Quantitative weight-reducing lower limb exoskeleton rehabilitation robot

Abstract

The invention discloses a quantitative weight-reducing lower limb exoskeleton rehabilitation robot which comprises a moving frame and further comprises mounting plates symmetrically fixed to the moving frame. The lower limb exoskeleton assembly is mounted on the moving frame through the mounting plate. An exoskeleton weight reduction module integrates a plantar pressure sensor and an IMU (inertial measurement unit), a support phase / swing phase time sequence node is accurately judged through an improved gait phase recognition algorithm, an output force value of an electric push rod is dynamically adjusted through closed-loop control on the basis of a personalized weight reduction threshold value, and the weight reduction precision is improved. Quantitative output and real-time calibration of weight reduction are achieved, the technical bottleneck that existing equipment is poor in weight reduction precision is solved, the stress load of a fracture part is precisely reduced, secondary injury is avoided, and gait naturalness and coordination are optimized; meanwhile, the corresponding joint driving modules can be installed and activated as required according to the fracture part of the patient, the monitoring modules are flexibly arranged, and the equipment suitability and the training effectiveness are improved.

Description

Technical Field

[0001] This invention mainly relates to the field of rehabilitation equipment technology, specifically a quantitative weight-reduction lower limb exoskeleton rehabilitation robot. Background Technology

[0002] With the aging population and rising incidence of accidental injuries, the number of patients with lower limb fractures is increasing year by year. Precise postoperative rehabilitation training is crucial for restoring limb function and reconstructing movement patterns. Lower limb exoskeleton rehabilitation robots have become a research hotspot in the field of rehabilitation equipment technology because they can provide auxiliary support and movement guidance.

[0003] However, existing traditional lower limb exoskeleton rehabilitation devices generally adopt a fixed force reduction control mode, which fails to fully consider the dynamic force differences between the stance and swing phases of the human gait cycle. Specifically, in the stance phase, if the weight reduction amplitude of the device is insufficient, it can easily lead to excessive mechanical load on the fracture healing site, increasing the risk of secondary injury; in the swing phase, if the movement resistance provided by the device is too great, it can cause gait stiffness and induce muscle fatigue in patients. Moreover, this control mode contradicts the biomechanical laws of natural human walking, making it difficult to achieve the ideal rehabilitation training effect. Summary of the Invention

[0004] This invention addresses the core technical shortcomings of existing lower limb exoskeleton rehabilitation devices, such as their simplistic weight reduction control schemes and inability to achieve precise quantitative adaptation. It provides a significantly different solution, primarily a quantitative weight reduction lower limb exoskeleton rehabilitation robot. This addresses the problems mentioned in the background section, where traditional exoskeleton devices typically employ fixed force values ​​for weight reduction, lacking dynamic quantitative adjustment capabilities. They fail to consider the force differences between the support and swing phases of the gait cycle. During support, insufficient weight reduction can lead to excessive load on fracture sites, increasing the risk of secondary injury. During swing, excessive resistance can cause gait stiffness and muscle fatigue, violating the biomechanics of natural walking. Furthermore, they cannot dynamically match quantitative weight reduction requirements and are detrimental to neuromuscular control and proprioceptive reconstruction, thus hindering rehabilitation efficiency.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: A quantitative weight-reducing lower limb exoskeleton rehabilitation robot includes a mobile frame and mounting plates symmetrically fixed to the mobile frame.

[0006] The lower limb exoskeleton assembly, which is mounted on a mobile frame via the mounting plate, is used to provide patients with dynamic weight-reduction support, personalized gait guidance, and tactile feedback.

[0007] A waist ring, mounted on the lower limb exoskeleton assembly, is used to wrap around and fix the patient's waist.

[0008] A crotch support pocket, connected to the waist ring, is used to support the patient's crotch and provide support.

[0009] Symmetrically arranged leg supports are mounted on the lower limb exoskeleton assembly to support the patient's thighs and calves; and detachable fixing straps are provided on the leg supports to fix the patient's thighs and calves to the corresponding leg supports.

