CN112545846A - Power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition - Google Patents

Abstract

The invention discloses a power type multi-degree-of-freedom walking lower limb skeleton robot based on intention recognition, which is composed of a lower limb exoskeleton and a power type moving frame, and the lower limb exoskeleton is connected with the power type moving frame; wherein, a pressure sensor is installed on a strap The bracket is used to detect the interaction force between the human body and the exoskeleton. A gyroscope is installed in the middle of the big and small legs, which is used to detect the posture and motion information of the lower limbs. The pressure sensor on the back panel is used to identify the person's turning intention and realize automatic power assistance. A corresponding quick installation block is installed at the rear of the exoskeleton width adjustment mechanism, which can be connected with the quick connection mechanism on the power type mobile frame. The height adjustment mechanism adjusts the height of the mobile frame to adapt to patients of different heights, and the center of gravity fine-tuning mechanism adjusts the center of gravity of the patient and the exoskeleton so that the patient's feet can touch the ground. During use, the dynamic moving frame can keep the patient's body balance, provide horizontal assistance, and allow the patient to rest when they are tired.

Description

Power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition

Technical Field

The invention relates to the technical field of rehabilitation and health care, in particular to a power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention identification.

Background

Many elderly in China suffer from cardiovascular and cerebrovascular diseases, which are very likely to cause hemiplegia, hemiplegia and even paraplegia. In addition, patients who suffer from paralysis of their lower limbs due to accidental injury are increasing. The long-term bed-rest can easily cause the complications of organ function decline, muscular atrophy and the like. Clinical medicine shows that if people with lower limb disability or weak energy can keep standing and walk simply at proper time, the blood circulation can be promoted to improve the digestive system function of patients, and the traditional Chinese medicine has a good treatment effect on muscular atrophy; and the self-confidence of the patient on the life can be greatly improved by standing and walking, and the pillow has great help for reducing melancholy and pessimism and improving the sleep quality. Therefore, how to help the patient to re-stand and walk is very important.

The invention patent 202010279121.X discloses a multifunctional wheelchair with a storage battery for assisting walking and climbing stairs, wherein the multifunctional wheelchair can be used for climbing stairs with a patient, but the electric wheelchair only has a function of walking instead of walking and cannot be used for exercising the lower limbs of the patient. At present, the existing mainstream lower limb exoskeleton at home and abroad needs to be matched with a crutch for use, and the crutch can not be used for keeping self balance of a patient with insufficient upper limb strength. The invention patent 201910537846.1 discloses an adjustable mounting rack for a lower limb exoskeleton, a method and a lower limb rehabilitation device thereof, which mainly comprises an adjustable mounting rack for a lower limb exoskeleton, a movable frame, an exoskeleton height and width adjusting device and a back board depth adjusting device, wherein the lower limb exoskeleton, the exoskeleton height and width adjusting device and the back board depth adjusting device are jointly mounted on the movable frame, the movable frame cannot provide additional power for a patient by using directional wheels and universal wheels, and the lower limb exoskeleton has less active degree of freedom. The invention patent 201810154134.7 provides a wheel-foot isomorphic deformation type wheelchair exoskeleton robot, which comprises a waist part, a foldable wheelchair frame, two thighs and two shanks, and can be converted between an exoskeleton shape and a wheelchair shape. But still need to use the crutch to keep balance under the exoskeletal shape. In the use process of the existing walking aid lower limb exoskeleton, a patient with insufficient strength of upper limb cannot keep self balance by using a crutch; the existing exoskeleton of lower limbs has less active degree of freedom, rigid action and high cost; the support frame functions more unilaterally.

Disclosure of Invention

In order to avoid the defects in the prior art, the invention provides a dynamic multi-degree-of-freedom walking-assisting lower limb skeleton robot based on intention identification.

The invention solves the technical problem by adopting the technical scheme that the exoskeleton robot comprises a lower limb exoskeleton and a power type moving frame, wherein the lower limb exoskeleton is connected with the power type moving frame; the ankle joint swing block is connected with the ankle joint pitch block which is fixed on the lower leg plate, an electric push rod mounting frame is fixed in the middle of the lower leg plate, the bottom of an electric push rod is hinged with the electric push rod mounting frame, the top of the electric push rod is hinged with a mounting hole in the rear of the ankle joint swing block, a bandage support is fixed in the middle of the lower leg plate, pressure sensors are mounted at two ends of the bandage support and used for detecting interaction force between a patient and a lower limb exoskeleton, and a gyroscope is mounted in the middle of the lower leg plate and used for measuring posture and motion information of the lower leg;

