CN109925166B - Exoskeleton rehabilitation system and rehabilitation method - Google Patents

Abstract

The embodiments of the present invention relate to the technical field of human body rehabilitation, and in particular, to an exoskeleton rehabilitation system and a rehabilitation method, including: a flexible drive device, a fluid supply device, and one or more fixing parts; wherein the one or more fixing parts are respectively installed on The part of the human body to be rehabilitated; the flexible drive device is respectively connected with the fixed part, the flexible drive device includes a drive cavity, the drive cavity is distributed along its radial circumference, and the flexible drive device can be extended, shortened or bent through the change of the fluid pressure inside the drive cavity ; The fluid supply device is connected to the drive chamber, and is used to input a certain pressure of fluid into the drive chamber. The exoskeleton rehabilitation system of the present invention adopts fully flexible parts, adopts flexible connections, can compliantly fit the rehabilitation part, and realizes multi-angle movements such as bending and twisting of the rehabilitation part, which can improve the comfort of wearing, reduce the weight of the equipment, and expand the capacity of the rehabilitation equipment. Application site and scope to avoid secondary injury to patients due to rigid structure.

Description

Exoskeleton rehabilitation system and rehabilitation method

technical field

Embodiments of the present invention relate to the technical field of human body rehabilitation, and in particular, to an exoskeleton rehabilitation system and a rehabilitation method.

Background technique

The wrist is one of the most commonly used joints in the human body. Accidental injury, stroke, Parkinson's, etc. will cause damage to the motor function of the wrist, affecting the patient's daily life. Grip and wrist movements cause great interference. In patients with impaired wrist motor function, under the action of gravity, the wrist and hand (or foot) are in a state of natural sagging. If timely rehabilitation training is not available, the hand (or foot) and wrist Joints that are otherwise movable will gradually develop soft tissue adhesions, muscle atrophy, tissue calcification, and eventually stiffness and loss of mobility. Continuous passive motion can prevent joint stiffness and improve joint mobility.

The current continuous passive exercise rehabilitation treatment mainly involves rehabilitation physicians performing “one-to-one” rehabilitation training on patients, which brings problems such as high cost, a lot of physical and energy input from therapists and patients, and difficulty in precise control of rehabilitation training parameters. The use of robotics to rehabilitate patients will improve these problems.

However, the current wrist functional rehabilitation equipment has the following problems: most wrist rehabilitation devices use mechanical structures, which are poor in wearability, and have large weight and size, which cannot be used for home use, which affects the patient experience; most wrist rehabilitation equipment is a rigid link structure. When the joint rotates, there is a deviation between the joint center and the rotation center of the linkage mechanism, which may cause secondary injury to the patient; the mechanical structure is relatively complex, the range of motion is small, the degree of freedom is small, and the movement form is single; many devices are made by the patient holding the end of the rehabilitation device. However, many severe patients are unable to realize the hand-holding function by themselves, and their palms are not free, so they cannot assist in daily life movements.

SUMMARY OF THE INVENTION

The embodiment of the present invention provides an exoskeleton rehabilitation system and a rehabilitation method, which are used to solve the problem that the rigid connection commonly used in the exoskeleton rehabilitation system in the prior art, if there is a deviation between the joint center and the rotation center of the link mechanism when the joint rotates, it will cause secondary injury to the patient ; In addition, the mechanical structure of the rigid rehabilitation system is complex, the range of activities is limited, and the single drive of the system has a single movement form and few degrees of freedom.

The invention discloses an exoskeleton rehabilitation system, comprising: a flexible driving device, a fluid supply device and one or more fixing parts; wherein,

One or more of the fixing parts are respectively installed on the parts of the human body to be rehabilitated;

The flexible driving device is respectively connected with the fixing part, the flexible driving device includes a driving cavity, the driving cavity is distributed along the radial circumference thereof, and the flexible driving device can be adjusted by the change of the fluid pressure inside the driving cavity. to elongate, shorten or bend;

The fluid supply device is connected to the driving chamber, and is used for inputting a fluid of a certain pressure into the driving chamber.

Wherein, the flexible driving device further includes a flexible main body and a constraining layer, the driving cavity is arranged inside the flexible main body and is disposed parallel to the axial direction of the flexible main body, and the constraining layer is wrapped around the driving cavity. The outer side wall or covering the outer side wall of the flexible body.

