessions and eliminating the risk of pressure sores or slippage due to improper fixation.

[0017] Highly rigid connection ensures precise and reliable training: Multiple (e.g., two symmetrical) adaptive adjustment components form a stable clamping surface on one side of the leg, ensuring efficient and slip-free power transmission from the drive mechanism to the patient's limb during training. This effectively prevents movement deformation or energy loss due to loose fixation, guaranteeing the accuracy and effectiveness of rehabilitation training movements.

[0018] High structural integration and intelligent control: Combined with a programmable control system, it can preset and adjust the clamping force and movement speed in real time to meet the personalized needs of patients at different stages of rehabilitation.

[0019] The following description, in conjunction with the accompanying drawings, further illustrates a wearable lower limb rehabilitation training system of the present invention. Attached Figure Description

[0020] Figure 1 This is an isometric drawing of a wearable lower limb rehabilitation training system. Figure 2 This is an isometric view of the clamping device; Figure 3 yes Figure 2 Internal structure diagram; Figure 4 This is a partial isometric view of the adaptive clamping mechanism; Figure 5 This is a schematic diagram of the rotating ring structure; Figure 6 yes Figure 4 A magnified view of a portion of point c.

[0021] In the diagram: A. Leg traction drive mechanism; 1. Clamping device; 11. Mounting base; 2. First drive assembly; 21. Drive motor; 22. Main gear; 23. Driven gear; 3. First arc-shaped clamping plate; 31. Arc-shaped slide rail; 4. Adaptive adjustment assembly; 5. Drive slider; 51. Rack section; 52. First transmission pin; 6. Second drive assembly; 61. Adjustment motor; 62. Drive gear; 7. Annular seat; 8. Rotating ring; 81. Spiral guide groove; 9. Connecting arm; 10. Second arc-shaped clamping plate; 101. Hinge shaft; 102. Flexible pad; 103. Arc-shaped limiting hole; 12. Limiting opening and closing structure; 111. Guide pin; 112. Connecting rod. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. In the following embodiments, ordinal numbers such as "first" and "second" are only used to distinguish multiple technical features of the same or similar type, and do not represent any limitation on order or importance.

[0023] Example 1: Reference Figures 1-6 The wearable lower limb rehabilitation training system of the present invention includes a rigid frame (not fully shown in the figure), a multi-degree-of-freedom leg traction drive mechanism A integrated on the frame (this is prior art, for example, it can use a series or parallel electric push rod, a servo motor driven linkage mechanism, etc.), and a clamping device 1 symmetrically connected to the left and right power output ends of the leg traction drive mechanism A via a mounting base 11. The mounting base 11 is a horizontally arranged rod (crossbar), which can be adjusted in lateral relative position with the end of the leg traction drive mechanism A by means of a slider cooperating with a guide rail and supplemented by a locking screw, thereby adapting to different patients' hip widths.

[0024] The core of the clamping device 1 is two sets of adaptive clamping mechanisms that are completely symmetrical from left to right. The following is a detailed description of one side as an example. The adaptive clamping mechanism on this side mainly includes: a mounting base 11, a first drive assembly 2, a pair of first arc-shaped clamping plates 3, and an adaptive adjustment assembly 4 mounted on them.

[0025] A pair of first arc-shaped clamps 3 are rotatably mounted above the mounting base 11 via their respective rotation axes. The first drive assembly 2 is used to drive the two first arc-shaped clamps 3 to achieve synchronous opening and closing movements. The first drive assembly 2 includes a drive motor 21 fixedly mounted on the mounting base 11, a main gear 22 connected to the output shaft of the drive motor 21 via a key or directly fixed, and two driven gears 23 respectively fixedly connected to the rotation axes of the two first arc-shaped clamps 3. The two driven gears 23 are symmetrically arranged on both sides of the main gear 22 and mesh with it simultaneously, forming a simple gear transmission system. When the drive motor 21 receives a control signal to rotate in the forward or reverse direction, it drives the main gear 22 to rotate, thereby driving the two driven gears 23 to rotate at the same angular velocity in opposite directions, so that the two first arc-shaped clamps 3 rotate towards each other (close) or away from each other (open). The first arc-shaped clamps 3 constitute the "exoskeleton" of the adaptive clamping mechanism, and their closing action completes the first step of guiding and initially restraining the patient's leg in the central area of ​​the device, namely "coarse adjustment".