the shank length adjusting mechanism consists of a shank length adjusting pressing block, a pin shaft, a shank length adjusting frame, a shank length adjusting screw and a shank plate; the shank length adjusting press block is fixed on the shank length adjusting frame through a pin shaft, a square hole is formed between the shank length adjusting press block and the shank length adjusting frame, the shank plate is inserted into the square hole, and the length of the shank is adjusted through adjusting a shank length adjusting screw; the knee left support plate and the knee support plate are positioned on two sides of the shank length adjusting frame, the knee left support plate and the knee support plate are arranged at two ends of a knee motor shaft, the knee limiting plate is arranged on the knee motor, and the knee motor is fixedly connected with the thigh plate;

the thigh length adjusting mechanism comprises a thigh length adjusting pressing block, a thigh length adjusting frame, a thigh length adjusting screw and a thigh plate, wherein the thigh length adjusting pressing block is fixed on the thigh length adjusting frame; the binding belt frame is fixed on the thigh length adjusting frame, pressure sensors are mounted at two ends of the binding belt frame and used for detecting interaction force between a patient and the lower limb exoskeleton, and a gyroscope is mounted in the middle of the thigh length adjusting frame and used for measuring posture and motion information of a thigh;

the steering engine mounting frame is fixed on the inner side of the thigh length adjusting frame, the steering engine is fixed on the steering engine mounting frame, the thigh length adjusting frame is fixedly connected with the hip joint flat plate, the hip joint flat plate is hinged with the hip joint support, a steering engine rotating shaft is connected with a steering wheel disc, the steering wheel disc is fixed on the hip joint support, a hip joint left support plate and a hip joint right support plate are arranged on two sides of the hip joint support, the hip joint left support plate and the hip joint right support plate are arranged at two ends of a hip joint motor shaft, and the hip joint motor is fixedly connected with the hip joint strap;

the hip joint depth adjusting mechanism consists of a hip joint bandage frame, a hip joint support and an adjusting screw, the hip joint bandage frame is connected with the hip joint support, an adjusting hole is arranged below the hip joint support, and the depth length of the hip joint can be adjusted by adjusting the depth adjusting screw; the hip joint support is connected with the waist long plate, the hip joint large rotating shaft is fixedly connected with the waist long plate, and the hip joint rotating shaft penetrates through the hip joint support and is then filled with a reset spring so that the hip joint can be extended and retracted and then is restored to a balance position; the hip joint support is provided with a limiting hole which is matched with a boss on the waist long plate, and the hip joint is provided with a pin which can lock or unlock the abduction and adduction freedom degrees of the hip joint;

the waist long plate, the exoskeleton width adjusting block and the width adjusting screw form a width adjusting mechanism; the exoskeleton width adjusting block is provided with a square through hole, the bottom of the exoskeleton width adjusting block is provided with an adjusting hole, the waist long plate is inserted into the square hole and connected with the exoskeleton width adjusting block, and the width of the lower limb exoskeleton is adjusted through a width adjusting screw; the sliding block is fixed at the rear part of the exoskeleton width adjusting block, and the back plate is connected with the exoskeleton width adjusting block; the back motor is installed on the back plate, the gear is installed at the shaft end of the back motor, the half gear is fixed at the upper end of the exoskeleton width adjusting block and forms a gear transmission mechanism with the gear, the back motor drives the back plate to perform yaw rotation through the gear transmission mechanism, and the pressure sensors are installed on two sides of the back plate and used for detecting the back movement intention of a patient;

the power type moving frame comprises a height adjusting mechanism, a gravity center fine adjusting mechanism and a quick connecting device, wherein an electric wheel hub is fixedly connected to the rear end of a bottom cross frame, a universal wheel is fixedly connected to the front end of the bottom cross frame, pedals are mounted at the front end of the bottom cross frame, a battery box is fixedly connected with the bottom cross frame, a control box is mounted at the upper part of the battery box, a handrail frame and the bottom cross frame are sleeved through three corresponding hole sites, a rear supporting plate is fixedly connected with the handrail frame, a guide rod is fixedly connected with the handrail frame, a gravity center fine adjusting plate is connected with the guide rod, a rear electric push rod is fixedly connected with the rear supporting plate and is connected with the gravity center fine adjusting plate through a bolt, a rocker device is fixed at the front end of the handrail frame, and a; the armrest frame and the bottom cross frame form a height adjusting mechanism of the power type moving frame, and the whole height of the power type moving frame is adjusted by adjusting an adjusting hole position on a middle supporting tube of the bottom cross frame; the lower limb exoskeleton is fixedly connected with the gravity center fine adjustment plate through a quick connecting device on the power type moving frame, and the guide rod, the rear supporting plate, the gravity center fine adjustment plate and the rear electric push rod form a gravity center fine adjustment mechanism; the height of the center of gravity of the patient and the exoskeleton of the lower limbs is finely adjusted by controlling the extension and retraction of the rear electric push rod to drive the center of gravity fine adjustment plate to slide up and down;

the quick connecting device comprises a connecting frame, a bottom limiting plate, a bolt, a locking pin, a small spring, a nut, a pin and an upper pressure plate, wherein the rear end of the connecting frame is provided with a mounting hole and fixedly connected with a gravity center fine adjustment plate through the bolt; the front end of the upper pressure plate is provided with a round hole corresponding to the round hole on the side surface of the connecting frame, the upper pressure plate and the connecting frame are locked by the locking pin under the action of the small spring, the upper pressure plate can be opened by pulling up the locking pin outwards, and the lower limb exoskeleton and the power type moving frame can be quickly connected or detached.