Wherein, the constraining layer is a fiber product, a flexible spring or a braided fabric.

Wherein, each of the fixing parts includes a fixing belt and a fixing joint, the fixing belt is bound to the part of the human body to be rehabilitated, and the fixing joint is fixed to the fixing belt and is detachably connected to the flexible driving device .

Wherein, the fixed joint includes a fixed base and an adjustment button, the fixed base is provided with a clamping position for installing the flexible drive device, and the adjustment button is installed on the peripheral side of the clamping position for adjusting The opening and closing state of the card position.

Wherein, there are two fixed parts and two flexible drive devices, each of the fixed parts includes two fixed joints, and the two flexible drive devices are cross-connected to the fixed joints between the two fixed parts.

Among them, a sensing device is also included, and the sensing device includes an electromyographic signal detection device, a bending angle sensor and a torsion angle sensor. The sensor is used to monitor the bending angle of the part to be rehabilitated, and the torsion angle sensor is used to monitor the rotation angle of the part to be rehabilitated.

Wherein, it also includes an electric control device, the electric control device is connected with the fluid supply device, and the electric control device is respectively connected with the myoelectric signal detection device, the bending angle sensor, the torsion angle sensor and the fluid supply device, according to The received electromyographic signal, bending angle and rotation angle of the part to be rehabilitated control the fluid pressure input by the fluid supply device into the driving cavity.

Wherein, the number of the driving cavity is greater than or equal to three.

The present invention also discloses a rehabilitation method using the exoskeleton rehabilitation system of the present invention, comprising:

Connect the system and initialize the device;

The doctor sets the rehabilitation training mode through the host computer;

The upper computer sends the telescopic and/or bending commands of the flexible drive device to the electronic control device, and the electric control device controls the fluid supply device to supply or discharge fluid, and controls the fluid pressure, so that the corresponding flexible drive device can expand and/or bend, and continuously monitor the rehabilitation. The angle of movement of the part is sent to the electronic control device as feedback, so that the rehabilitation part reaches a predetermined active state; or the doctor controls the stop or continuation of the action of the flexible drive device through the upper computer, and observes the EMG signal to adjust the rehabilitation training mode.

The embodiment of the present invention provides an exoskeleton rehabilitation system and rehabilitation method, which replaces the rigid connection in the prior art with a flexible drive device, adopts a flexible connection of fully flexible components, can compliantly fit the rehabilitation part, and realizes the bending of the rehabilitation part Multi-angle actions such as twisting and twisting can improve the comfort of wearing, reduce the weight of the equipment, expand the application site and scope of rehabilitation equipment, and avoid secondary injuries to patients due to rigid structures.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

1 is a schematic structural diagram of an embodiment of an exoskeleton rehabilitation system according to the present invention;

Figures 2(a) and 2(b) are schematic diagrams of the front and rear bending structures of the wrist according to an embodiment of the present invention;

3(a) and 3(b) are schematic diagrams of the left and right bending structures of the wrist according to an embodiment of the present invention;

Figure 4(a) and Figure 4(b) are schematic diagrams of the wrist supination and internal rotation structure according to an embodiment of the present invention;

FIG. 5 is a first structural schematic diagram of the flexible drive device of the present invention;

FIG. 6 is a first schematic cross-sectional view of the flexible drive device of the present invention;

Fig. 7 is the first kind of longitudinal cross-sectional schematic diagram of the flexible drive device of the present invention;

8 is a schematic diagram of a second structure of the flexible drive device of the present invention;

FIG. 9 is a second schematic cross-sectional view of the flexible drive device of the present invention;

10 is a schematic diagram of a third structure of the flexible drive device of the present invention;

Figure 11 is a third schematic cross-sectional view of the flexible drive device of the present invention;

12 is a schematic structural diagram of the fixing portion of the present invention;

FIG. 13 is a schematic view of the structure of the fixed joint of the present invention.

FIG. 14 is a flowchart of a rehabilitation method in a specific embodiment of the present invention.

