Wearable knee joint exoskeleton rehabilitation robot

Abstract

The wearable knee joint exoskeleton rehabilitation robot is characterized in that a first protector is provided with a first end and a second end which are arranged side by side, a second protector is also provided with a first end and a second end which are arranged side by side, and the first end of the first protector is rotationally connected with the first end of the second protector through a joint component; the joint motor module is provided with a motor stator and a motor rotor, the second end of the first protective tool is fixedly connected with the motor stator, the second end of the second protective tool is fixedly connected with the motor rotor, the joint motor module is electrically connected with the controller, and the first protective tool and the second protective tool are both of a carbon fiber material integrally-formed structure. Through the arrangement of the joint motor module, the problems that in the prior art, a knee joint power-assisted exoskeleton robot is cumbersome in design and cannot be widely applied in life are solved, and through the design of a humanoid knee joint structure, the human-machine compatibility, the energy utilization rate and the use safety are improved while the knee joint is protected.

Description

Technical Field

[0001] This utility model relates to the field of knee joint brace technology, specifically to a wearable knee joint exoskeleton rehabilitation robot. Background Technology

[0002] Traditional knee-assisted exoskeleton robots have many problems. For example, their design resembles heavy armor, making them cumbersome and difficult to control. Wearing such devices often requires a significant amount of time and effort, undoubtedly adding an extra burden to users. Furthermore, their large size and complex structure are daunting and make them difficult to approach, thus hindering the widespread application of exoskeleton robots in daily life and work. Utility Model Content

[0003] Therefore, this utility model provides a lightweight, wearable knee exoskeleton rehabilitation robot to solve the above-mentioned problems in the prior art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] According to a first aspect of this utility model, a wearable knee exoskeleton rehabilitation robot includes a first protective gear, a second protective gear, a joint component, a joint motor module, and a controller. The first protective gear has a first end and a second end arranged side by side, and the second protective gear also has a first end and a second end arranged side by side. The first end of the first protective gear is rotatably connected to the first end of the second protective gear through the joint component. The joint motor module has a motor stator and a motor rotor. The second end of the first protective gear is fixedly connected to the motor stator, and the second end of the second protective gear is fixedly connected to the motor rotor. The joint motor module is electrically connected to the controller. Both the first and second protective gears are integrally molded structures made of carbon fiber.

[0006] Furthermore, the joint component includes a first thigh rotating arm, a first calf rotating arm, an inner plate, and an outer plate. The upper end of the first thigh rotating arm is detachably connected to the first end of the first protective gear. The lower end of the first thigh rotating arm is provided with a transmission tooth that meshes with the upper end of the first calf rotating arm. The lower end of the first calf rotating arm is detachably connected to the first end of the second protective gear. The first thigh rotating arm and the first calf rotating arm are respectively hinged between the inner plate and the outer plate.

[0007] Furthermore, the joint component also includes limiting members, with limiting members provided on the transmission tooth side of the first thigh rotating arm and the transmission tooth side of the first calf rotating arm to limit the maximum limit angle between them.

[0008] Furthermore, it also includes a first posture recognition sensor, which is attached to the inside of the first protective gear. The first posture recognition sensor is used to monitor the movement data of the thigh in real time, and the first posture recognition sensor is connected to the controller via Bluetooth data transmission.

[0009] Furthermore, it also includes a second posture recognition sensor, which is attached to the inside of the second protective gear. The second posture recognition sensor is used to monitor the movement data of the lower leg in real time, and the second posture recognition sensor is connected to the controller via Bluetooth data transmission.

[0010] Furthermore, it also includes a second thigh rotating arm, the upper end of which is detachably connected to the second end of the first protective gear, and the lower end of which is fixed to the motor stator.

[0011] Furthermore, it also includes a second lower leg rotating arm, the upper end of which is fixed to the motor rotor, and the lower end of which is detachably connected to the second end of the second protective gear.

[0012] Furthermore, the first end and the second end of the first protective gear are each provided with a first slot, the first thigh rotating arm is inserted into the first slot at the first end of the first protective gear, and the second thigh rotating arm is inserted into the first slot at the second end of the first protective gear.

[0013] Furthermore, the first and second ends of the second protective gear are each provided with a second slot. The first lower leg rotating arm is inserted into the second slot at the first end of the second protective gear, and the second lower leg rotating arm is inserted into the second slot at the second end of the second protective gear.