[0010] More preferably, the mobile frame includes a U-shaped mounting frame and multiple casters mounted on the bottom of the U-shaped mounting frame. One side of the bottom of the U-shaped mounting frame has a through-open structure to provide space for the patient to lift their legs and move.

[0011] More preferably, the lower limb exoskeleton component includes a U-shaped frame with sliders at its front and rear ends. The mounting plate has multiple evenly spaced grooves and screw holes vertically distributed. The sliders slide in conjunction with the grooves. The U-shaped frame has screw holes corresponding to the screw holes on the mounting plate, which are used to adjust the height of the lower limb exoskeleton component.

[0012] More preferably, an adjustment mechanism is installed in the middle of the inner wall of the U-shaped frame. The adjustment mechanism includes a housing, a lifting mechanism disposed in the housing, a pressure sensor, and a connecting block driven by the lifting mechanism and connected through the pressure sensor. A lumbar support for supporting the patient's waist is connected to the connecting block.

[0013] More preferably, the inner wall of the U-shaped frame is equipped with symmetrically distributed L-shaped plates, a first driving mechanism is connected to the L-shaped plates, the output end of the first driving mechanism is connected to a first telescopic mechanism, the movable end of the first telescopic mechanism is connected to a second driving mechanism, the output end of the second driving mechanism is connected to a second telescopic mechanism, the movable end of the second telescopic mechanism is connected to a third driving mechanism, and the output end of the third driving mechanism is connected to a foot support mechanism.

[0014] More preferably, the first telescopic mechanism and the second telescopic mechanism have the same structure, both including a fixed plate and a sliding plate slidably fitted therein, and the telescopic length can be adjusted to adapt to the size of the patient's thigh and calf through screw holes and bolts.

[0015] More preferably, the foot support mechanism includes a foot fixation mechanism for fixing the patient's foot, and a pressure feedback sensor and an inertial measurement unit disposed at the bottom of the foot fixation mechanism.

[0016] Further preferably, the system also includes a control system configured to receive signals from a plantar pressure sensor and an inertial measurement unit (IMU) and determine in real time whether the patient's gait is in the support phase or the swing phase using a gait phase recognition algorithm.

[0017] Further preferably, the control system is also equipped with an emergency locking module, which, upon receiving a gait imbalance signal detected by the IMU or an emergency signal triggered by the patient, performs the following operations within 0.5 seconds: locking the second drive mechanism controlling the knee joint movement; and simultaneously controlling the lifting mechanism of the adjustment mechanism to immediately increase the support force to counteract 100% of the body weight.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This rehabilitation robot, by embedding a gait phase recognition algorithm into the exoskeleton weight-reduction module and combining it with plantar pressure sensors and an inertial measurement unit (IMU) to perform multi-source information fusion analysis, can accurately determine in real time whether the patient's gait is in the support phase or swing phase. Based on this determination, the control system drives the electric push rod of the adjustment mechanism to output differentiated support forces. In the support phase, it can output support forces that offset a target proportion of body weight, precisely locking the weight-bearing of the affected limb within a safe range and reducing the stress risk to the fracture site. In the swing phase, it automatically reduces the offset ratio of the support force to reduce excessive lower limb swing. The resistance of the equipment during the process makes the patient's gait closer to a natural state, avoiding gait stiffness caused by excessive equipment resistance, while reducing extra energy consumption during rehabilitation training; moreover, the above weight loss control adopts a freely adjustable quantitative weight loss mode, with no fixed limit on the weight loss ratio. Users can flexibly set any target value (such as 10%, 15%, 20%, etc.) according to the rehabilitation stage, the tolerance of the affected limb, and training goals, so as to accurately adjust the actual weight-bearing of the affected limb, break the limitations of fixed weight loss ratio, realize personalized rehabilitation program customization, and improve the comfort and effectiveness of rehabilitation training.