In the figure, 1, flexible drive device; 11, drive cavity; 12, flexible body; 13, constraining layer; 2, fixing part; 21, fixing belt; 22, fixing joint; 221, fixing base; 222, adjusting button; 3. Fluid supply device; 4. Electric control device; 5. Sensing device; 6. Fluid pipeline.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

3(a), 3(b), 4(a), and 4(b) in the accompanying drawings of the present invention represent the solid structure of the surface, while the dashed flexible driving device represents the physical structure of the surface. The projection of the flexible drive device on the back side on this side.

As shown in FIG. 1, the present invention discloses an exoskeleton rehabilitation system, comprising: a flexible driving device 1, a fluid supply device 3 and one or more fixing parts 2; wherein,

One or more of the fixing parts 2 are respectively installed on the parts of the human body to be rehabilitated;

The flexible driving device 1 is respectively connected with the fixing part 2 , the flexible driving device 1 includes a driving cavity 11 , the driving cavity 11 is distributed along the radial circumference thereof, and the flexible driving device 1 passes through the driving cavity 11 Changes in fluid pressure inside can elongate, shorten or bend;

The fluid supply device 3 is connected to the driving chamber 11 for inputting a certain pressure of fluid into the driving chamber 11 .

Specifically, the physician or the patient controls the fluid with a certain pressure input by the fluid supply device 3 into the drive cavity 11 , and through the elongation and shortening of the plurality of drive cavities 11 , the entire flexible drive device 1 can be extended, shortened or bent. Waiting for flexible movements, the movements are transmitted to the corresponding fixed parts 2 to assist in driving the rehabilitation parts to move.

In order to realize the multi-angle bending stability of the flexible drive device 1, it is necessary to set up multiple flexible drive devices 1, and set the flexible drive devices 1 on the front and back of the part to be rehabilitated, and control the two flexible drive devices 1 to have different fluid pressures. As a result, the lengths of the front and rear flexible driving devices 1 are different, so as to realize the front and rear bending of the part to be rehabilitated; if left and right bending is required, multiple flexible driving devices 1 are arranged from left to right on the hand, and each flexible driving device 1 is along the arm axis. The two flexible drive devices 1 on the left and right are different in length, so that the left and right bending of the part to be restored can be realized.

Wherein, the fluid in the fluid supply device 3 of the present invention may be gas or liquid, and the corresponding fluid supply device 3 may be a liquid pump or a gas pressure pump. Both the flexible driving device 1 and the fixing part 2 can be made of flexible materials, which can bend and twist at a certain angle. The driving cavity 11 in the flexible driving device 1 is connected to the fluid supply device 3 through the fluid pipeline 6, and one driving cavity 11 is correspondingly connected to one fluid pipeline 6, so that the fluid pressure between the driving cavities 11 is independently controlled and will not affect each other. By rationally distributing the positions of different driving cavities 11 in the same flexible driving device 1 , for example, each driving cavity 11 is distributed along the circumference of the cross section. The movement of the flexible driving device 1 is determined by the fluid pressure in the fluid supply device 3, and the fluid pressure of each driving cavity 11 is controlled. Actions such as multi-angle bending.