[0014] Furthermore, it also includes straps, with at least one strap wrapped around the first protective gear and at least one strap wrapped around the second protective gear.

[0015] This invention has the following advantages: by setting up a joint motor module, it solves the problem that the existing knee joint assistive exoskeleton robot is bulky and cannot be widely used in life. By designing a human-like knee joint structure, it protects the knee joint while improving human-machine compatibility, energy utilization and safety. Attached Figure Description

[0016] Figure 1 This is a first-view structural diagram of a wearable knee exoskeleton rehabilitation robot provided for some embodiments of the present invention.

[0017] Figure 2 This is a second-view structural diagram of a wearable knee exoskeleton rehabilitation robot provided for some embodiments of the present invention.

[0018] Figure 3This is a structural diagram of the first protective gear of a wearable knee exoskeleton rehabilitation robot provided for some embodiments of the present invention.

[0019] Figure 4 This is a structural diagram of the second protective gear of a wearable knee exoskeleton rehabilitation robot provided for some embodiments of the present invention.

[0020] In the diagram: 1. First protective gear, 2. Second protective gear, 3. Outer side plate, 4. Inner side plate, 5. First thigh rotating arm, 6. First lower leg rotating arm, 7. Limiting component, 8. Second thigh rotating arm, 9. Second lower leg rotating arm, 10. Motor stator, 11. Controller, 12. Motor rotor, 13. First slot, 14. Second slot. Detailed Implementation

[0021] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0022] Example 1

[0023] like Figures 1 to 4 As shown, a wearable knee exoskeleton rehabilitation robot according to the first aspect of this utility model includes a first protective gear 1, a second protective gear 2, a joint component, a joint motor module, and a controller 11. The first protective gear 1 has a first end and a second end arranged side by side, and the second protective gear 2 also has a first end and a second end arranged side by side. The first end of the first protective gear 1 is rotatably connected to the first end of the second protective gear 2 through the joint component. The joint motor module has a motor stator 10 and a motor rotor 12. The second end of the first protective gear 1 is fixedly connected to the motor stator 10, and the second end of the second protective gear 2 is fixedly connected to the motor rotor 12. The joint motor module is electrically connected to the controller 11. Both the first protective gear 1 and the second protective gear 2 are integrally molded structures made of carbon fiber.

[0024] In the above embodiments, it should be noted that the first carbon fiber knee brace 1 and the second knee brace 2 can protect the knee joint from lateral movement. Designed according to the rotation trajectory of the human knee joint, the rotation center of the joint can adapt to the changes in the rotation center and rotation radius during the joint rotation process. Because carbon fiber material is used, it firmly protects the knee joint from any swaying or shaking.

[0025] The joint module motor uses a Xiaomi CyberGear micro motor, which is connected to the outside of the carbon fiber leg brace.

[0026] The ESP32 microcontroller used within the controller acquires data from the attitude sensor, performs intelligent calculations to determine the movement trajectories of the thigh and lower leg, and controls the movement of the motors. It should be noted that the control algorithm and program used by the controller to control the movement of the joint motor module are existing technologies.

[0027] Example 2

[0028] like Figures 1 to 4 As shown, a wearable knee joint exoskeleton rehabilitation robot includes all the contents of Embodiment 1. In addition, the joint components include a first thigh rotating arm 5, a first lower leg rotating arm 6, an inner side plate 4, and an outer side plate 3. The upper end of the first thigh rotating arm 5 is detachably connected to the first end of the first protective gear 1. The lower end of the first thigh rotating arm 5 is provided with a transmission tooth that meshes with the upper end of the first lower leg rotating arm 6. The lower end of the first lower leg rotating arm 6 is detachably connected to the first end of the second protective gear 2. The first thigh rotating arm 5 and the first lower leg rotating arm 6 are respectively hinged between the inner side plate 4 and the outer side plate 3.

[0029] Optionally, the joint component also includes a limiting member 7, wherein the transmission tooth side of the first thigh rotating arm 5 and the transmission tooth side of the first calf rotating arm 6 are provided with a limiting member 7 for limiting the maximum limit angle between the two.

[0030] The technical effect achieved by the above embodiment is that by setting the limiting member 7, the maximum limit angle between the first thigh rotating arm 5 and the first calf rotating arm 6 is limited, ensuring that the first thigh rotating arm 5 and the first calf rotating arm 6 can bend inward but not outward.