[0019] 2. This rehabilitation robot, through its joint drive modules, can be selectively installed and activated according to the specific fracture location of the patient. For example, for patients with ankle fractures, only the third drive mechanism of the ankle can be installed and operated; for patients with hip fractures, the first and second drive mechanisms of the hip and knee are primarily driven. Simultaneously, monitoring modules (such as IMUs) can be flexibly attached to different positions on the affected limb. This eliminates the need for a complete replacement of the device for different patients, improving its applicability and cost-effectiveness, and enabling highly targeted rehabilitation training. It avoids over-drive of non-injured joints, thus improving training efficiency.

[0020] 3. The rehabilitation robot integrates emergency locking and quantitative weight reduction coordinated protection functions. Its core relies on a 0-100% full-range quantitative weight reduction adjustment capability to achieve precise safety protection for the affected limb in a state of imbalance: When the IMU inertial measurement unit detects gait imbalance characteristic signals (such as sudden changes in limb posture angle or excessive acceleration), or when the patient actively triggers the emergency button, the control system can respond in a very short time, immediately locking the second drive mechanism that drives the knee joint movement, quickly stabilizing the lower limb support posture and effectively avoiding the risk of falls; simultaneously, it retains the hip joint's micro-range mobility, providing a buffer for body imbalance and reducing impact damage. Simultaneously, the quantitative weight reduction module responds instantly to emergency commands, rapidly increasing the amplitude of the weight reduction counteracting force based on a preset weight quantitative benchmark through a 0-100% full-range adjustment mechanism, so that the total support force accurately reaches the quantitative threshold of counteracting 100% of the body weight, achieving complete unloading of the mechanical load on the affected limb. From the source of precise quantitative weight reduction control, it minimizes secondary damage to the fracture site caused by the moment of imbalance. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the lower limb exoskeleton component structure of the present invention; Figure 3 This is a schematic diagram of the rear view of the mounting plate of the present invention.

[0022] Numbering on the map: 1. Movable frame; 2. Mounting plate; 3. Lower limb exoskeleton assembly; 301. U-shaped frame; 302. Slider; 303. Adjustment mechanism; 304. Waist support; 305. L-shaped plate; 306. First drive mechanism; 307. First telescopic mechanism; 308. Second drive mechanism; 309. Second telescopic mechanism; 3010. Third drive mechanism; 3011. Foot support mechanism; 4. Waist ring; 5. Crotch support pocket; 6. Leg support plate; 7. Fixing strap. Detailed Implementation

[0023] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be given below with reference to the accompanying drawings, which illustrate several embodiments of the present invention. However, the present invention can be implemented in different forms and is not limited to the embodiments described in the text. Rather, these embodiments are provided to make the disclosure of the present invention more thorough and complete.

[0024] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0025] Please refer to the appendix carefully. Figures 1-3 A quantitative weight-reducing lower limb exoskeleton rehabilitation robot includes a mobile frame 1 and mounting plates 2 symmetrically fixed on the mobile frame 1.

[0026] The lower limb exoskeleton component 3 is mounted on the mobile frame 1 via the mounting plate 2, and is used to provide patients with dynamic weight-reduction support, personalized gait guidance and tactile feedback.

[0027] The waist ring 4 is set on the lower limb exoskeleton component 3 and is used to wrap around and fix the patient's waist. The waist ring 4 can be detachably installed on the lumbar support 304 and different sizes of waist ring 4 can be replaced according to the customer's body shape and other needs.

[0028] The crotch support pocket 5 is connected to the waist ring 4 and is used to support the patient's crotch to provide support.

[0029] Symmetrically arranged leg supports 6 are respectively installed on the corresponding first telescopic mechanism 307 and second telescopic mechanism 309 to support the patient's thighs and calves; and detachable fixing straps 7 are set on the leg supports 6 to fix the patient's thighs and calves to the corresponding leg supports 6.