As shown in FIGS. 1-13 , the present invention provides an embodiment of a wrist exoskeleton rehabilitation system, and the present invention is applied to wrist rehabilitation training. First, two fixing parts 2 are arranged on the back of the hand and the front of the hand, one is fixed on the palm and the other is fixed on the forearm, and the two fixing parts 2 are connected by a flexible driving device 1 . Specifically, in order to realize the front and rear bending and left and right bending of the wrist, only a flexible driving device 1 needs to be provided on the front of the hand and the back of the hand to control the fluid pressure of the driving cavity 11 inside it to bend it; At least one flexible drive device 1 needs to be installed on the front of the hand and the back of the hand. One end of one flexible drive device 1 is fixed on the left end of the front of the hand, the other end is fixed on the right end of the arm, and one end of the other flexible drive device 1 is fixed on the hand. The right end of the back and the other end are fixed at the left end, so that the two flexible driving devices 1 located on the front and back of the hand are arranged in a cross, and the two flexible driving devices 1 cooperate to stretch and bend to achieve supination and internal rotation of the wrist. Preferably, as shown in FIG. 2-FIG. 4, a flexible driving device 1 is arranged on the front of the hand and the back of the hand respectively, and the flexible driving devices 1 on the front of the hand and the back of the hand are crossed, so that not only can the wrist be bent back and forth (such as Figure 2 (a) and Figure 2 (b)), and can achieve left and right bending (Figure 3 (a) and Figure 3 (b)) and supination and internal rotation (Figure 4 (a) and Figure 4 (b) )). Specifically, when it needs to bend forward and backward, it is only necessary to control the fluid pressure of the drive cavity 11 in the flexible drive device 1 on the palm surface and the back of the hand: as shown in Figure 2(a), when it needs to bend forward, control the hand The fluid pressure in the flexible drive device 1 on the front is less than the fluid pressure in the flexible drive device 1 on the back of the hand, so that the stretch of the flexible drive device 1 on the back of the hand is greater than the stretch of the flexible drive device 1 on the front of the hand, and controls the front of the hand and the hand. The fluid pressure of each drive cavity 11 in the flexible drive device 1 on the back makes it bend forward to complete the forward drive of the wrist; when it needs to bend backward, as shown in Figure 2(b), similarly, make the hand bend forward. The fluid pressure in the flexible driving device 1 on the front is greater than that in the flexible driving device 1 on the back of the hand, and controls the fluid pressure in each driving cavity 11 in the flexible driving device 1 on the front and back of the hand to bend it backwards. When it needs to be bent to the left, the flexible driving devices 1 on the front and the back of the hand are both bent to the left. The specific operation can be to control the fluid pressure in the driving cavity 11 on the left in the same flexible driving device 1 to be lower than that on the right. The fluid pressure in the driving cavity 11 makes the flexible driving device 1 bend itself; or two flexible driving devices are arranged on the front and back of the hand to control the two flexible driving devices to bend to the left. The invention is not limited to the arrangement in which the two flexible driving devices are arranged crosswise in the figure, and both can be arranged vertically; when the two flexible driving devices 1 are arranged vertically, the two flexible driving devices 1 are simultaneously bent in a single direction in the front, rear, left, right, and right directions. Realize the front, back, left, and right bending of the wrist; as shown in Figure 3(a), when the flexible drive device 1 is set to be crossed, the elongation and shortening of the flexible drive device 1 are controlled to realize the front, back, left and right bending of the wrist. For example, to bend the wrist to the left, the flexible driving device 1 connected to the left end of the palm and the right end of the arm is shortened, while the flexible driving device 1 connected to the right end of the palm and the left end of the arm is extended. Similarly, when bending to the right is required, the flexible driving device 1 connected to the right end of the palm and the left end of the arm is shortened, while the flexible driving device 1 connected to the left end of the palm and the right end of the arm is elongated. Further, the flexible driving device 1 can realize the sequential actions of telescoping and bending, and can also realize the simultaneous action of telescoping and bending. When the wrist needs to be rotated, at least one flexible driving device 1 needs to be installed on both the front of the hand and the back of the hand, and the flexible driving devices 1 on the front of the hand and the back of the hand are arranged in a cross, and twisting is realized by multiple flexible driving devices 1 . In this example, a flexible driving device 1 is provided on the front of the hand and the back of the hand, and the flexible driving devices on the front of the hand and the back of the hand are arranged in a cross. , set up two crossed left and right flexible drive devices 1 , control the fluid pressure in the drive cavity 11 of one of the flexible drive devices 1 to bend it to the left rear, and control the fluid pressure in the drive cavity 11 of the other flexible drive device 1 , so that it bends forward to the right, so that the wrist can be twisted. In the same way, changing the bending directions of the two flexible driving devices 1 ensures that the two can provide torsional force, and can realize the wrist torsion in the opposite direction to the above. Similar to the above examples, the present invention can also be applied to body rehabilitation parts such as ankles, arms or necks to assist in activities.

The embodiment of the present invention provides an exoskeleton rehabilitation system and rehabilitation method, which replaces the rigid connection in the prior art with a flexible drive device, and adopts a flexible connection, which can realize multi-angle actions such as bending and twisting of the rehabilitation part, and can improve the wearability of the exoskeleton. It can improve the comfort, reduce the weight of the equipment, expand the application site and scope of the rehabilitation equipment, and avoid the secondary injury caused by the rigid structure to the patient.

