An intelligent interaction system for rehabilitation training based on a brain-computer interface

Abstract

This invention belongs to the field of brain-computer interface technology, specifically a brain-computer interface-based intelligent interactive rehabilitation training system, including a brain-computer signal acquisition unit, a rehabilitation robot unit, a central control unit, and a feedback sensing unit. This application uses the brain-computer signal acquisition unit to realize the brain-computer interface and collect the patient's motor intentions. Subsequently, it controls the rehabilitation robot unit to assist the patient in rehabilitation exercise training. During the training process, the feedback sensing unit collects and provides feedback on the patient's motor and physiological states. This continuous output of brain intentions and motor feedback can effectively enhance the activity level of the patient's cerebral cortex, assisting the patient in accelerating rehabilitation until later stages of rehabilitation training no longer require the assistance of the rehabilitation robot, allowing the patient to autonomously control their lower limbs to complete training movements.

Description

Technical Field

[0001] This invention belongs to the field of brain-computer interface technology, specifically a brain-computer interface-based intelligent interactive system for rehabilitation training. Background Technology

[0002] Brain diseases can easily damage the motor center / conduction pathways, often resulting in lower limb weakness, spasticity, foot drop, circumflex gait, poor balance, and inability to stand or walk. To accelerate the recovery of lower limb motor difficulties caused by brain diseases, rehabilitation training is frequently used.

[0003] Rehabilitation training is an important part of the rehabilitation of patients with lower limb diseases. Currently, the postoperative rehabilitation of such patients is mainly carried out in the orthopedics or rehabilitation departments of hospitals. The hospitalization period is long, the medical expenses are high, and a lot of medical resources are consumed. At the same time, patients and their families also feel a lot of inconvenience in terms of diet and rest. However, after being discharged from the hospital, they cannot get timely rehabilitation guidance from doctors and the assistance of medical devices. They will face the predicament of not knowing how to exercise or not daring to exercise at home, which will lead to adverse consequences such as soft tissue adhesion around the joint, joint stiffness, etc., affecting the recovery of limb function, and even causing permanent limb disability. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies and solve the aforementioned technical problems, this invention proposes a brain-computer interface-based intelligent interactive system for rehabilitation training.

[0005] The technical solution adopted by the present invention to solve its technical problem is as follows: The present invention proposes a brain-computer interface-based intelligent interactive system for rehabilitation training, including a brain-computer signal acquisition unit, a rehabilitation robot unit, a central control unit and a feedback sensing unit. The brain-computer signal acquisition unit includes an electroencephalogram (EEG) signal acquisition module and a signal amplification module. The rehabilitation robot includes a control body. An exoskeleton module for lower limb rehabilitation training of the patient is set on the front of the control body. The sensing sensors in the feedback sensing unit are mounted on the exoskeleton module.

[0006] The central control unit is deployed in the control body to receive the brain signals transmitted by the brain signal acquisition module, analyze and process them, and then control the exoskeleton module to drive the patient's lower limbs to perform rehabilitation training based on pre-stored training movements.

[0007] Preferably, the exoskeleton module includes a support frame, the end of which is connected to a vertically arranged slide groove on the control body, and a semi-circular waist support is also provided on the support frame;

[0008] The lower side of the lumbar support is symmetrically provided with a lower limb bone group, which is composed of multiple support arms. The joints between the support arms and the joints between the support arms and the lumbar support are provided with movable joints, and the movable joints are provided with telescopic joints between the support arms and the support arms.

[0009] The support arm has an arc-shaped receiving groove on its side wall. Fixed claws are evenly arranged on both sides of the receiving groove near the opening. The fixed claws are arc-shaped plate structures, and the ends of the fixed claws are rotatably connected to the side wall of the receiving groove. A drive motor is provided at the rotatable connection part, which is controlled by the controller in the control body.