[0030] In this embodiment, as Figure 1 As shown, the mobile frame 1 includes a U-shaped mounting frame and multiple casters mounted on the bottom of the U-shaped mounting frame. One side of the bottom of the U-shaped mounting frame has a through-open structure to provide space for the patient to lift their legs and move.

[0031] Through the above structure, the multiple casters of the mobile frame 1 facilitate the flexible movement of the entire device; the open structure on one side of the bottom of the U-shaped mounting frame can directly provide ample space for the patient's leg lifting movements, avoiding the frame structure of the mobile frame 1 from hindering the patient's leg lifting movements during gait training, ensuring that the patient can naturally complete the walking training movements, and improving the smoothness and comfort of gait training.

[0032] In this embodiment, as Figure 2 and Figure 3As shown, the lower limb exoskeleton component 3 includes a U-shaped frame 301 with sliders 302 at its front and rear ends. Multiple evenly spaced grooves and screw holes are vertically opened on the mounting plate 2. The sliders 302 slide in cooperation with the grooves. The U-shaped frame 301 has screw holes corresponding to the screw holes on the mounting plate 2, which are used to realize the height adjustment of the lower limb exoskeleton component 3. The moving frame 1 includes a U-shaped mounting frame and multiple casters installed at the bottom of the U-shaped mounting frame. One side of the bottom of the U-shaped mounting frame is a through-open structure to provide space for the patient to lift their legs and move.

[0033] Through the above structure, the sliding engagement between the slider 302 and the slide groove of the mounting plate 2, and the corresponding screw holes on the U-shaped frame 301 and the mounting plate 2, the adjusted position can be firmly fixed by fasteners. This allows the lower limb exoskeleton component 3 to adapt to the limb length of patients of different heights, ensuring that the joint position of the lower limb exoskeleton component 3 corresponds to the patient's own joint position when the patient uses it, avoiding training discomfort or abnormal joint force caused by height mismatch, thereby improving the versatility of the device.

[0034] In this embodiment, as Figure 2 As shown, an adjustment mechanism 303 is installed in the middle of the inner wall of the U-shaped frame 301. The adjustment mechanism 303 includes a housing, a lifting mechanism disposed in the housing, a pressure sensor, and a connecting block driven by the lifting mechanism and connected through the pressure sensor. A lumbar support 304 for supporting the patient's waist is connected to the connecting block. The movable frame 1 includes a U-shaped mounting frame and multiple casters installed at the bottom of the U-shaped mounting frame. One side of the bottom of the U-shaped mounting frame is a through-open structure, providing space for the patient to lift their legs and move.

[0035] With the above structure, the lifting mechanism of the adjustment mechanism 303 can adopt a hydraulic lifting mechanism or an electric screw lifting mechanism. The lifting mechanism can drive the connecting block to move the lumbar support 304, waist ring 4 and crotch support pocket 5 up and down, so as to adapt to the lumbar height of different patients. The pressure sensor can collect the supporting pressure of the lumbar support 304 on the patient's waist in real time, provide pressure feedback data for the weight reduction module, and assist the lifting mechanism in outputting the supporting force to counteract the body weight, which can avoid excessive support or insufficient support, thereby improving the support stability of the patient's waist.

[0036] In this embodiment, as Figure 2As shown, the inner wall of the U-shaped frame 301 is equipped with symmetrically distributed L-shaped plates 305. A first drive mechanism 306 is connected to the L-shaped plates 305. The output end of the first drive mechanism 306 is connected to a first telescopic mechanism 307. The movable end of the first telescopic mechanism 307 is connected to a second drive mechanism 308. The output end of the second drive mechanism 308 is connected to a second telescopic mechanism 309. The movable end of the second telescopic mechanism 309 is connected to a third drive mechanism 3010. The output end of the third drive mechanism 3010 is connected to a foot support mechanism 3011. The movable frame 1 includes a U-shaped mounting frame and multiple casters mounted on the bottom of the U-shaped mounting frame. One side of the bottom of the U-shaped mounting frame is an open structure, providing space for the patient to lift their legs and move.