Wherein, the flexible driving device 1 further includes a flexible main body 12 and a constraining layer 13 , the driving cavity 11 is arranged inside the flexible main body 12 and is arranged parallel to the axial direction of the flexible main body 12 , the constraining layer 13 It is wrapped around the outer side wall of the driving cavity 11 or covered with the outer side wall of the flexible body 12 . The material of the flexible body 12 may be a flexible material such as silicone, rubber or latex. The constraining layer 13 has good flexibility and ductility, and can be made of fibers, flexible springs, or braids. The ductility of the constraining layer 13 in the axial direction should be much greater than the ductility in the radial direction of the flexible body 12 . Specifically, the configuration of the constraining layer 13 in this embodiment can be wrapped on the outer sidewall of the driving cavity 11 (as shown in FIG. 5 , FIG. 6 and FIG. 7 ), or directly wrapped on the outer sidewall of the flexible body 12 (as shown in FIG. 7 ) 10 and FIG. 11 ), a groove may also be provided on the outer sidewall of the flexible body 12 to embed the constraining layer 13 into the groove (see FIGS. 8 and 9 ). The flexible main body 12 can serve as a bearing part of the driving cavity 11 , and the constraining layer 13 constrains the deformation of the entire flexible driving device 1 , and can adjust its flexibility.

As shown in FIG. 12 and FIG. 13 , each of the fixing parts 2 includes a fixing belt 21 and a fixing joint 22 , the fixing belt 21 is bound to the part of the human body to be rehabilitated, and the fixing joint 22 is fixed to the fixing joint 22 . The belt 21 is detachably connected to the flexible driving device 1 . Specifically, the fixing belt 21 can be a strap, a cord, a holster, or the like. The fixing belt 21 is made of high-strength, soft and breathable fabric, and the inner surface is provided with a non-slip lining. As an embodiment of the present invention, when the present invention is applied to wrist rehabilitation training, one fixing part 2 needs to be installed on the forearm, and the other is installed on the palm part. Correspondingly, one fixing belt 21 is bound to the forearm, and the other One is tied to the palm part, and the fixing straps 21 are respectively provided with fixing joints 22 , and the fixing joints 22 can install or remove the flexible driving device 1 connected between the two fixing parts 2 . Specifically, the structure of the fixed joint 22 may be a snap portion or a threaded portion, that is, the fixed joint 22 and the flexible driving device 1 are detachably connected through snaps or threads. In this example, a snap connection is adopted, and the fixed joint 22 includes a fixed base 221 and an adjustment button 222. The fixed base 221 is provided with a card position for installing the flexible drive device 1, and the adjustment button 222 is installed on the fixed base 221. The peripheral side of the card position is used to adjust the opening and closing state of the card position. In this example, the degree of opening and closing of the card position is adjusted by the adjustment button 222, thereby realizing two types of locking and loosening of the flexible drive device 1 in the card position. state.

There are two fixed parts 2 and two flexible drive devices 1 , each of the fixed parts 2 includes two fixed joints 22 , and the two flexible drive devices 1 are cross-connected to the fixed joints 22 . As shown in Fig. 2(a), Fig. 2(b), Fig. 3(a), Fig. 3(b), Fig. 4(a) and Fig. 4(b), in this example, two flexible drive devices 1 arranged in a cross are used to connect On the fixed joint 22 in the diagonal position, the bending and twisting of the wrist can be assisted by two flexible actuation devices 1 . It is worth noting that the two flexible drive devices 1 in this example and the accompanying drawings refer to the fact that one flexible drive device 1 is provided on the front of the hand and the back of the hand, respectively.

As shown in FIG. 1 , a sensing device 5 is also included, and the sensing device 5 includes an electromyographic signal detection device, a bending angle sensor and a torsion angle sensor, and the electromyographic signal detection device is used to monitor the electromyography of the part to be rehabilitated The bending angle sensor is used to monitor the bending angle of the part to be rehabilitated, and the torsion angle sensor is used to monitor the rotation angle of the part to be rehabilitated.