[0010] Preferably, the fixed claw has a uniformly arranged mounting groove on its arc-shaped inner surface, a limit block is slidably arranged in the mounting groove, the limit block is elastically connected to the inner wall of the mounting groove, and the conical arc-shaped end of the limit block extends out of the mounting groove opening;

[0011] The sensing sensor is installed inside the limiting block, and the working end of the sensing sensor is located at the end of the limiting block.

[0012] Preferably, the part of the arc-shaped fixing claw near the outer ring is made of rigid material as a support layer, and the part of the fixing claw near the inner ring is made of elastic material as a contact layer. The mounting groove is located on the contact layer, and the end of the support layer is connected to the output end of the drive motor.

[0013] A guide pipe is provided in the gap between the contact layer and the support layer. The guide pipe is connected to the inside of each mounting slot and to the output end of the fan equipment inside the support arm.

[0014] Preferably, a purification chamber is provided inside the receiving tank, the fan equipment is arranged inside the purification chamber, an absorption tank is provided in the middle part of the inner wall of the receiving tank, the opening of the absorption tank communicates with the inside of the purification chamber, and a limit net is provided at the opening of the absorption tank near the inner wall of the receiving tank.

[0015] Preferably, the inner wall of the receiving tank is uniformly provided with arc-shaped anti-slip blocks, and the absorption tank is distributed in the area between the anti-slip blocks.

[0016] Preferably, arc-shaped protective blocks are symmetrically arranged on both sides of the mounting groove opening, the arc-shaped inner wall surface of the end of the protective block is attached to the arc-shaped end surface of the limiting block, and the protective block and the mounting groove opening are movably connected.

[0017] Preferably, the protective block includes an arc-shaped adjusting plate and a cleaning part, the main body of the adjusting plate is made of rigid material, and the adjusting plate is rotatably connected to the opening of the mounting groove;

[0018] The cleaning part is made of flexible material and is located on the inner arc-shaped surface of the adjusting plate near the end of the limiting block. A cleaning groove is provided on the arc-shaped surface of the cleaning part that contacts the end of the limiting block. A cleaning layer is provided at the opening of the cleaning groove and is in contact with the end surface of the limiting block.

[0019] The beneficial effects of this invention are as follows:

[0020] The present invention discloses a brain-computer interface-based intelligent interactive rehabilitation training system. This system uses a brain-computer signal acquisition unit to realize the brain-computer interface and collect the patient's motor intentions. Subsequently, it controls a rehabilitation robot unit to assist the patient in rehabilitation exercise training. During the training process, a feedback sensing unit collects and provides feedback on the patient's motor and physiological states, achieving a closed loop in rehabilitation training. This cycle effectively rebuilds the damaged neural pathways between the damaged brain area and the lower limbs. Based on continuous brain intention output and motor feedback, it effectively enhances the activity level of the patient's cerebral cortex, assisting the patient in accelerating rehabilitation until later stages of rehabilitation training no longer require the assistance of the rehabilitation robot, allowing the patient to autonomously control their lower limbs to complete training movements. Attached Figure Description

[0021] The invention will now be further described with reference to the accompanying drawings.

[0022] Figure 1 This is a perspective view of the rehabilitation robot unit in this invention;

[0023] Figure 2 This is a cross-sectional view of the support arm of the present invention;

[0024] Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle.

[0025] In the diagram: Control body 1, exoskeleton module 2, support frame 21, waist support 22, support arm 23, movable joint 231, telescopic joint 232, receiving slot 233, fixing claw 24, mounting slot 241, limiting block 242, support layer 243, contact layer 244, guide pipe 245, purification chamber 25, absorption tank 251, limiting net 252, purification net 253, absorption area 254, air outlet area 255, anti-slip block 256, protective block 27, adjusting plate 271, cleaning section 272, cleaning tank 273, cleaning layer 274, sensing sensor 3. Detailed Implementation

[0026] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Example 1:

[0028] As shown in the attached diagram of the instruction manual. Figures 1-3As shown, a brain-computer interface-based intelligent interactive rehabilitation training system includes a brain-computer signal acquisition unit, a rehabilitation robot unit, a central control unit, and a feedback sensing unit. The brain-computer signal acquisition unit includes an electroencephalogram (EEG) signal acquisition module and a signal amplification module. The rehabilitation robot includes a control body 1, with an exoskeleton module 2 for lower limb rehabilitation training of the patient set on the front of the control body 1. The sensing sensor 3 in the feedback sensing unit is mounted on the exoskeleton module 2.