[0037] Through the above structure, the L-shaped plate 305 provides a stable mounting base for the first drive mechanism 306; the first telescopic mechanism 307 and the second telescopic mechanism 309 can adjust the overall length according to the length of the patient's thigh and calf to ensure that the drive mechanism corresponds precisely to the patient's lower limb joints (hip, knee, ankle); the first drive mechanism 306, the second drive mechanism 308 and the third drive mechanism 3010 are joint motors, which can drive the hip, knee and ankle joints respectively, and form a complete lower limb motion transmission chain with the foot support mechanism 3011. It can guide the patient's lower limbs to complete standardized movements according to personalized gait trajectory, and can selectively drive the fracture site. For example, if the ankle joint is fractured, only the ankle movement is driven by the third drive mechanism 3010, which can realize targeted rehabilitation training, avoid discomfort caused by over-driving of non-fracture sites, and improve the targeting of training.

[0038] In this embodiment, as Figure 2 As shown, the first telescopic mechanism 307 and the second telescopic mechanism 309 have the same structure, both including a fixed plate and a sliding plate slidably fitted inside it. The telescopic length can be adjusted to adapt to the size of the patient's thigh and calf through screw holes and bolts. The moving frame 1 includes a U-shaped mounting frame and multiple casters mounted on the bottom of the U-shaped mounting frame. One side of the bottom of the U-shaped mounting frame is a through-open structure, providing space for the patient to lift their leg and move.

[0039] Through the above structure, the sliding cooperation between the fixed plate and the sliding plate enables flexible adjustment of the telescopic length. The cooperation between the screw hole and the bolt can lock the telescopic length after adjustment, ensuring that the length of the mechanism remains stable. This structure can adapt to the different sizes of the thighs and calves of different patients, so that the first telescopic mechanism 307 matches the length of the patient's thigh and the second telescopic mechanism 309 matches the length of the patient's calf. This avoids joint force shift or training movement deformation caused by the mismatch between the length of the mechanism and the size of the limb, thereby improving the versatility of the equipment.

[0040] In this embodiment, as Figure 2As shown, the foot support mechanism 3011 includes a foot fixation mechanism for fixing the patient's foot, and a pressure feedback sensor disposed at the bottom of the foot fixation mechanism.

[0041] Through the above structure, the foot fixation mechanism can firmly fix the patient's foot, and the pressure feedback data can provide a basis for the dynamic compensation of the weight loss module, thereby improving the effectiveness of training.

[0042] In this embodiment, as Figure 1 As shown, it also includes a control system configured to receive signals from a plantar pressure sensor and an inertial measurement unit (IMU), and determine in real time whether the patient's gait is in the support phase or the swing phase using a gait phase recognition algorithm. For example, in the support phase, the lifting mechanism of the control adjustment mechanism 303 outputs a support force that counteracts 70% of the body weight; in the swing phase, the control lifting mechanism reduces the support force to counteract 50% of the body weight. The mobile frame 1 includes a U-shaped mounting frame and multiple casters mounted on the bottom of the U-shaped mounting frame. One side of the bottom of the U-shaped mounting frame is a through-type open structure, providing space for the patient to lift their legs and move.

[0043] The gait phase recognition algorithm employs a threshold-based finite state machine. Specifically, when the plantar pressure sensor value is consistently higher than the threshold P_threshold and the tibial angle measured by the IMU is within the range of θ_stance, it is determined to be the support phase. When the plantar pressure is lower than P_threshold and the thigh angular velocity exceeds the ω_swing threshold, it is determined to be the swing phase. In the gait support phase, the adjustment mechanism 303 is preferentially used to provide weight-reducing support for the main body, while the joint drive mechanism is controlled to provide auxiliary torque to maintain body balance. In the swing phase, the support force of the adjustment mechanism 303 is reduced, and the power is mainly provided by the joint drive mechanism to guide the lower limbs to move along a predetermined trajectory.