[0026] Reference Figure 3 and Figure 4 On the outer arc surface of each first arc-shaped clamping plate 3, a curved slide rail 31 extending along its arc is precisely machined. The cross-section of the curved slide rail 31 can be T-shaped, dovetail-shaped, or rectangular to prevent the drive slider 5 from dislodging. The drive slider 5 is fitted into the curved slide rail 31 by a matching protrusion structure at its bottom, allowing it to slide smoothly along the trajectory of the curved slide rail 31. A rack portion 51 is machined on the outer arc surface of the drive slider 5. The second drive assembly 6 provides sliding driving force for the drive slider 5. The second drive assembly 6 includes an adjusting motor 61 fixedly mounted in the middle of the first arc-shaped clamping plate 3 by a bracket, and a drive gear 62 connected to the output shaft of the adjusting motor 61. The drive gear 62 directly meshes with the rack portion 51 on the drive slider 5. By controlling the rotation direction and number of revolutions of the adjusting motor 61, the position of the drive slider 5 in the curved slide rail 31 can be precisely controlled.

[0027] An annular seat 7 is fixedly mounted on the first arc-shaped clamping plate 3, and a rotating ring 8 is rotatably fitted onto the annular seat 7. The annular seat 7 has a central through hole to accommodate the first arc-shaped clamping plate 3, ensuring that the rotation axis of the rotating ring 8, the axis of the annular seat 7, and the curvature center axis of the first arc-shaped clamping plate 3 are parallel or coincident, which is crucial for ensuring coordinated subsequent movements. One end of a connecting arm 9 is firmly fixed to the outer cylindrical surface of the rotating ring 8 by welding, screw connection, or integral molding.

[0028] The transmission structure between the drive slider 5 and the rotating ring 8 is specifically implemented as follows: Two (or more) cylindrical first transmission pins 52 are fixedly installed at intervals along the length of the top of the drive slider 5. One or more spiral guide grooves 81 corresponding to the movement path of the drive slider 5 are machined on the inner circumferential wall of the rotating ring 8. The end of each first transmission pin 52 extends into the corresponding spiral guide groove 81. When the adjusting motor 61 drives the drive slider 5 to slide along the arc-shaped slide rail 31, the first transmission pins 52 are constrained to move within the spiral guide grooves 81. Since the spiral guide grooves 81 are inclined relative to the axis of the rotating ring 8, the linear motion component of the first transmission pins 52 is converted into a tangential force on the wall of the rotating ring 8, thereby forcing the rotating ring 8 to rotate around its own axis.

[0029] The other end of the connecting arm 9 is connected to a pair of second arc-shaped splints 10 via a hinge shaft 101 (e.g., a pin or short shaft). The inner surface of the second arc-shaped splints 10 (i.e., the side facing the leg) is fitted with a flexible pad 102. The flexible pad 102 may be made of memory foam, medical-grade silicone, or a hypoallergenic soft polymer material, designed to provide a comfortable contact interface and increase static friction. In the initial released state, the connecting arm 9 and the second arc-shaped splints 10 at its end are typically held at a rearward and upward tilted preparatory angle to allow sufficient space for the patient to stand and enter, and to avoid interference with the inner surface of the first arc-shaped splint 3.

[0030] Work process: Preparation phase: The control system is powered on, and the drive motor 21 reverses, causing the two first arc-shaped clamps 3 to open to their maximum angle. The patient stands up with the assistance of a nursing staff or on their own, placing both legs between the two sets of open clamping devices 1 on the left and right sides respectively.

[0031] External clamp closure (coarse adjustment): The patient or operator triggers the "automatic wearing" command via the control panel. The control system first controls the drive motor 21 to rotate forward, driving the two first arc-shaped clamps 3 to rotate smoothly in opposite directions through the transmission of the main gear 22 and the driven gear 23, until the inner arc surface of the second arc-shaped clamp 10 gently contacts or approaches the outer surface of both sides of the patient's legs and then stops (this can be determined by a preset position or pressure sensor signal). At this point, the legs are roughly centered and closed.