[0029] The central control unit is deployed in the control body 1 to receive the EEG signals transmitted by the EEG signal acquisition module, analyze and process them, and then control the exoskeleton module 2 to drive the patient's lower limbs to perform rehabilitation training based on pre-stored training movements.

[0030] Specific workflow: For patients with lower limb motor impairment due to brain disease, in order to improve the efficiency of lower limb rehabilitation training, the intelligent interactive rehabilitation training system provided in this application can be used to carry out lower limb rehabilitation training and accelerate the recovery of normal lower limb activity.

[0031] The exoskeleton module 2 is worn by the patient, so that the sensing sensor 3 in the feedback sensing unit comes into contact with the surface of the patient's lower limbs. The sensing sensor 3 includes intelligent pressure sensors, inertial sensors and vibration sensors, etc., to collect relevant information about the patient's movement posture during the patient's movement. When the patient loses strength and tends to fall, it can detect the violent vibration and increased pressure in time, and then send an alarm signal to the control body 1. According to the predetermined program, the exoskeleton module 2 is controlled to slowly slow down and return to a stationary state, and to support the patient's lower limbs to avoid the large-scale movement caused by the patient losing strength and falling, which could cause strain.

[0032] When rehabilitation training begins, the patient first imagines the movement of the lower limbs, such as raising the leg. The cerebral cortex will generate corresponding electrical signals, and the EEG signal acquisition module worn by the patient can collect these electrical signals.

[0033] Specifically, the EEG signal acquisition module can use existing headbands, hats, or other head-mounted signal acquisition tools, which are equipped with an electrode array that can cover different brain regions of the patient's cerebral cortex. In addition, after the patient's brain signals are acquired, they need to be processed by a signal amplification module. The signal amplification module includes existing instrumentation operational amplifiers, high-pass / low-pass filter circuits, analog-to-digital converter chips, differential noise reduction circuits, etc., which can amplify the acquired microvolt-level EEG signals and filter out electrical noise such as electromyography and electrooculography that may be mixed in. Finally, the analog signals are converted into digital EEG data streams and uploaded to the control unit 1 using a wireless Bluetooth transmission technology.

[0034] The control unit 1, as an existing embedded industrial control host, is equipped with a main control chip, high-speed memory, and storage hard disk; it can perform EEG signal decoding, motion algorithm calculation, and robot servo control command issuance; and a human-computer interaction interface is also set on the outside of the control unit 1, which serves as a touch screen display to facilitate operation by patients and doctors, and to arrange corresponding rehabilitation training programs.

[0035] Therefore, after the collected electrical signal is transmitted to the control body 1, the control body 1 first performs noise reduction preprocessing on the electrical signal, filtering out the muscle tremors, eye movements and environmental electromagnetic interference signals; then it performs feature extraction, extracting the rhythm energy, spectrum and time domain features of the brain waves; finally, based on the machine learning model, it distinguishes the patient's motor intention in real time and outputs digital control commands to the controller of the exoskeleton module 2.

[0036] The specific training modes of the exoskeleton module 2 for patients can be set according to the patient's condition. For example, for patients with more severe conditions who have difficulty moving their lower limbs normally, the exoskeleton module 2 can actively move the patient's weak lower limbs to complete the movement corresponding to the movement intention by recognizing the patient's intention to move. For patients with milder conditions and only slight inconvenience in normal movement, the patient can exert force voluntarily, with the exoskeleton module 2 acting as an auxiliary force exertor. The exoskeleton module 2 can even move at a slower speed than the patient to increase the patient's movement resistance and achieve the enhancement and recovery of the patient's motor ability. During this process, the sensing sensor 3 can collect the patient's force exertion, heart rate, respiration, blood pressure, etc., to comprehensively judge the patient's movement status and feed it back to the control body 1 to flexibly adjust the training program.