The motors are internally provided with encoders for feeding back the information of the rotating positions of the motors.

Advantageous effects

The dynamic multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention identification has multiple active degrees of freedom and high flexibility, and can well exercise the muscle group of the lower limb of a patient and promote blood circulation; the extension and bending freedom degrees of the ankle joint can exercise the shank muscle group of the patient, so that the patient can move more naturally when taking a step; the degrees of freedom of abduction and adduction of the ankle joint have good correction effect on the varus and valgus of the foot of a patient; the yaw freedom of the waist can help the patient to perform the turning motion.

The lower limb exoskeleton of the power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot has the functions of movement intention identification and decision making, the movement intention of a patient is detected, assistance is provided based on the intention identification and decision making mode, the pertinence of movement control is strong, and the flexibility of the movement control is high. The power type moving frame can provide reliable support for the patient, prevents the patient from falling down and has high safety. Meanwhile, the battery mounted in the battery box on the dynamic outer frame is larger in size and longer in endurance. Under the support of the outer frame, the lower limb exoskeleton selects a common speed reduction motor, and compared with a mainstream disc motor, the manufacturing cost is greatly reduced. After the height of the power type moving frame is reduced through the height adjusting mechanism, the power type moving frame is changed into a simple wheelchair, the moving speed of a patient can be increased, the flexibility of the lower limb exoskeleton is enhanced, and the power type moving frame can be used for providing rest for the patient after being used for a long time.

Drawings

The invention relates to a dynamic multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition, which is further described in detail with reference to the attached drawings and an embodiment.

FIG. 1 is a schematic view of the overall structure of the powered multi-degree-of-freedom walking-aid lower limb exoskeleton robot.

FIG. 2 is a rear view of the structure of the power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot.

FIG. 3 is a schematic view of a lower leg structure of the powered multi-degree-of-freedom walking-aid lower limb exoskeleton robot.

FIG. 4 is a left side view of a lower leg structure of the powered multi-degree-of-freedom walking-aid lower limb exoskeleton robot.

FIG. 5 is a right side view of a lower leg structure of the powered multi-degree-of-freedom walking-aid lower limb exoskeleton robot.

FIG. 6 is a schematic view of the knee joint structure of the powered multi-degree-of-freedom walking-aid lower limb exoskeleton robot.

FIG. 7 is a left side view of a knee joint structure of the powered multi-degree-of-freedom walking-aid lower limb exoskeleton robot.

FIG. 8 is a schematic view of a hip joint structure of the powered multi-degree-of-freedom walking-aid lower limb exoskeleton robot.

FIG. 9 is a left side view of a hip joint structure of the powered multi-degree-of-freedom walking-aid lower limb exoskeleton robot.

Figure 10 is an exploded view of a hip joint portion of the present invention.

Fig. 11 is a schematic view of the connection relationship between the quick connect device and the lower extremity exoskeleton of the present invention.

Fig. 12 is a schematic diagram of the back structure of the present invention.

Fig. 13 is an exploded view of the quick connect apparatus of the present invention.

FIG. 14 is a schematic view of the quick connect apparatus of the present invention.

FIG. 15 is a schematic diagram of a powered multi-degree-of-freedom walking-aid lower limb exoskeleton robot deformed into a wheelchair according to the invention.

FIG. 16 is a schematic diagram of a control process of the power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot.

In the drawings

1. Universal wheel 2, pedal 3, battery box 4, bottom cross frame 5, armrest frame 6, rocker device 7, gravity center fine adjustment plate 8, guide rod 9, rear armrest 10, rear electric push rod 11, rear supporting plate 12, control box 13, electric hub 14, foot plate 15, crank 16, connecting rod 17, small connecting rod 18, small motor 19, ankle joint pitch block 20, ankle joint swing block 21, shank plate 22, electric push rod 23, bandage bracket 24, mounting bracket 25, shank length adjustment bracket 26, pin shaft 27, knee left supporting plate 28, knee supporting plate 29, knee limiting plate 30, knee motor 31, shank plate 32, shank length adjustment pressing block 33, shank length adjustment screw 34, bandage bracket 35, shank length adjustment bracket 36, steering engine 37, steering engine mounting bracket 38, steering wheel 39, hip joint bracket 40, hip joint left supporting plate 41, hip joint motor 42, and hip joint motor 42 Right support plate 43, hip joint strap frame 44, hip joint frame 45, locking pin 46, hip joint rotating shaft 47, waist long plate 48, thigh length adjusting press block 49, thigh length adjusting screw 50, hip joint flat plate 51, adjusting screw 52, nut 53, reset spring 54, exoskeleton width adjusting block 55, half gear 56, slide block 57, connecting frame 58, bolt 59, bottom limiting plate 60, small spring 61, spring nut 62, column pin 63, locking pin 64, upper press plate 65, gear 66, back motor 67, back plate 68, pressure sensor 69, gyroscope 69

Detailed Description

The embodiment is a dynamic multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention identification.