[0031] Example 3

[0032] like Figures 1 to 4 As shown, a wearable knee exoskeleton rehabilitation robot includes all the contents of Embodiment 2, except for a first posture recognition sensor. The first posture recognition sensor is attached to the inside of the first protective gear 1. The first posture recognition sensor is used to monitor the movement data of the thigh in real time. The first posture recognition sensor is connected to the controller 11 via Bluetooth data transmission.

[0033] Optionally, a second posture recognition sensor is also included. The second posture recognition sensor is attached to the inside of the second protective gear 2. The second posture recognition sensor is used to monitor the movement data of the lower leg in real time. The second posture recognition sensor is connected to the controller 11 via Bluetooth data transmission.

[0034] It should be noted that the first and second posture recognition sensors use the BWT901BLECL5.0 human posture sensor developed by Shenzhen Weite Intelligent Technology Co., Ltd. One sensor is attached to each thigh and calf, and low-power Bluetooth is used for data transmission to monitor the movement data of the thigh and calf in real time.

[0035] Example 4

[0036] like Figures 1 to 4 As shown, a wearable knee joint exoskeleton rehabilitation robot includes all the contents of Embodiment 3, except that it also includes a second thigh rotating arm 8. The upper end of the second thigh rotating arm 8 is detachably connected to the second end of the first protective gear 1, and the lower end of the second thigh rotating arm 8 is fixed to the motor stator 10.

[0037] Optionally, it also includes a second lower leg rotating arm 9, the upper end of which is fixed to the motor rotor 12, and the lower end of which is detachably connected to the second end of the second protective gear 2.

[0038] Optionally, the first end and the second end of the first protective gear 1 are provided with a first slot 13, the first thigh rotating arm 5 is inserted into the first slot 13 at the first end of the first protective gear 1, and the second thigh rotating arm 8 is inserted into the first slot 13 at the second end of the first protective gear 1.

[0039] Optionally, the first end and the second end of the second protective gear 2 are provided with a second slot 14, the first lower leg rotating arm 6 is inserted into the second slot 14 at the first end of the second protective gear 2, and the second lower leg rotating arm 9 is inserted into the second slot 14 at the second end of the second protective gear 2.

[0040] The technical effects achieved by the above embodiments are as follows: by setting the first slot 13, the first thigh rotating arm 5 and the second thigh rotating arm 8 are facilitated to be quickly installed and disassembled; by setting the second slot 14, the first calf rotating arm 6 and the second calf rotating arm 9 are facilitated to be quickly installed and disassembled.

[0041] Example 5

[0042] like Figures 1 to 4 As shown, a wearable knee exoskeleton rehabilitation robot includes all the contents of Embodiment 4, except for straps. The first protective gear 1 is wrapped with at least one strap, and the second protective gear 2 is wrapped with at least one strap.

[0043] To facilitate the installation of the straps, several mounting holes are pre-drilled on the surfaces of the first protective gear 1 and the second protective gear 2. Each mounting hole is fitted with a connector for the straps, and the end of the strap is attached to the connector. This method of fixing with straps is a known technology.

[0044] The technical effect achieved by the above embodiments is that by setting straps, the stability of the first protective gear 1 and the second protective gear 2 during binding is enhanced.

[0045] There are two host computer software systems: one is an application software developed in Python 3 that runs on Windows or Mac, and the other is a WeChat mini-program developed in languages ​​such as JavaScript, CSS, and HTML. Through the computer application or the WeChat mini-program on the mobile phone, data from sensors and the motor can be acquired, and the motor's operating parameters can be set.

[0046] When wearing the device, first, posture sensors are placed on the thighs and calves, followed by the carbon fiber calf and thigh support braces equipped with motors. Then, power is supplied, the smart controller is activated, and the host computer software or WeChat mini-program is opened. The device connects to the smart controller via Bluetooth Low Energy. To ensure data security, Bluetooth transmissions are encrypted and decrypted using the AES symmetric encryption algorithm. The host computer software or WeChat mini-program allows users to set the exercise mode, motor torque, speed, and angle. The smart controller receives the settings parameters from the host computer or WeChat mini-program, as well as the posture sensor data, to control the motor rotation in real time. The motor rotation drives the rotation of the calf and thigh support braces, which in turn rotates the knee joint. The host computer or WeChat mini-program can also acquire gait analysis data in real time and display it to the user.