[0037] In this way, a brain-computer interface is realized through a brain-computer signal acquisition unit to collect the patient's motor intentions. Then, a rehabilitation robot unit is controlled to assist the patient in rehabilitation exercise training. During the training process, information on the patient's motor and physiological states is collected and fed back in a timely manner through a feedback sensing unit, thus realizing a closed loop of rehabilitation training. This cycle can effectively rebuild the damaged neural pathways between the damaged brain area and the lower limbs. Based on continuous brain intention output and motor feedback, the activity level of the patient's cerebral cortex can be effectively enhanced, helping the patient to accelerate rehabilitation. Until the later rehabilitation training no longer requires the assistance of the rehabilitation robot, the patient can autonomously control the lower limbs to complete the training movements.

[0038] Example 2:

[0039] Based on Embodiment 1, the exoskeleton module 2 used in this application to improve the efficiency of patient rehabilitation training can be selected from existing conventional rehabilitation assistive exoskeleton devices. Any device that meets the requirements of this application can be applied to this application. This embodiment provides a possible implementation plan. Specifically, the exoskeleton module 2 includes a support frame 21. The end of the support frame 21 is connected to a vertically arranged slide groove on the control body 1. Specifically, the slider at the end of the support frame 21 can be slidably embedded into the slide groove of the control body 1. Existing electric slider and electric slide rail technology can be used to control the vertical position adjustment of the end of the support frame 21 along the slide groove as needed.

[0040] The bottom of the support frame 21 is also provided with a semi-circular lumbar support 22. The lumbar supports 22 are symmetrically distributed and are provided with a telescopic device between them and the bottom of the support frame 21. The distance between the symmetrical lumbar supports 22 can be adjusted to accommodate patients with different waist sizes.

[0041] The lower limb bone assembly is symmetrically arranged on the lower side of the lumbar support 22, which consists of multiple support arms 23. The joints between the support arms 23 and the joints between the support arms 23 and the lumbar support 22 are provided with movable joints 231. The movable joints 231 and the support arms 23 are provided with telescopic joints 232. The movable joints 231 are equipped with servo motors, which are controlled by a controller to control the relative rotation between the support arms 23. The telescopic joints 232 are equipped with telescopic devices to adjust the length between the support arms 23 and the movable joints 231, thereby adjusting the overall length of the support arms 23 to adapt to the different lengths of different parts of the lower limbs of different patients.

[0042] The support arm 23 has an arc-shaped receiving groove 233 on its side wall. Fixing claws 24 are evenly arranged on both sides of the receiving groove 233 near the opening. The fixing claws 24 are arc-shaped plate structures, and the ends of the fixing claws 24 are rotatably connected to the side wall of the receiving groove 233. A drive motor is provided at the rotatable connection part, which is also controlled by the controller in the control body 1.

[0043] Specific workflow: Based on the specific workflow in Example 1, during the wearing process, the patient approaches the exoskeleton module 2 independently or with the assistance of medical staff. The patient's lower limbs are attached to the lower limb bone group, and the patient's waist is embedded in the lumbar support 22. The end of the support frame 21 is slidably connected to the slide groove, which can control the vertical position adjustment of the support frame 21 along the slide groove, so that the lumbar support 22 can better fit the waist of patients of different heights and play a role in positioning and support.

[0044] Subsequently, the patient's lower limbs come into contact with the inner wall of the receiving groove 233 on the support arm 23. The adjustment of the telescopic joint 232 and the movable joint 231 makes different support arms 23 correspond to the lower leg and thigh parts of the lower limb, and the knee joint in the middle corresponds to the movable joint 231. After the support arm 23 and the patient's lower limb are matched, the fixing claws 24 on both sides of the receiving groove 233, which were originally open for easy insertion, are controlled to move closer to each other until they come into contact with the patient's lower limbs and fix each part of the lower limbs in the receiving groove 233. The fixing claws 24 are equipped with sensing sensors 3 to measure the pressure between the patient's lower limbs and the fixing claws 24, so as to keep the patient's lower limbs fixed without causing the patient's lower limbs to feel uncomfortable due to excessive compression. This effectively improves the automation of the wearing process of the exoskeleton module 2 and reduces the burden on the patient.