[0044] By combining the control system with plantar pressure sensors and IMU signals, gait phases can be accurately identified, avoiding errors from single-sensor judgments. The support phase output offsets 70% of the body weight's support force, reducing the force load on the affected limb during support, locking in 30% of the target load, reducing pressure on the fracture site, and preventing secondary injury. The swing phase reduces the support force to offset 50% of the body weight, reducing resistance during lower limb swing, allowing patients to complete swing movements more easily and avoiding gait stiffness caused by excessive resistance. This dynamic adjustment method balances weight loss and movement flexibility, improving the safety and comfort of rehabilitation training.

[0045] In this embodiment, as Figure 1As shown, the control system is also equipped with an emergency locking module. When it receives a gait imbalance signal detected by the IMU or an emergency signal triggered by the patient, it performs the following operations within 0.5 seconds: locks the second drive mechanism 308 that controls the movement of the knee joint; at the same time, it controls the lifting mechanism of the adjustment mechanism 303 to immediately raise the support force to counteract 100% of the body weight. The moving frame 1 includes a U-shaped mounting frame and multiple casters mounted on the bottom of the U-shaped mounting frame. One side of the bottom of the U-shaped mounting frame is a through-open structure to provide space for the patient to lift their leg and move.

[0046] Through the above structure, the emergency locking module can respond quickly to danger signals within 0.5 seconds. Locking the second drive mechanism 308 can prevent the patient from excessive bending or extension of the knee joint due to gait imbalance, thus avoiding falls. At the same time, it increases the support force to offset 100% of the body weight, which can relieve the force on the affected limb and prevent the affected limb from bearing additional pressure during imbalance, thus avoiding secondary damage to the fracture site. This emergency treatment method takes into account both rapid response and buffer protection, maximizing the safety of the patient in emergency situations.

[0047] In another embodiment: the first telescopic mechanism 307 and the second telescopic mechanism 309 have the same structure, both including a fixed plate and a sliding plate slidably fitted therein, and a driving device, such as an electric push rod, is provided between the fixed plate and the sliding plate. Its fixed end is connected to the fixed plate and its telescopic end is connected to the sliding plate, and the telescopic length can be adjusted to adapt to the size of the patient's thigh and calf.

[0048] The specific operation process of this invention is as follows: Start the equipment control system, complete the loading of the healthy person's gait database, the signal calibration of the plantar pressure sensor and the inertial measurement unit (IMU), and the no-load self-test of each drive mechanism and adjustment mechanism 303 to ensure that all modules are in normal working condition.

[0049] Next, based on the patient's height, the fasteners between the mounting plate 2 and the U-shaped frame 301 are loosened, and the overall height of the lower limb exoskeleton assembly 3 is adjusted by sliding the sliders 302 at both ends of the U-shaped frame 301 along the vertical groove of the mounting plate 2.

[0050] After the screw holes on the U-shaped frame 301 are aligned with the corresponding screw holes on the mounting plate 2, tighten the fasteners again to lock the height, ensuring that the joint centers (hip, knee, ankle) of the lower limb exoskeleton assembly 3 are initially aligned with the patient's own joint centers.

[0051] The lifting mechanism of the control adjustment mechanism 303 drives the connecting block to move the lumbar support 304 up and down. During the adjustment process, the pressure sensor of the adjustment mechanism 303 collects the supporting pressure of the lumbar support 304 on the waist in real time and feeds it back to the control system to avoid excessive compression or insufficient support. Finally, the position of the lumbar support 304 is locked through the lifting mechanism.