[0032] Inner clamping and oscillating (fine-tuning): Subsequently, the control system activates the second drive assembly 6. The adjusting motor 61 rotates in a preset direction, driving the drive slider 5 to slide from one end of the arc-shaped slide rail 31 to the other through the meshing of the drive gear 62 and the rack part 51. During the sliding process, the first transmission pin 52 fixed on the drive slider 5 moves within the spiral guide groove 81 of the rotating ring 8, forcing the rotating ring 8 to rotate around its axis. The rotation of the rotating ring 8 causes the connecting arm 9 fixed to it to swing downward and forward. The swing of the connecting arm 9 drives the pair of second arc-shaped clamping plates 10 to swing from an inclined preparatory posture to a near-horizontal direction through the hinge shaft 101. During this process, the flexible pads 102 on the second arc-shaped clamping plates 10 gradually approach and finally press against the curved surface of the leg side. The operation of the adjusting motor 61 can automatically stop according to the preset clamping position (via encoder feedback) or the preset clamping force (via force sensor feedback mounted on the connecting arm 9 or the second arc-shaped clamping plate 10), thereby completing adaptive clamping. Preferably, two independent adaptive adjustment components 4 can be provided on a single first arc-shaped clamping plate 3, thereby forming two clamping points at different heights on one side of the leg, which significantly enhances clamping stability.

[0033] Training and Release: After clamping is complete, the system enters training mode, and the leg traction drive mechanism A begins to move the patient's leg according to the rehabilitation prescription. After training, the release procedure is executed: the adjusting motor 61 reverses, driving the slider 5 to return to its original position, driving the rotating ring 8 to reverse, causing the connecting arm 9 and the second arc-shaped clamp 10 to swing upward and backward to return to the ready position. Subsequently, the drive motor 21 reverses, driving the first arc-shaped clamp 3 to open to its maximum angle, allowing the patient to be safely removed.

[0034] As a further explanation of this embodiment, the system includes a core controller (which can be a PLC, motion control card, or embedded microcontroller), a motor driver (servo driver or stepper driver), a human-machine interface (operation panel with a touch screen), and necessary sensors (such as rotary encoders and torque sensors). The user interface provides "automatic mode" and "manual mode." In automatic mode, the user clicks the "wear" button, and the controller executes the above steps sequentially according to the pre-programmed sequence, and can perform closed-loop control (such as constant force clamping) based on sensor feedback. In manual mode, the user can control the amplitude of "external clamp opening and closing" and "internal clamping" separately, facilitating fine adjustments or setting personalized parameters for patients with special body types. All movements can be set with smooth acceleration and deceleration curves to ensure gentle movements.

[0035] As a further explanation of this embodiment, all motor drive circuits integrate overcurrent and overload protection functions. An emergency stop button is provided in the system; once triggered, the controller immediately cuts off the motor power. Furthermore, by configuring a power-off brake or a reset spring, the first arc-shaped clamp 3 and the second arc-shaped clamp 10 can automatically and quickly return to the open and released state, ensuring patient safety.

[0036] As a further explanation of this embodiment, a miniature angle sensor can be integrated at the hinge shaft 101 to monitor the opening angle of the second arc-shaped clamping plate 10 in real time. This data can be used to evaluate the clamping fit or as control feedback. A distributed pressure-sensing film can be embedded under the flexible pad 102 to visualize the pressure distribution and prevent excessive local pressure.

[0037] As a further explanation of this embodiment, in order to facilitate the patient's quick and accurate positioning, a laser locator can be installed on the lower edge of the inner side of the first arc-shaped splint 3 or on the equipment base to project the position marks of the feet on the ground.

[0038] As a further explanation of this embodiment, the main load-bearing structures such as the first arc-shaped clamp 3 and the connecting arm 9 can be made of aluminum alloy or carbon fiber composite materials to reduce the overall weight and reduce the load on the traction drive mechanism.

[0039] Example 2: Based on Example 1, in order to fundamentally solve the problem that the second arc-shaped clamp 10 may close in a straight line like an ordinary clamp when pressed down, thereby squeezing the muscles and tissues of the tibia region on the front of the leg, the present invention adds a limiting opening and closing structure 12.

[0040] Reference Figure 4 and Figure 6 The limiting opening and closing structure 12 is integrated onto a pair of second arc-shaped clamping plates 10. Specifically, an arc-shaped limiting hole 103 is machined on the plate body of each second arc-shaped clamping plate 10. One end of a guide pin 111 passes through the arc-shaped limiting hole 103 and can slide freely along the arc-shaped trajectory of the hole. The other end of the guide pin 111 is hinged to one end of a connecting rod 112 via a small spherical bearing or pin to achieve multi-degree-of-freedom compensation. The other end of the connecting rod 112 is hinged to a fixed fulcrum on the side wall of the first arc-shaped clamping plate 3.