[0045] During the training process, the exoskeleton module 2 assists the patient in performing various rehabilitation exercises by adjusting the active section 231. The cooperation of the supporting arm 23 and the fixing claw 24 keeps the patient's lower limbs firmly fixed during the training process, and the sensor 3 collects the status parameters of the patient's lower limbs in a timely manner and feeds them back to the control body 1, effectively improving the patient's rehabilitation training effect.

[0046] Example 3:

[0047] Based on Embodiment 2, mounting grooves 241 are uniformly provided on the arc-shaped inner surface of the fixing claw 24. A limiting block 242 is slidably disposed in the mounting groove 241. The limiting block 242 is elastically connected to the inner wall of the mounting groove 241, and the conical arc-shaped end of the limiting block 242 extends out of the opening of the mounting groove 241. The sensing sensor 3 is installed inside the limiting block 242, and the working end of the sensing sensor 3 is located at the end of the limiting block 242.

[0048] The part of the arc-shaped fixing claw 24 near the outer ring is made of rigid material as a support layer 243, and the part of the fixing claw 24 near the inner ring is made of elastic material as a contact layer 244. The mounting groove 241 is located on the contact layer 244, and the end of the support layer 243 is connected to the output end of the drive motor.

[0049] A guide pipe 245 is provided between the contact layer 244 and the support layer 243. The guide pipe 245 is connected to the interior of each mounting slot 241 and is also connected to the output end of the fan equipment inside the support arm 23. A purification chamber 25 is provided inside the receiving slot 233. The fan equipment is arranged inside the purification chamber 25. An absorption slot 251 is provided in the middle part of the inner wall of the receiving slot 233. The opening of the absorption slot 251 is connected to the interior of the purification chamber 25. A limit net 252 is provided at the opening of the absorption slot 251 near the inner wall of the receiving slot 233. Arc-shaped anti-slip blocks 256 are evenly provided on the inner wall of the receiving slot 233. The absorption slots 251 are distributed in the area between the anti-slip blocks 256.

[0050] Specific workflow: Based on the specific workflow in Example 2, because the patient wears clothes on their lower limbs during the wearing process, the clothes may be compressed and folded, which may hinder the contact between the sensing sensor 3 and the patient's lower limbs. Dust, impurities and fiber debris adhering to the surface of the clothes are located in the gap between the fixing claw 24 and the patient's lower limbs, affecting the normal operation of the sensing sensor 3. Moreover, during continuous exercise, the temperature of the patient's lower limbs rises, and the accelerated secretion of sweat may also adhere to the working end of the sensing sensor 3, affecting its normal operation.

[0051] Therefore, in this application, the sensing sensor 3 is arranged in the movable connection limiting block 242. The end of the limiting block 242 extends out of the mounting groove 241. When the patient's lower limb enters the area surrounded by the fixing claw 24 and is limited by the clamping action of the fixing claw 24, the lower limb part is in close contact with the inner wall of the receiving groove 233. The end of the limiting block 242 on the fixing claw 24 is also in close contact with the patient's lower limb part. The conical protruding end can be better embedded into the gap of clothing folds and fit against the surface of the patient's lower limb, so as to more accurately sense the state of the patient's lower limb.

[0052] Furthermore, the fitting and fixing of the end of the limiting block 242 effectively increases the limiting friction between the patient's lower limb and the support arm 23, while also increasing the gap between the surface of the patient's lower limb and the inner wall of the receiving groove 233 and the fixing claw 24. Thus, when the sensing sensor 3 senses that the temperature of the patient's lower limb has increased and the movement is slow due to muscle fatigue, the fan is activated to purify the external airflow and form a cooling airflow, which is then sent into the guide pipe 245. The guide pipe 245 disperses the cooling airflow into each mounting groove 241, and then flows out from the gap between the inner wall of the mounting groove 241 and the limiting block 242, flushing the contact gap between the patient's lower limb and the fixing claw 24.