[0052] Based on the patient's thigh and calf dimensions, the first telescopic mechanism 307 and the second telescopic mechanism 309 are adjusted respectively. The bolts between the fixed plate and the sliding plate of the two mechanisms are loosened, and the sliding plate is pushed to slide along the sliding groove of the fixed plate to change the telescopic length. After the length is adapted, the bolts are tightened to lock the position of the sliding plate, ensuring that the installation positions of the first drive mechanism 306, the second drive mechanism 308, and the third drive mechanism 3010 are precisely aligned with the patient's lower limb joints.

[0053] The waist ring 4 is wrapped around the patient's waist and fixed in place. The patient's crotch is supported by the crotch support pocket 5 on the waist ring 4. At the same time, the patient's thighs and calves are placed on the corresponding leg support plates 6. The thighs and calves are fixed to the leg support plates 6 by the detachable fixing straps 7, ensuring that the patient's limbs do not slide relative to the equipment during the training process.

[0054] The control system receives data from two main signal sources in real time: the pressure feedback sensor of the foot model module in the foot support mechanism 3011 collects the force signal on the sole of the foot; and the inertial measurement unit (IMU) collects the acceleration and angular velocity signals of the patient's lower limb movement.

[0055] By fusing and analyzing signals through a built-in gait phase recognition algorithm, the system can determine in real time whether the patient's gait is in the support or swing phase. When the support phase is determined, the control system sends a command to the lifting mechanism of the adjustment mechanism 303 to drive the lifting mechanism to output a support force that counteracts 70% (adjustable) of the patient's body weight. The force value is monitored and calibrated in real time by the pressure sensor, and only 30% (adjustable) of the target weight is retained on the affected limb to reduce the force load on the fracture site during the support process and avoid secondary injury. When the swing phase is detected, the control system instructs the lifting mechanism to reduce the support force to 50% (adjustable) of the patient's body weight, thereby reducing the equipment resistance during lower limb swing and allowing the patient to easily complete the leg swing movement, avoiding gait stiffness or muscle fatigue caused by excessive resistance.

[0056] The control system accesses a built-in database of healthy individuals' gait patterns, then selectively activates the corresponding joint drive mechanisms based on the fracture location (e.g., for ankle fractures, only the third drive mechanism 3010 is activated; for hip fractures, the first drive mechanism 306 and the second drive mechanism 308 are activated). Each drive mechanism receives gait trajectory commands from the control system and precisely drives the corresponding joint to move along the trajectory: the first drive mechanism 306 drives the hip joint to perform flexion, extension, and abduction; the second drive mechanism 308 drives the knee joint to perform flexion and extension; and the third drive mechanism 3010 drives the ankle joint to perform dorsiflexion and plantarflexion. These three mechanisms work together to guide the patient's lower limbs to complete a standardized gait, gradually correcting abnormal gait habits.

[0057] In the event of a dangerous situation during device use, the emergency locking module of the control system immediately activates. The inertial measurement unit (IMU) detects a gait imbalance signal in the patient (such as a sudden change in limb angular velocity or acceleration exceeding a safety threshold). The patient triggers an emergency button on the device, such as a hand emergency switch or a foot trigger switch. The emergency locking module executes its operation within 0.5 seconds, controlling the second drive mechanism 308 to immediately lock, preventing the patient from excessively bending or extending their knee joint due to imbalance and avoiding falls; simultaneously, it preserves the micro-movement space of the first drive mechanism 306, providing cushioning for body imbalance through small-amplitude rotation of the hip joint, reducing the impact force on the trunk; and instructs the lifting mechanism of the adjustment mechanism 303 to immediately increase the support force to offset 100% of the patient's weight, completely relieving the force on the affected limb, preventing additional pressure on the affected limb during imbalance and causing secondary damage to the fracture site, thus maximizing patient safety.

[0058] The present invention has been described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvement made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, shall be within the protection scope of the present invention.