[0047] There are seven exercise modes: walking, going downstairs, carrying weight, skiing, weightlifting, running, and automatic.

[0048] In walking mode, during normal walking, posture sensors on the thighs and calves collect real-time data on the acceleration, velocity, and angle of the thighs and calves, transmitting this data to the intelligent main controller. Upon receiving the data, the main controller, based on the movement patterns of the thighs and calves (e.g., positive acceleration and angle when the thigh swings forward, negative when swinging backward), uses a Kalman filter algorithm to filter out unstable data caused by leg shaking. Then, using motion control algorithms from artificial intelligence, it accurately calculates the movement trends of the calves and thighs, determines the motor's direction, velocity, and angle of movement in real time, and sends movement commands to the motor. When the calves need to bend or straighten, the motor's direction of movement aligns with the calves' direction of movement, thus providing knee joint assistance during walking. The artificial intelligence motion control algorithms used here include:

[0049] 1. PID Control: This is a feedback control algorithm that compares real-time data from the attitude sensor with the actual motor motion data, outputs a difference value, and calculates a control variable to adjust the motor's motion state. The PID control algorithm includes a proportional term (P term), an integral term (I term), and a derivative term (D term). By adjusting the weights of these terms, precise control of the motor's motion can be achieved.

[0050] 2. Model Predictive Control (MPC): A dynamic model of the motor is established using data from sensors and the motor itself. This model is then used to make predictions and calculate a series of control commands to optimize the motor's motion trajectory.

[0051] 3. Adaptive Control: The adaptive control algorithm can adjust the control strategy of the intelligent master controller based on changes in a person's leg movements and environmental changes. It can automatically adapt to uncertainties and variability, such as a person suddenly sitting down or standing up, or a leg shaking motion. The adaptive algorithm can improve the accuracy of the intelligent master controller in recognizing actions.

[0052] 4. Reinforcement Learning: This uses the Q-learning reinforcement learning algorithm, which learns the optimal control strategy through trial and error and a reward / punishment mechanism. This algorithm uses data calculated by the adaptive control algorithm for reinforcement learning. As the user continues to use the device, the intelligent controller will control the motor more accurately.

[0053] These AI motion control algorithms are also used in the modes of going downstairs, carrying loads, skiing, weightlifting, and running.

[0054] In the downstairs mode, when a person goes downstairs, the knee joint is prone to wear and tear due to the weight of the body and bending. Therefore, the motor's movement should help the knee joint bear a certain amount of weight, and the direction of the motor's movement should be opposite to the direction of the lower leg's movement. Based on this principle, when the posture sensors of the thigh and lower leg collect motion data (acceleration, velocity, angle) and transmit it to the intelligent main controller, the main controller determines that the lower leg is bending, sends a motion command to the motor in the opposite direction of the lower leg's movement, and sets an appropriate torque for the motor to help the knee joint bear part of the body's weight.

[0055] In weight-bearing mode, when a person squats with a load, the knee joint bears a relatively large weight and will also suffer wear and tear. Therefore, when squatting, the posture sensors of the thigh and calf detect in real time whether the person is squatting. The judgment is based on the bending angle of the thigh and calf. When the bending angle is not zero, the direction of the motor movement is opposite to the direction of the calf movement, and an appropriate torque is set for the motor (the torque can also be set through the host computer or WeChat mini program) to provide assistance to the knee joint.

[0056] The three modes mentioned above are designed for people with knee pain, while the skiing, weightlifting, and running modes are designed for people without knee pain. During exercise, they help protect the knee joint. The skiing and weightlifting modes work on similar principles, with the motor moving in the opposite direction to the bending of the lower leg. However, in skiing, the motor's response and rotation speed need to be particularly fast to adapt to rapidly changing movements, calculating the motor's speed and angle in real time. The weightlifting mode has a slower movement speed, requiring a higher motor torque setting. The running mode is similar to the walking mode, but the motor's speed, response speed, and angle of movement are all greater than in walking.

[0057] In automatic mode, the operating time, speed, angle, and torque of one cycle of forward and reverse rotation of the motor are set via a host computer or WeChat mini-program. The motor then automatically rotates forward and reverses, causing the lower leg to bend and straighten, passively training the knee joint. This utilizes a feedback linearization-based control method in trajectory tracking control algorithms. This algorithm controls the motor to move along a predefined trajectory. It calculates control command parameters based on the given trajectory and actual motion state to achieve accurate trajectory tracking. Because the weight and force of each person's leg are different, the intelligent controller must adjust the motor's movement according to the different resistances exerted by different individuals, controlling the motor to move according to the set values ​​in real time.