Referring to fig. 1 to 16, the powered multi-degree-of-freedom walking-assisting lower limb exoskeleton robot of the embodiment is composed of a lower limb exoskeleton and a powered moving frame; the lower limb exoskeleton is connected with the power type movable frame into a whole through the quick connecting device on the power type movable frame. In the using process, the power type movable frame bears most of the weight of the lower limb exoskeleton and the patient, and provides reliable support and horizontal assistance for the patient. The powered moving frame may also provide rest for the patient after prolonged use.

The lower limb exoskeleton is in a bilaterally symmetrical structure; the right leg is taken as an example for description, wherein the foot plate 14 is provided with a motor mounting frame, and the small motor 18 is fixed on the foot plate 14 through bolts. The crank 15, the connecting rod 16, the small connecting rod 17 and the foot plate 14 form a four-bar linkage together. The crank 15 is installed on the motor shaft, and the small motor 18 drives the foot plate 14 to rotate with the outward and inward extending freedom degrees through the transmission of a link mechanism. The foot plate 14 and the ankle swing block 20 are pivotally connected by pins through the corresponding mounting holes. The ankle swing block 20 and the ankle pitch block 19 are pivotally connected. The ankle joint tilting block 19 is fixed to the shank plate 21 by bolts, and the electric putter mounting frame 24 is fixed to the middle of the shank plate 21 by bolts. The bottom of the electric push rod 22 is hinged with an electric push rod mounting frame 24, and the electric push rod 22 is hinged with a mounting hole at the rear part of the ankle joint swing block 20. The band bracket 23 is fixed to the middle of the lower leg plate 21 by bolts. Pressure sensors 68 are mounted at both ends of the strap support 23 for detecting interaction forces between the patient and the lower extremity exoskeleton. The middle part of the calf plate 21 is provided with a gyroscope 69 for measuring the posture and motion information of the calf.

The shank length adjusting mechanism is composed of a shank length adjusting press block 32, a pin shaft 26, a shank length adjusting frame 25, a shank length adjusting screw 33 and a shank plate 21. Wherein, the shank length adjusting pressing block 32 is fixed on the shank length adjusting bracket 25 by the pin shaft 26 through the corresponding hole position, a square hole is formed in the middle of the shank length adjusting pressing block 32 and the shank length adjusting bracket 25, and the shank plate 21 is inserted into the hole. The length of the lower leg can be adjusted by adjusting the lower leg length adjusting screw 33.

The knee left stay 27 and the knee stay 28 are mounted on both sides of the lower leg length adjustment frame 25 using bolts. The knee left support plate 27 and the knee support plate 28 are installed at two ends of a knee motor shaft through hole positions corresponding to the top ends. The knee limiting plate 29 is mounted on the knee motor 30 through bolts for limiting. The knee motor 30 and the thigh plate 31 are fixed by bolts.

The thigh length adjusting press block 48, the thigh length adjusting frame 35, the thigh length adjusting screw 49 and the thigh plate 31 together constitute a thigh length adjusting mechanism. Wherein, the thigh length adjusting press block 48 is fixed on the thigh length adjusting frame 35 through a bolt, a square hole is formed in the middle of the thigh length adjusting press block 48 and the thigh length adjusting frame 35, the thigh plate 31 is inserted into the hole, and the length of the thigh can be adjusted by adjusting the thigh length adjusting screw 49.

The strap mount 34 is fixed to the thigh length adjusting mount 35 using bolts. Pressure sensors 68 are mounted at both ends of the strap mount 34 for sensing the interaction force between the patient and the lower extremity exoskeleton. A gyroscope 69 is mounted in the middle of the thigh length adjusting frame 35 for measuring the posture and motion information of the thigh.

The steering engine mounting rack 37 is fixed on the inner side of the thigh length adjusting rack 35 through bolts, and the steering engine 36 is fixed on the steering engine mounting rack 37 through bolts. The thigh length adjusting frame 35 is fixed with a hip joint flat plate 50 through bolts, the hip joint flat plate 50 is hinged with a hip joint support 39, a through hole is reserved in the center, and a steering engine rotating shaft is connected with a steering wheel 38 through the through hole in the middle. The rudder disk 38 is fixed to the hip bracket 39 by bolts. Therefore, the steering engine 36 can drive the thigh to do the inward/outward rotation. The hip joint left plate 40 and the hip joint right plate 42 are mounted on both sides of the hip joint bracket 39 by bolts. The hip joint left support plate 40 and the hip joint right support plate 42 are arranged at two ends of a hip joint motor shaft through corresponding hole positions at the top ends, and the hip joint motor 41 and the hip joint binding belt frame 43 are fixed through bolts.