Claims

1. A quantitative weight-reduction lower limb exoskeleton rehabilitation robot, comprising a mobile frame (1), characterized in that, Also includes: Mounting plates (2) are symmetrically fixed on the movable frame (1); The lower limb exoskeleton assembly (3), which is mounted on the mobile frame (1) via the mounting plate (2), is used to provide patients with dynamic weight-loss support, personalized gait guidance and tactile feedback; A waist ring (4) is mounted on the lower limb exoskeleton assembly (3) and is used to wrap around and fix the patient's waist. The crotch support pocket (5) is connected to the waist ring (4) and is used to support the patient's crotch to provide support. Symmetrically arranged leg supports (6) are installed on the lower limb exoskeleton assembly (3) to support the patient's thighs and calves; and detachable fixing straps (7) are set on the leg supports (6) to fix the patient's thighs and calves to the corresponding leg supports (6).

2. The quantitative weight-reduction lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The mobile frame (1) includes a U-shaped mounting frame and multiple casters mounted on the bottom of the U-shaped mounting frame. One side of the bottom of the U-shaped mounting frame is an open structure that provides space for the patient to lift their legs and move.

3. The quantitative weight-reduction lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The lower limb exoskeleton assembly (3) includes a U-shaped frame (301) with sliders (302) at its front and rear ends. The mounting plate (2) has multiple vertically arranged, evenly spaced grooves and screw holes. The sliders (302) slide in cooperation with the grooves. The U-shaped frame (301) has screw holes corresponding to the screw holes on the mounting plate (2) for adjusting the height of the lower limb exoskeleton assembly (3).

4. The quantitative weight-reduction lower limb exoskeleton rehabilitation robot according to claim 3, characterized in that: An adjustment mechanism (303) is installed in the middle of the inner wall of the U-shaped frame (301). The adjustment mechanism (303) includes a housing, a lifting mechanism disposed in the housing, a pressure sensor, and a connecting block driven by the lifting mechanism and connected through the pressure sensor. A lumbar support (304) for supporting the patient's waist is connected to the connecting block.

5. The quantitative weight-reduction lower limb exoskeleton rehabilitation robot according to claim 3, characterized in that: The inner wall of the U-shaped frame (301) is equipped with symmetrically distributed L-shaped plates (305). A first drive mechanism (306) is connected to the L-shaped plate (305). The output end of the first drive mechanism (306) is connected to a first telescopic mechanism (307). The movable end of the first telescopic mechanism (307) is connected to a second drive mechanism (308). The output end of the second drive mechanism (308) is connected to a second telescopic mechanism (309). The movable end of the second telescopic mechanism (309) is connected to a third drive mechanism (3010). The output end of the third drive mechanism (3010) is connected to a foot support mechanism (3011).

6. The quantitative weight-reduction lower limb exoskeleton rehabilitation robot according to claim 5, characterized in that: The first telescopic mechanism (307) and the second telescopic mechanism (309) have the same structure, both including a fixed plate and a sliding plate that is slidably fitted inside it. The telescopic length can be adjusted to adapt to the size of the patient's thigh and calf through screw holes and bolts.

7. The quantitative weight-reduction lower limb exoskeleton rehabilitation robot according to claim 5, characterized in that: The foot support mechanism (3011) includes a foot fixation mechanism for fixing the patient's foot, and a pressure feedback sensor and an inertial measurement unit disposed at the bottom of the foot fixation mechanism.

8. The quantitative weight-reduction lower limb exoskeleton rehabilitation robot according to claim 5, characterized in that: It also includes a control system configured to receive signals from plantar pressure sensors and an inertial measurement unit, and to determine in real time whether the patient's gait is in the support phase or the swing phase using a gait phase recognition algorithm.

9. The quantitative weight-reduction lower limb exoskeleton rehabilitation robot according to claim 4, characterized in that: The control system is also equipped with an emergency locking module. When it receives a gait imbalance signal detected by the IMU or an emergency signal triggered by the patient, it performs the following operations within 0.5 seconds: locks the second drive mechanism (308) that controls the movement of the knee joint; and simultaneously controls the lifting mechanism of the adjustment mechanism (303) to immediately increase the support force to counteract 100% of the body weight.

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