[0053] The scouring effect of the cooling airflow can remove sweat, dirt, and debris from the contact gap, preventing these impurities from adhering to the working end of the sensing sensor 3 at the conical end of the limiting block 242 and affecting its normal operation. On the other hand, the scouring effect of the cooling airflow improves the breathability of the contact gap between the patient's lower limb and the support arm 23, reduces the temperature and humidity of the contact gap, inhibits the accumulation of sweat bacteria in the contact gap, and improves the patient's comfort during rehabilitation training.

[0054] Furthermore, the air inlet of the fan equipment is connected to the purification chamber 25 located inside the receiving tank 233. Therefore, when the fan equipment starts, a negative pressure is formed in the absorption tank 251 connected to the receiving tank 233, causing the cooling airflow overflowing from the mounting tank 241 to flow inward along the contact gap toward the absorption tank 251. The anti-slip blocks 256 evenly arranged on the inner wall of the receiving tank 233 support the patient's lower limb, increasing contact friction and widening the contact gap between the receiving tank 233 and the patient's lower limb. This facilitates the cooling airflow flowing from the contact gap of the fixing claw 24 into the contact gap of the receiving tank 233, acting on the patient's lower limb corresponding to the receiving tank 233, and then being sucked into the purification chamber 25 by the absorption tank 251. This achieves local internal circulation of the cooling airflow, improves the utilization efficiency of the cooling airflow, and makes the area of ​​the patient's lower limb surrounded by the fixing claw 24 and the receiving tank 233 more comprehensively cooled by the scouring effect of the cooling airflow.

[0055] Furthermore, to achieve air circulation and purification in the localized area surrounded by the fixed claw 24 and the receiving groove 233, a purification mesh 253 is installed near both sides inside the purification chamber 25, dividing the interior of the purification chamber 25 into a central absorption zone 254 and two side outlet zones 255. The absorption groove 251 communicates with the absorption zone 254, and the limiting mesh 252 at the opening of the absorption groove 251 cooperates with the purification mesh 253 to surround the purification zone, forming a closed area. The interior can be filled with absorbent particles, specifically a mixture of dry particles, nano-silver particles, etc., to circulate the airflow. Drying and disinfection are carried out; the fan equipment is arranged in the air outlet area 255 on both sides, the air inlet end is connected to the air outlet area 255, and the air outlet end is connected to the guide pipe 245. This causes the airflow in the area near the patient's lower limbs surrounded by the external fixing claw 24 and the receiving groove 233 to enter the absorption area 254, pass through the gaps between the absorbent particles, remove dust, impurities and moisture, and then enter the guide pipe 245 in the air outlet area 255. This achieves local circulation and continuous purification and disinfection of the local area where the patient's lower limbs are located, improving the patient's health and safety during rehabilitation training.

[0056] Example 4:

[0057] Based on Embodiment 3, arc-shaped protective blocks 27 are symmetrically arranged on both sides of the opening of the mounting groove 241. The arc-shaped inner wall surface of the end of the protective block 27 is attached to the arc-shaped end surface of the limiting block 242, and the protective block 27 is movably connected to the opening of the mounting groove 241.

[0058] Specific workflow: Based on the specific workflow in Embodiment 3, the protective blocks 27 symmetrically located at the opening of the mounting groove 241 shield the opening of the mounting groove 241. The ends of the protective blocks 27 and the ends of the limiting blocks 242 contact and protrude from the inner surface of the fixing claw 24, making contact with the surface of the patient's lower limb. A gap is maintained between the ends of the two protective blocks 27, allowing the working end of the sensing sensor 3 at the end of the limiting block 242 to sense and collect relevant information about the patient's lower limb through the gap area. When it is necessary for the working end of the sensing sensor 3 to make direct contact with the patient's lower limb, the fan can be started to send cooling air into the mounting groove 241 to increase its air pressure, thereby causing the end of the limiting block 242 to protrude outward and push open the movable protective block 27 to extend further and make contact with the patient's lower limb.