The hip joint bandage frame 43, the hip joint support 44 and the adjusting screw 51 together form a hip joint depth adjusting mechanism. Wherein the hip-strap holder 43 is slidably connected to the hip-joint holder 44 by means of a groove in the interior of the hip-joint holder 44. An adjusting hole is arranged below the hip joint support 44, and the depth length of the hip joint can be adjusted by adjusting the depth adjusting screw 51. The hip brackets 44 are rotatably connected to the waist long plate 47. The hip joint rotation shaft 46 is fixed to the waist long plate 47 by bolts. One side of the hip joint rotating shaft 46 is provided with a thread, the hip joint rotating shaft 46 penetrates through the hip joint support 44, a return spring 53 is arranged in the hip joint rotating shaft, and the return spring 53 is fixed by using a nut 52. The return spring 53 allows the hip joint to return to a rest position after abduction and adduction. The hip joint support 44 is provided with a limiting hole which is matched with a boss on the waist long plate 47 to form mechanical limiting, so that the patient can be prevented from being injured. The hip joint is further provided with a locking pin 45. The insertion of the locking pin 45 locks the hip abduction/adduction freedom. When abduction/adduction is required, the lock pin 45 is pulled down to release the lock.

The waist long plate 47, the exoskeleton width adjusting block 54 and the width adjusting screw together form a width adjusting mechanism. The exoskeleton width adjusting block 54 is provided with a square through hole, the bottom of the exoskeleton width adjusting block is provided with an adjusting hole, the waist long plate 47 is inserted into the square hole to be connected with the exoskeleton width adjusting block 54 in a sliding manner, and the width of the lower limb exoskeleton can be adjusted by adjusting a width adjusting screw.

The slide block 56 is bolted to the rear end of exoskeleton width adjustment block 54. Back plate 67 is pivotally connected to exoskeleton width adjustment block 54. The back plate 67 is provided with a back motor 66, and the gear 65 is arranged at the top end of a motor shaft of the back. The upper end of the exoskeleton width adjusting 54 block is fixed by a half gear 55, a gear transmission mechanism is formed by the half gear and a gear 65, and a back motor 66 drives a back plate 67 to rotate in a yawing mode through the gear transmission mechanism. Pressure sensors 68 are mounted on both sides of the back plate 67 for detecting the intention of the patient to move his back.

Under the common regulation of a shank length regulating mechanism, a thigh length regulating mechanism, a hip joint depth regulating mechanism and a width regulating mechanism of the lower limb exoskeleton, the exoskeleton can adapt to crowds with different heights and slimness.

In this embodiment, the power type moving frame includes a height adjusting mechanism, a center of gravity fine-tuning mechanism, and a quick connecting device. Wherein, electronic wheel hub 13 links firmly 4 rear ends in bottom crossbearers, and electronic wheel hub 13 is used for providing horizontal direction helping hand, keeps or adjusts the walking direction for the patient when the patient walks by oneself to have the brake function. The universal wheel 1 is fixedly connected to the front end of the bottom cross frame 4, and the universal wheel 1 is used for adjusting the walking direction when walking. The pedals 2 are arranged at the front end of the bottom cross frame 4 and are used for a patient to rest feet in a wheelchair mode. Battery box 3 links firmly with bottom crossbearer 4, and control box 12 is installed in battery box 3 upper end. The handrail frame 5 is sleeved with the bottom cross frame 4 through three corresponding hole sites, the rear supporting plate 11 is fixedly connected with the handrail frame 5, the guide rod 8 is fixedly connected with the handrail frame 5, and the gravity center fine adjustment plate 7 is connected with the guide rod 8 in a sliding mode. The rear electric push rod 10 is fixedly connected with the rear supporting plate 11 through a bolt and fixedly connected with the gravity center fine adjustment plate 7 through a corresponding mounting hole through a bolt. The rocker device 6 is fixed at the front end of the armrest frame 5. The rear handrail 9 is installed at the rear end of the handrail frame 44 for being used by the same passerby.

In this embodiment, the armrest frame 5 and the bottom cross frame 4 together constitute the height adjustment mechanism of the power type moving frame. The whole height of the power type movable frame can be adjusted by adjusting the adjusting hole positions on the middle supporting tube of the bottom cross frame 4. The lower limb exoskeleton is fixedly connected with the gravity center fine adjustment plate 7 through a quick connecting device on the power type moving frame. The guide rod 8, the rear supporting plate 11, the gravity center fine adjustment plate 7 and the rear electric push rod 10 jointly form a gravity center fine adjustment mechanism. The height of the center of gravity of the patient and the lower limb exoskeleton is finely adjusted by controlling the extension and retraction of the rear electric push rod 10 to drive the center of gravity fine adjustment plate 7 to slide up and down.