[0058] All of the above modes and functions require a stable leg brace.

[0059] In the description of this utility model, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0061] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0062] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0063] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

[0064] In the description of this specification, the references to terms such as "Embodiment 1," "Embodiment 2," "Example," "Specific Example," or "Some Examples," etc., indicate that the specific method, apparatus, or feature described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, methods, apparatus, or features described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0065] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A wearable knee exoskeleton rehabilitation robot, characterized in that, It includes a first protective gear (1), a second protective gear (2), a joint component, a joint motor module, and a controller (11); the first protective gear (1) has a first end and a second end arranged side by side, and the second protective gear (2) also has a first end and a second end arranged side by side. The first end of the first protective gear (1) is rotatably connected to the first end of the second protective gear (2) through the joint component. The joint motor module has a motor stator (10) and a motor rotor (12). The second end of the first protective gear (1) is fixedly connected to the motor stator (10), and the second end of the second protective gear (2) is fixedly connected to the motor rotor (12). The joint motor module is electrically connected to the controller (11). The first protective gear (1) and the second protective gear (2) are both integrally molded structures made of carbon fiber.

2. The wearable knee exoskeleton rehabilitation robot according to claim 1, characterized in that, The joint components include a first thigh rotating arm (5), a first calf rotating arm (6), an inner plate (4), and an outer plate (3). The upper end of the first thigh rotating arm (5) is detachably connected to the first end of the first protective gear (1). The lower end of the first thigh rotating arm (5) is provided with a transmission tooth that meshes with the upper end of the first calf rotating arm (6). The lower end of the first calf rotating arm (6) is detachably connected to the first end of the second protective gear (2). The first thigh rotating arm (5) and the first calf rotating arm (6) are respectively hinged between the inner plate (4) and the outer plate (3).

3. The wearable knee exoskeleton rehabilitation robot according to claim 2, characterized in that, The joint components also include limiting members (7), and the transmission tooth side of the first thigh rotating arm (5) and the transmission tooth side of the first calf rotating arm (6) are provided with limiting members (7) to limit the maximum limit angle between the two.

4. The wearable knee exoskeleton rehabilitation robot according to claim 1, characterized in that, It also includes a first posture recognition sensor, which is attached to the inside of the first protective gear (1). The first posture recognition sensor is used to monitor the movement data of the thigh in real time. The first posture recognition sensor is connected to the controller (11) via Bluetooth data transmission.

5. A wearable knee exoskeleton rehabilitation robot according to claim 4, characterized in that, It also includes a second posture recognition sensor, which is attached to the inside of the second protective gear (2). The second posture recognition sensor is used to monitor the movement data of the lower leg in real time. The second posture recognition sensor is connected to the controller (11) via Bluetooth data transmission.

6. A wearable knee exoskeleton rehabilitation robot according to claim 2, characterized in that, It also includes a second thigh rotating arm (8), the upper end of which is detachably connected to the second end of the first protective gear (1), and the lower end of which is fixed to the motor stator (10).

7. A wearable knee exoskeleton rehabilitation robot according to claim 6, characterized in that, It also includes a second lower leg rotating arm (9), the upper end of which is fixed to the motor rotor (12), and the lower end of which is detachably connected to the second end of the second protective gear (2).

8. A wearable knee exoskeleton rehabilitation robot according to claim 7, characterized in that, The first protective gear (1) has a first slot (13) at both the first and second ends. The first thigh rotating arm (5) is inserted into the first slot (13) at the first end of the first protective gear (1), and the second thigh rotating arm (8) is inserted into the first slot (13) at the second end of the first protective gear (1).

9. A wearable knee exoskeleton rehabilitation robot according to claim 8, characterized in that, The first end and the second end of the second protective gear (2) are provided with second slots (14). The first lower leg rotating arm (6) is inserted into the second slot (14) at the first end of the second protective gear (2), and the second lower leg rotating arm (9) is inserted into the second slot (14) at the second end of the second protective gear (2).

10. A wearable knee exoskeleton rehabilitation robot according to claim 1, characterized in that, It also includes straps, with at least one strap wrapped around the first protective gear (1) and at least one strap wrapped around the second protective gear (2).

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