[0059] When the patient violently squeezes the limiting block 242 in the local area during movement, the limiting block 242 is compressed into the mounting groove 241. The protective blocks 27 on both sides rotate and move closer to shield and protect the end of the limiting block 242, intercepting and offsetting the impact of the patient's lower limb movements on the limiting block 242. In addition, the protective blocks 27 rub against the end of the limiting block 242 during rotation. With the cooling airflow flowing outward from the mounting groove 241 through the gap between the protective blocks 27 and the end of the limiting block 242, the dust and impurities that may adhere to the end of the limiting block 242 are effectively removed, ensuring the normal operation of the working end of the sensing sensor 3 on the end.

[0060] Example 5:

[0061] Based on Embodiment 4, the protective block 27 includes an arc-shaped adjusting piece 271 and a cleaning part 272. The main body of the adjusting piece 271 is made of rigid material, and the end part near the contact limiting block 242 is made of elastic material to avoid scratching the end of the limiting block 242. The adjusting piece 271 is rotatably connected to the opening of the mounting groove 241. A torsion spring is provided at the rotatable connection part to cause the adjusting piece 271 to rotate in the direction closer to the limiting block 242.

[0062] The cleaning part 272 is made of flexible material and is located on the inner arc-shaped surface of the adjusting plate 271 near the end of the limiting block 242. A cleaning groove 273 is provided on the arc-shaped surface of the cleaning part 272 that contacts the end of the limiting block 242. A cleaning layer 274 is provided at the opening of the cleaning groove 273 and is in contact with the end surface of the limiting block 242. The cleaning layer 274 can be made of a mesh structure nylon filter cloth or a dust-free cloth, etc. An opening is provided in the internal area of ​​the cleaning groove 273 to communicate with the inside of the mounting groove 241.

[0063] Specific workflow: Based on the specific workflow in Example 4, the rotational connection and rigid material of the adjusting plate 271 enable the adjusting plate 271 to rotate along with the inner cleaning part 272, and effectively contact and squeeze the inner limiting block 242, making the force more even and protecting the inner cleaning part 272 from contact with the outside and causing wear.

[0064] As cooling airflow is released outward from the mounting slot 241, some of the airflow enters the cleaning slot 273, increasing the air pressure inside the cleaning slot 273. This causes the cleaning layer 274 to bulge outward under pressure and further contact the surface of the limiting block 242. As the patient's lower limbs move, the limiting block 242, under increased pressure, retracts and further compresses the mounting slot 241, accelerating the airflow outward into the cleaning slot 273. This causes the protective block 27 to rotate, causing the cleaning layer 274 to press against the end of the limiting block 242. The friction of the cleaning layer 274, combined with the airflow overflowing outward from the cleaning slot 273, accelerates the removal of dirt and impurities that may adhere to the end of the limiting block 242. These impurities are then concentrated in the purification chamber 25 as the airflow circulates, achieving timely cleaning of the limiting block 242 and ensuring the normal operation of the sensing sensor 3 mounted on the limiting block 242.

[0065] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A brain-computer interface-based intelligent interactive system for rehabilitation training, comprising a brain-computer signal acquisition unit, a rehabilitation robot unit, a central control unit, and a feedback sensing unit, characterized in that: The brain-computer signal acquisition unit includes an EEG signal acquisition module and a signal amplification module. The rehabilitation robot includes a control body (1). The control body (1) has an exoskeleton module (2) for the rehabilitation training of the patient's lower limbs set on its front. The sensing sensor (3) in the feedback sensing unit is mounted on the exoskeleton module (2). The central control unit is deployed in the control body (1) to receive the brain signals transmitted by the brain signal acquisition module, analyze and process them, and then control the exoskeleton module (2) to drive the patient's lower limbs to perform rehabilitation training based on the pre-stored training movements.