In this embodiment, the quick connection device includes a connection frame 57, a bottom limiting plate 59, a bolt 58, a locking pin 63, a small spring 60, a nut 61, a pin 62, and an upper pressing plate 64. Wherein, the rear end of the connecting frame 57 is provided with a mounting hole which is fixedly connected with the gravity center fine adjustment plate 7 through a bolt, and the front end is provided with a dovetail groove which is matched with a slide block 56 arranged on the exoskeleton width adjusting block 54. The dovetail groove at the front end of the connecting frame is used for adapting to the gravity center fluctuation of a patient in the walking process. The bottom limit plate 59 is mounted at the lower end of the dovetail groove of the connecting frame 57 through a bolt 58 to prevent the lower extremity exoskeleton from slipping off from the lower end. The upper press plate 64 is rotatably connected to the connecting frame 57 by the pins 62. The nut 61 fixes the locking pin 63 and the small spring 60 on the cylinder on the side of the connecting frame 57. The front end of the upper pressure plate 64 is provided with a round hole which corresponds to the round hole on the side surface of the connecting frame 57, the locking pin 63 is used for firmly locking the upper pressure plate 64 and the connecting frame 57 under the action of the small spring 60, and the upper pressure plate 64 can be opened by pulling the locking pin 63 outwards. Therefore, the lower limb exoskeleton and the power type movable frame can be quickly connected or detached.

The motors used in the embodiment are all provided with built-in encoders for feeding back the information of the rotation positions of the motors.

In this embodiment, the lower extremity exoskeleton is designed using ergonomics and bionics, where a single leg has 6 degrees of freedom and the waist has 1 degree of freedom. The leg degree of freedom distribution is: the hip joint has 3 degrees of freedom, which correspond to abduction/adduction, internal rotation/external rotation and extension/bending respectively, wherein, the extension/bending and the internal rotation/external rotation are provided with power-assisted motors with 2 degrees of freedom, which are active degrees of freedom, and the abduction/adduction is passive degrees of freedom; the knee joint is provided with 1 extension/bending degree of freedom provided with an assisting motor; the ankle joint has 2 degrees of freedom, namely extension/flexion and abduction/adduction, and is provided with a power-assisted motor.

The lower extremity exoskeleton has three assistance modes: passive mode, active mode, and active-passive combination mode. The passive mode mainly deals with the condition that the lower limbs of the patient are completely unconscious, and the lower limb exoskeleton drives the patient to move with the set gait motion; when the patient recovers weak motor ability, the active and passive combination mode can detect the motor intention of the patient, when the patient tries to move, the lower limb exoskeleton takes the motor intention as the main assistance, and automatically switches to the passive mode in the unconscious state of the patient. The active mode completely depends on the movement intention of the patient to control the lower limb exoskeleton to move when the patient recovers to a certain movement capability.

Application method

The patient binds the lower limb exoskeleton through the binding band, adjusts the height adjusting hole on the middle supporting tube of the bottom cross frame, and adjusts the power type moving frame to a proper height. The rocker device 6 is provided with a button and a rocker, and the button is used for switching on and off the lower limb exoskeleton and switching the power-assisted mode or the control part; the rocker is used for actual operation and control. The patient can choose to control the gravity center fine adjustment mechanism through the rocker device 6 to adjust the gravity center height of the patient and the lower limb exoskeleton, so that the sole of the foot is in contact with the ground or soaks.

In the passive mode, the patient controls the lower limb exoskeleton and the power type moving frame through the rocker device.

Under the condition that the sole of a patient is in contact with the ground, a rocker on a rocker device 6 is pushed forwards, the lower limb exoskeleton drives the lower limbs of the patient to do walking motion through each joint motor in a programmed motion, meanwhile, an electric hub is electrified to rotate positively at the walking speed of a common person, and at the moment, the patient and a lower limb exoskeleton power type outer frame keep moving straightly; the rocker is pushed leftwards, the left electric hub and the right electric hub rotate in a differential manner, and the lower limb exoskeleton turns to left; the back and right turn process is the reverse of the straight and left turn process. Under the condition that the feet of the patient are empty, the lower limb exoskeleton drives the lower limbs of the patient to do a large-amplitude action like lifting the legs; the patient controls 5 degrees of freedom with the power-assisted motor through the rocker device 6 independently, and the strengthening training is carried out on a certain joint of the lower limb.