Wherein, it also includes an electric control device 4, the electric control device 4 is connected with the fluid supply device 3, and the electric control device 4 is respectively connected with the myoelectric signal detection device, the bending angle sensor, the torsion angle sensor and the fluid supply. The device 3 is connected to control the fluid pressure input by the fluid supply device 3 into the driving cavity 11 according to the received electromyographic signal, bending angle and rotation angle of the part to be rehabilitated. The controller in this example can collect the information monitored by the bending angle sensor and the torsion angle sensor, and can automatically or manually control the fluid supply device 3 to drive the flexible drive device 1 to assist the rehabilitation part. Specifically, the electronic control device 4 includes a power supply and a controller, the power supply is used to provide electric drive for the entire system, and the controller is used to collect and analyze the monitored information, thereby controlling the pressure of the output fluid in the fluid supply device 3 . Specifically, the present invention uses the sensing device 5 to monitor the information of the corresponding position of the human body, mainly judges the muscle state of the corresponding part according to the electromyographic signal, and controls the fluid input from the fluid supply device 3 to the driving cavity 11 according to the muscle state electronic control device 4 The pressure assists in driving the fixed part 2 to drive the rehabilitation part. For example, when the human body needs to move, the muscles are tensed at this time, and corresponding electromyographic signals are generated. The electronic control device 4 controls the increase or decrease of the fluid pressure output by the fluid supply device 3, and drives the fixed part 2 to move, thereby causing the corresponding parts of the human body to generate Activity. The bending angle information monitored by the bending angle sensor includes 360° angle monitoring such as front, rear, left, and right, that is, the bending angle sensor can monitor multiple oblique angles such as left front, left rear, right front, and right rear. In this embodiment, the bases of the EMG signal detection device, the bending angle sensor and the torsion angle sensor are made of soft fabric, silica gel, etc., which have strong stretchability and skin fit, and can be closely attached to the skin surface; The sensing materials of the electrical signal detection device, the bending angle sensor and the torsion angle sensor are composed of liquid metal, graphene, carbon nanotubes, optical fibers, etc. surface. In this embodiment, a physician or a patient can manually control the electronic control device 4 to adjust the fluid pressure output by the fluid supply device 3 , or the electronic control device 4 can be used to control the fluid supply device 3 through information monitored by the sensing device 5 . The output fluid pressure is automatically adjusted, and the sensor device 5 can also be used as the activity feedback of the rehabilitation part, as the basis for adjusting the fluid pressure.

Wherein, the number of the driving cavity 11 is greater than or equal to three. As shown in FIG. 6 , FIG. 9 and FIG. 11 , the number of the driving chambers 11 in this example is three, and they are all arranged at equal angles along the circumference of the cross section.

The invention also discloses a rehabilitation method such as this exoskeleton rehabilitation system, comprising:

The fluid supply device 3 inputs a certain pressure of fluid into the drive cavity 11 in the flexible drive device 1 , so that the flexible drive device 1 extends, shortens or bends, and drives the fixed part 2 to assist the movement of the body part to be healed.

The electronic control device 4 is also included, which can control the fluid supply device 3 to input a certain pressure of fluid to the drive cavity 11 in the flexible drive device 1 .

Wherein, the present invention further includes a sensing device 5, the sensing device 5 includes an electromyographic signal detection device, a bending angle sensor and a torsion angle sensor, and the electromyographic signal detection device is used to monitor the electromyographic signal of the part to be rehabilitated, The bending angle sensor is used to monitor the bending angle of the part to be rehabilitated, and the torsion angle sensor is used to monitor the rotation angle of the part to be rehabilitated. The electronic control device 4 can control the fluid pressure of the fluid supply device 3 based on the EMG signal, the bending angle and the rotation angle monitored by the sensing device 5 , thereby controlling the extension, shortening or bending of the flexible driving device 1 . In this embodiment, a physician or a patient can manually control the electronic control device 4 to adjust the fluid pressure output by the fluid supply device 3 , or the electronic control device 4 can be used to control the fluid supply device 3 through information monitored by the sensing device 5 . The output fluid pressure is automatically adjusted, and the sensor device 5 can also be used as the activity feedback of the rehabilitation part, as the basis for adjusting the fluid pressure.

As shown in FIG. 14 , a specific embodiment of the present invention discloses a rehabilitation method for an exoskeleton rehabilitation system, including:

Connect the system and initialize the device;

The doctor sets the rehabilitation training mode through the host computer;

The host computer sends a telescopic and/or bending command of the flexible drive device 1 to the electronic control device 4, and the electronic control device 4 controls the fluid supply device 3 to supply or discharge fluid, and controls the fluid pressure, so that the corresponding flexible drive device 1 is stretched and/or bent. , continuously monitor the movement angle of the rehabilitation part, and send it to the electronic control device 4 as feedback, so that the rehabilitation part reaches the predetermined active state; or the doctor controls the stop or continuation of the movement of the flexible drive device 1 through the host computer, observes the EMG signal to adjust the rehabilitation training mode .