2. The intelligent interactive system for rehabilitation training based on a brain-computer interface according to claim 1, characterized in that: The exoskeleton module (2) includes a support frame (21), the end of which is connected to a vertically arranged slide groove on the control body (1), and a semi-circular waist support (22) is also provided on the support frame (21). The lower limb bone group is symmetrically arranged on the lower side of the lumbar support (22), which is composed of multiple support arms (23). The joints between the support arms (23) and the joints between the support arms (23) and the lumbar support (22) are provided with movable joints (231). The movable joints (231) and the support arms (23) are provided with telescopic joints (232). The support arm (23) has an arc-shaped receiving groove (233) on its side wall. Fixing claws (24) are evenly arranged on both sides of the receiving groove (233) near the opening. The fixing claws (24) are arc-shaped plate structures, and the ends of the fixing claws (24) are rotatably connected to the side wall of the receiving groove (233). A drive motor is provided at the rotatable connection part, which is controlled by the controller in the control body (1).

3. The intelligent interactive system for rehabilitation training based on a brain-computer interface according to claim 2, characterized in that: The mounting groove (241) is uniformly provided on the arc-shaped inner surface of the fixing claw (24). A limiting block (242) is slidably provided in the mounting groove (241). The limiting block (242) is elastically connected to the inner wall of the mounting groove (241), and the conical arc-shaped end of the limiting block (242) extends out of the opening of the mounting groove (241). The sensing sensor (3) is installed inside the limiting block (242), and the working end of the sensing sensor (3) is located at the end of the limiting block (242).

4. The intelligent interactive system for rehabilitation training based on a brain-computer interface according to claim 3, characterized in that: The part of the arc-shaped fixing claw (24) near the outer ring is made of rigid material as a support layer (243), and the part of the fixing claw (24) near the inner ring is made of elastic material as a contact layer (244). The mounting groove (241) is located on the contact layer (244), and the end of the support layer (243) is connected to the output end of the drive motor. A guide pipe (245) is provided between the contact layer (244) and the support layer (243). The guide pipe (245) is connected to the interior of each mounting slot (241) and the output end of the fan equipment inside the support arm (23).

5. The intelligent interactive system for rehabilitation training based on a brain-computer interface according to claim 4, characterized in that: The receiving tank (233) is provided with a purification chamber (25), and the fan equipment is arranged inside the purification chamber (25). An absorption tank (251) is provided in the middle part of the inner wall of the receiving tank (233). The opening of the absorption tank (251) is connected to the inside of the purification chamber (25), and a limit net (252) is provided at the opening of the absorption tank (251) near the inner wall of the receiving tank (233).

6. The intelligent interactive system for rehabilitation training based on a brain-computer interface according to claim 5, characterized in that: The inner wall of the receiving groove (233) is uniformly provided with arc-shaped anti-blocking blocks (256), and the absorption groove (251) is distributed in the area between the anti-blocking blocks (256).

7. The intelligent interactive system for rehabilitation training based on a brain-computer interface according to claim 6, characterized in that: The mounting groove (241) has symmetrical arc-shaped protective blocks (27) on both sides of the opening. The arc-shaped inner wall surface of the end of the protective block (27) is attached to the arc-shaped end surface of the limiting block (242), and the protective block (27) and the opening of the mounting groove (241) are movably connected.

8. The intelligent interactive system for rehabilitation training based on a brain-computer interface according to claim 7, characterized in that: The protective block (27) includes an arc-shaped adjusting plate (271) and a cleaning part (272), and the adjusting plate (271) is rotatably connected to the opening of the mounting groove (241); The cleaning part (272) is made of flexible material and is located on the inner arc-shaped surface of the adjusting piece (271) near the end of the limiting block (242). A cleaning groove (273) is provided on the arc-shaped surface of the cleaning part (272) that contacts the end of the limiting block (242). A cleaning layer (274) is provided at the opening of the cleaning groove (273) and is in contact with the end surface of the limiting block (242).

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