Active and passive combination mode when the patient recovers or has weak motor ability to start trying to move, the passive mode may cause the action of the exoskeleton on the lower limbs to be inconsistent with the movement intention of the patient. In the mode, the lower limb exoskeleton operates according to the action set by the program, and when a patient wants to swing to a leg with the intention of the patient, the control program identifies the intention of the patient through the sensor and adjusts the lower limb exoskeleton in real time, so that the lower limb exoskeleton is controlled to be matched with the action intention of the patient. When the patient does not want to move according to the intention, the lower limb exoskeleton automatically switches to the gait motion with the set program to drive the lower limb of the patient to move.

And in the active mode, the patient can use the active mode after having certain movement capacity, and the lower limb exoskeleton can move completely depending on the intention of the patient.

The exercise intention identification process comprises the steps that 3-axis angular velocity and 3-axis gravity acceleration of the large leg and the small leg of the patient are obtained through measurement of a gyroscope, and the program judges whether the action of the patient is discrete action or continuous action according to the data; calculating the posture of the current big leg and the current small leg of the patient according to the data of the gyroscope, and further calculating the angles of the hip joint and the knee joint; after judging that the patient makes continuous action, predicting the joint angle at the next moment by a Kalman filtering method after calculating the joint angle obtained by posture, planning the gait track of the lower limb exoskeleton by taking the predicted joint angle as a parameter for gait track planning, and finally outputting and controlling the lower limb exoskeleton motor to make corresponding action; meanwhile, an encoder arranged in the joint motor returns the motor action condition as feedback to the gait track planning, so that a semi-closed loop control is formed. When the patient's motion is detected as discrete motion, the lower extremity exoskeleton will maintain the patient's posture when the patient stops moving.

In addition, no matter what working mode the lower limb exoskeleton is in, the pressure sensor can monitor the interaction force between the lower limb exoskeleton and the patient in real time, and the control program can control the interaction force to be in a proper range, so that the use comfort of the patient is enhanced. Once the interaction force exceeds the set safety value, the exoskeleton enters a power-off protection state to prevent the accident fault from causing injury to the patient.

In addition, the patient can control the back motor 66 arranged at the back side of the back plate 67 of the lower limb exoskeleton through the rocker device 6 to drive the upper half body to do swivel motion. When the patient upper part of the body possesses the motion ability, the control box can real-time supervision backplate 67 both sides pressure sensor's data, and when the patient moved to turning left, backplate 67 left side pressure sensor pressure value increase right side pressure sensor pressure value reduced, and the control box just controlled back motor 66 and drove patient upper part of the body left turn this moment. The right turn process is the reverse of the left turn process.

After the patient uses for a long time, the height of the power type outer frame can be reduced through the adjusting hole in the middle steel pipe of the bottom cross rod, the left pedal and the right pedal are rotated to be perpendicular to the bottom cross rod, and the pedals are stepped on by two feet. At the moment, the power type moving frame is deformed to be used as a simple wheelchair for a patient to rest, and the power type moving frame can provide a higher moving speed for the patient in the state, so that the lower limb exoskeleton is more flexible.

When the patient has enough upper limb strength to keep the body balance by using the crutch, the lower limb exoskeleton can be detached from the power type movable frame to be used together with the crutch, so that the size of the exoskeleton is reduced.

Claims (2)

1. A power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention identification comprises a lower limb exoskeleton and a power type moving frame, wherein the lower limb exoskeleton is connected with the power type moving frame; the ankle joint swing block is connected with the ankle joint pitch block which is fixed on the lower leg plate, an electric push rod mounting frame is fixed in the middle of the lower leg plate, the bottom of an electric push rod is hinged with the electric push rod mounting frame, the top of the electric push rod is hinged with a mounting hole in the rear of the ankle joint swing block, a bandage support is fixed in the middle of the lower leg plate, pressure sensors are mounted at two ends of the bandage support and used for detecting interaction force between a patient and a lower limb exoskeleton, and a gyroscope is mounted in the middle of the lower leg plate and used for measuring posture and motion information of the lower leg;

the shank length adjusting mechanism consists of a shank length adjusting pressing block, a pin shaft, a shank length adjusting frame, a shank length adjusting screw and a shank plate; the shank length adjusting press block is fixed on the shank length adjusting frame through a pin shaft, a square hole is formed between the shank length adjusting press block and the shank length adjusting frame, the shank plate is inserted into the square hole, and the length of the shank is adjusted through adjusting a shank length adjusting screw; the knee left support plate and the knee support plate are positioned on two sides of the shank length adjusting frame, the knee left support plate and the knee support plate are arranged at two ends of a knee motor shaft, the knee limiting plate is arranged on the knee motor, and the knee motor is fixedly connected with the thigh plate;