[0041] Work process: The key to this structure lies in the forced coupling of the "overall swinging" motion of the second arc-shaped clamping plate 10 with its own "opening and closing" motion. When the connecting arm 9 is driven by the rotating ring 8, causing the second arc-shaped clamping plate 10 to swing downwards (i.e., perform a clamping action), the length of the connecting rod 112 is constant because the other end of each connecting rod 112 is hinged to the first arc-shaped clamping plate 3, which is in a fixed position. Therefore, the trajectory of the end of the connecting rod 112 connected to the guide pin 111 is strictly limited to an arc centered on the fixed hinge point. However, the guide pin 111 is constrained to slide within the arc-shaped limiting hole 103 of the second arc-shaped clamping plate 10 itself.

[0042] The result of this constraint is that when the second arc-shaped clamping plate 10 swings down from the inclined preparatory position to the horizontal working position, the connecting rod 112 pulls (or pushes, depending on the specific installation phase) the guide pin 111, forcing the guide pin 111 to slide within the arc-shaped limiting hole 103 from one end near the hinge axis 101 to the other end away from the hinge axis 101. This sliding of the guide pin 111 forces the two second arc-shaped clamping plates 10 to overcome their tendency to close freely around the hinge axis 101 (an additional light torsion spring can be provided to provide a small closing preload), resulting in a relative opening angle change around the hinge axis 101.

[0043] By incorporating a "passive opening" mechanism, the front end of the second arc-shaped splint 10 automatically opens to a greater angle when pressing against the leg, perfectly adapting to the near-conical contour of the human calf that gradually thickens from top to bottom. The flexible padding 102 can thus conform to the sides and part of the front of the leg in an "embracing" or "wrapping" manner, completely avoiding the compression of tissues near the patella that may occur with traditional straight-line clamping, elevating comfort to a new level.

[0044] Example 3: Based on Embodiment 1 or 2, the adaptive clamping mechanism of the present invention can also be used to perform auxiliary massage on the leg muscles of patients before and after rehabilitation training, so as to warm up the muscles or promote relaxation after training.

[0045] This function is achieved by extending the control logic of the control system. In addition to the preset "automatic wear mode" and "manual adjustment mode", the control system adds a "massage mode".

[0046] In massage mode, the control system controls the adjustment motor 61 of the second drive component 6 to work, but instead of driving the drive slider 5 to a fixed position, it controls the drive slider 5 to perform low-speed, reciprocating periodic movements within a certain stroke of the arc-shaped slide 31 (usually corresponding to the middle stroke segment where the second arc-shaped clamp 10 swings to be close to the leg but not fully pressed).

[0047] Specifically, the control system sends a command to the regulating motor 61 to perform periodic reciprocating motion. The regulating motor 61, through the meshing of the drive gear 62 and the rack portion 51, drives the drive slider 5 to reciprocate within a set stroke range. The reciprocating motion of the drive slider 5 is converted into the reciprocating oscillation of the rotating ring 8 through the cooperation of the first transmission pin 52 and the spiral guide groove 81. The reciprocating oscillation of the rotating ring 8 drives the connecting arm 9 and a pair of second arc-shaped clamps 10 fixed to its end to perform rhythmic, up-and-down oscillating motion within a small angle range.

[0048] At this time, the flexible pad 102 on the inner side of the second arc-shaped splint 10 periodically and gently presses and releases from the muscle groups on the side of the patient's leg (such as the gastrocnemius and soleus muscles), simulating a massage technique similar to kneading or pressing. The intensity of the massage can be adjusted by controlling the reciprocating stroke (i.e., the swing amplitude) of the drive slider 5, and the frequency of the massage can be adjusted by controlling the reciprocating speed of the regulating motor 61.

[0049] Working Process and Beneficial Effects: Before training begins, the operator can activate the "massage mode" to perform a few minutes of preheating massage on the patient's legs, promoting local blood circulation, reducing muscle viscosity, and preparing for the subsequent training. After training, activating the "massage mode" again helps relieve muscle fatigue, promote the dissipation of metabolic products, and accelerate recovery. This mode fully utilizes the existing mechanical structure of the adaptive adjustment component 4 (drive slider 5, transmission structure, rotating ring 8, connecting arm 9, and second arc-shaped clamp 10), and achieves additional physiotherapy functions through the expansion of control logic, without adding any extra hardware costs. This significantly improves the overall utility of the equipment and the user experience, providing more comprehensive auxiliary support for rehabilitation training.