The embodiment of the present invention provides an exoskeleton rehabilitation system and rehabilitation method, which replaces the rigid connection in the prior art with a flexible drive device, and adopts a flexible connection, which can realize multi-angle actions such as bending and twisting of the rehabilitation part, and can improve the wearability of the exoskeleton. It reduces the weight of the equipment, expands the application site and scope of the rehabilitation equipment, and avoids secondary injury to the patient due to the rigid structure; multiple flexible drive devices are used for driving, and multiple drive cavities are arranged in each flexible drive device. , to ensure the flexible drive of multi-angle bending and torsion, with greater control flexibility, can fully and effectively assist patients in rehabilitation treatment; the control device is separated from the patient wearing device, which reduces the weight of the equipment and reduces the wearer's burden of use. It is convenient for patients to wear and control by doctors; the flexible driving device and sensing device are made of flexible materials, which can better fit the skin and ensure softness and comfort; the flexible driving device adopts detachable connection, which is convenient for the assembly and operation of the whole device. It is disassembled and portable; the algorithm is optimized to monitor the EMG signal, bending angle and torsion angle of the rehabilitation part, which is used to monitor and identify the patient's active movement willingness, and can also be used to monitor the patient's rehabilitation status and monitor and optimize the corresponding rehabilitation. The multi-angle flexible deformation state of the part can give timely feedback to doctors and patients, and adjust the movement of the rehabilitation part.

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (4)

1. An exoskeleton rehabilitation system, characterized in that, comprising: a flexible driving device, a fluid supply device, a sensing device and two fixing parts; wherein, The flexible drive device includes a drive cavity, the number of the drive cavity is greater than or equal to three, and is distributed equiangularly along its radial circumference, and the flexible drive device can extend through the change of the fluid pressure inside the drive cavity. long, shortened or curved; The fluid supply device is connected to the driving chamber, and is used for inputting a certain pressure of fluid into the driving chamber; The sensing device includes an EMG signal detection device, a bending angle sensor and a torsion angle sensor, the EMG signal detection device is used to monitor the EMG signal of the part to be rehabilitated, and the bending angle sensor is used to monitor the part to be rehabilitated. bending angle, the torsion angle sensor is used to monitor the rotation angle of the part to be rehabilitated; Each of the fixing parts includes a fixing belt and two fixing joints, the fixing belts of the two fixing parts are respectively bundled on both sides of the part to be rehabilitated, the fixing joints are fixed to the fixing belts, and Removably connected to the flexible drive device, so that one of the flexible drive devices is located on the front of the part to be rehabilitated, the other flexible drive device is located on the back of the part to be rehabilitated, and the flexible drive device located on the front of the part to be rehabilitated The device is arranged crosswise with the flexible driving device located on the back of the part to be recovered; The fixed joint includes a fixed base and an adjustment button, the fixed base is provided with a clamping position for installing the flexible drive device, and the adjustment button is installed on the peripheral side of the clamping position for adjusting the clamping position the opening and closing state. 2 . The exoskeleton rehabilitation system according to claim 1 , wherein the flexible driving device further comprises a flexible main body and a constraining layer, and the driving cavity is provided inside the flexible main body and parallel to the flexible main body. 3 . The axial arrangement of the constraining layer is wrapped around the outer side wall of the driving cavity or covers the outer side wall of the flexible body. 3. The exoskeleton rehabilitation system according to claim 2, wherein the constraining layer is a fiber product, a flexible spring or a braid. 4 . The exoskeleton rehabilitation system according to claim 1 , further comprising an electric control device, the electric control device is connected to the fluid supply device, and the electric control device is respectively connected to the electromyographic signal detection device. 5 . The device, the bending angle sensor, the torsion angle sensor and the fluid supply device are connected, and the fluid pressure input by the fluid supply device into the driving cavity is controlled according to the received electromyographic signal, bending angle and rotation angle of the part to be rehabilitated.

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