the thigh length adjusting mechanism comprises a thigh length adjusting pressing block, a thigh length adjusting frame, a thigh length adjusting screw and a thigh plate, wherein the thigh length adjusting pressing block is fixed on the thigh length adjusting frame; the binding belt frame is fixed on the thigh length adjusting frame, pressure sensors are mounted at two ends of the binding belt frame and used for detecting interaction force between a patient and the lower limb exoskeleton, and a gyroscope is mounted in the middle of the thigh length adjusting frame and used for measuring posture and motion information of a thigh;

the steering engine mounting frame is fixed on the inner side of the thigh length adjusting frame, the steering engine is fixed on the steering engine mounting frame, the thigh length adjusting frame is fixedly connected with the hip joint flat plate, the hip joint flat plate is hinged with the hip joint support, a steering engine rotating shaft is connected with a steering wheel disc, the steering wheel disc is fixed on the hip joint support, a hip joint left support plate and a hip joint right support plate are arranged on two sides of the hip joint support, the hip joint left support plate and the hip joint right support plate are arranged at two ends of a hip joint motor shaft, and the hip joint motor is fixedly connected with the hip joint strap;

the hip joint depth adjusting mechanism consists of a hip joint bandage frame, a hip joint support and an adjusting screw, the hip joint bandage frame is connected with the hip joint support, an adjusting hole is arranged below the hip joint support, and the depth length of the hip joint can be adjusted by adjusting the depth adjusting screw; the hip joint support is connected with the waist long plate, the hip joint large rotating shaft is fixedly connected with the waist long plate, and the hip joint rotating shaft penetrates through the hip joint support and is then filled with a reset spring so that the hip joint can be extended and retracted and then is restored to a balance position; the hip joint support is provided with a limiting hole which is matched with a boss on the waist long plate, and the hip joint is provided with a pin which can lock or unlock the abduction and adduction freedom degrees of the hip joint;

the waist long plate, the exoskeleton width adjusting block and the width adjusting screw form a width adjusting mechanism; the exoskeleton width adjusting block is provided with a square through hole, the bottom of the exoskeleton width adjusting block is provided with an adjusting hole, the waist long plate is inserted into the square hole and connected with the exoskeleton width adjusting block, and the width of the lower limb exoskeleton is adjusted through a width adjusting screw; the sliding block is fixed at the rear part of the exoskeleton width adjusting block, and the back plate is connected with the exoskeleton width adjusting block; the back motor is installed on the back plate, the gear is installed at the shaft end of the back motor, the half gear is fixed at the upper end of the exoskeleton width adjusting block and forms a gear transmission mechanism with the gear, the back motor drives the back plate to perform yaw rotation through the gear transmission mechanism, and the pressure sensors are installed on two sides of the back plate and used for detecting the back movement intention of a patient;

the power type moving frame comprises a height adjusting mechanism, a gravity center fine adjusting mechanism and a quick connecting device, wherein an electric wheel hub is fixedly connected to the rear end of a bottom cross frame, a universal wheel is fixedly connected to the front end of the bottom cross frame, pedals are mounted at the front end of the bottom cross frame, a battery box is fixedly connected with the bottom cross frame, a control box is mounted at the upper part of the battery box, a handrail frame and the bottom cross frame are sleeved through three corresponding hole sites, a rear supporting plate is fixedly connected with the handrail frame, a guide rod is fixedly connected with the handrail frame, a gravity center fine adjusting plate is connected with the guide rod, a rear electric push rod is fixedly connected with the rear supporting plate and is connected with the gravity center fine adjusting plate through a bolt, a rocker device is fixed at the front end of the handrail frame, and a; the armrest frame and the bottom cross frame form a height adjusting mechanism of the power type moving frame, and the whole height of the power type moving frame is adjusted by adjusting an adjusting hole position on a middle supporting tube of the bottom cross frame;

the lower limb exoskeleton is fixedly connected with the gravity center fine adjustment plate through a quick connecting device on the power type moving frame, and the guide rod, the rear supporting plate, the gravity center fine adjustment plate and the rear electric push rod form a gravity center fine adjustment mechanism; the height of the center of gravity of the patient and the exoskeleton of the lower limbs is finely adjusted by controlling the extension and retraction of the rear electric push rod to drive the center of gravity fine adjustment plate to slide up and down;

the quick connecting device comprises a connecting frame, a bottom limiting plate, a bolt, a locking pin, a small spring, a nut, a pin and an upper pressure plate, wherein the rear end of the connecting frame is provided with a mounting hole and fixedly connected with a gravity center fine adjustment plate through the bolt; the front end of the upper pressure plate is provided with a round hole corresponding to the round hole on the side surface of the connecting frame, the upper pressure plate and the connecting frame are locked by the locking pin under the action of the small spring, the upper pressure plate can be opened by pulling up the locking pin outwards, and the lower limb exoskeleton and the power type moving frame can be quickly connected or detached.

2. The powered multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition as claimed in claim 1, wherein encoders are built in all the motors for feeding back the information of the rotation positions of the motors.

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