[0050] As a further explanation of this embodiment, the clamping device 1 of the present invention is not limited to lower limb rehabilitation training, but can also be applied to other scenarios that require comfortable and stable fixation of human limbs, such as: upper limb rehabilitation robots, dynamic balance assessment and training platforms, or assistive exoskeletons that need to be worn for a long time.

[0051] The above embodiments are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural modifications made based on the description and drawings of the present invention, or direct / indirect applications to other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A wearable lower limb rehabilitation training system, comprising a frame, a leg traction driving mechanism (A) arranged on the frame, and a clamping device (1) connected to the leg traction driving mechanism (A) at both ends for clamping the legs of a patient, characterized in that, The clamping device (1) comprises a self-adapting clamping mechanism; The self-adapting clamping mechanism comprises a mounting base (11), a pair of first arc-shaped clamping plates (3) rotatably mounted on the mounting base (11) and capable of being driven by a first driving assembly (2) to rotate towards or away from each other, and at least one self-adapting adjusting assembly (4) arranged on at least one of the first arc-shaped clamping plates (3); the self-adapting adjusting assembly (4) comprises: a driving slider (5) slidably arranged in an arc-shaped sliding channel (31) of the first arc-shaped clamping plate (3), a rotating ring (8) rotatably sleeved on an annular seat (7) fixed on the first arc-shaped clamping plate (3), and a connecting arm (9) having one end fixedly connected with the rotating ring (8) and the other end rotatably connected with a pair of second arc-shaped clamping plates (10) through a hinge shaft (101); wherein a transmission structure is arranged between the driving slider (5) and the rotating ring (8), and when the driving slider (5) slides along the arc-shaped sliding channel (31), the rotating ring (8) is driven to rotate through the transmission structure, and the second arc-shaped clamping plates (10) are driven to swing through the connecting arm (9). 2.The wearable lower limb rehabilitation training system according to claim 1, characterized in that: The transmission structure comprises: a first transmission pin (52) fixed on the driving slider (5); a spiral guide groove (81) formed in the inner wall of the rotating ring (8); wherein one end of the first transmission pin (52) extends into the spiral guide groove (81). 3.The wearable lower limb rehabilitation training system according to claim 2, characterized in that: The first driving assembly (2) comprises a driving motor (21) arranged on the mounting base (11), a main gear (22) connected with the output shaft of the driving motor (21), and two driven gears (23) respectively fixedly connected with the two first arc-shaped clamping plates (3) and meshed with the main gear (22).

4. The wearable lower limb rehabilitation training system according to claim 2, characterized in that: The driving slider (5) is connected with a second driving assembly (6) for driving the driving slider (5) to slide along the arc-shaped sliding channel (31); the second driving assembly (6) comprises an adjusting motor (61) arranged on the first arc-shaped clamping plate (3), a driving gear (62) connected with the output shaft of the adjusting motor (61), and a rack portion (51) arranged on the outer arc surface of the driving slider (5) and meshed with the driving gear (62).

5. The wearable lower limb rehabilitation training system according to claim 1, characterized in that: The inner side surface of the second arc-shaped clamping plate (10) in contact with the leg portion is provided with a flexible gasket (102).

6. The wearable lower limb rehabilitation training system according to claim 1, characterized in that: The second arc-shaped clamping plate (10) is provided with a limiting opening and closing structure (12); The limiting opening and closing structure (12) comprises an arc-shaped limiting hole (103) formed on each second arc-shaped clamping plate (10), a guide pin (111) slidably arranged in the arc-shaped limiting hole (103), and a connecting rod (112) hingedly connected with one end of the guide pin (111); the other end of the connecting rod (112) is hingedly connected to the side wall of the first arc-shaped clamping plate (3).

7. The wearable lower limb rehabilitation training system according to claim 1, characterized in that: Two self-adapting adjusting assemblies (4) are arranged on the first arc-shaped clamping plate (3). 8.The wearable lower limb rehabilitation training system according to claim 4, characterized in that: The system further comprises a control system electrically connected with the first driving assembly (2) and the second driving assembly (6) for receiving user instructions and controlling the opening and closing of the first arc-shaped clamping plate (3) and the swinging clamping action of the second arc-shaped clamping plate (10). 9.The wearable lower limb rehabilitation training system according to claim 1, wherein: The mounting base (11) is adjustably connected to the crossbar of the end of the leg traction driving mechanism (A).

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