CN119326632A - Joint self-calibration lower limb rehabilitation exoskeleton device and embodied adjustment method - Google Patents
Joint self-calibration lower limb rehabilitation exoskeleton device and embodied adjustment method Download PDFInfo
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- CN119326632A CN119326632A CN202411890836.3A CN202411890836A CN119326632A CN 119326632 A CN119326632 A CN 119326632A CN 202411890836 A CN202411890836 A CN 202411890836A CN 119326632 A CN119326632 A CN 119326632A
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Abstract
The invention discloses a lower limb rehabilitation exoskeleton device with joint self-calibration, which comprises a hip joint, a thigh component, a knee joint, a shank component, an ankle joint and a sole supporting plate, wherein one end of the thigh component, which is opposite to the knee joint, is provided with a limb extension part in a telescopic manner, the thigh component is connected with the knee joint through the limb extension part, a magnetic locking module is fixed on the side wall of the thigh component, a groove is dug downwards at one side of the limb extension part, and an iron patch is fixed on the groove through a bolt. The lower limb rehabilitation exoskeleton device with the self-calibration joint can effectively achieve the effect of locking the elongation part of the limb through the combined arrangement of the magnetic locking module and the iron patch, and thus compared with the mode in the prior art, the lower limb rehabilitation exoskeleton device solves the problems that the lower limb rehabilitation exoskeleton device can only be locked manually and is adjustable in length in advance in the prior art, and the length cannot be adjusted in the movement process.
Description
Technical Field
The invention relates to an exoskeleton device, in particular to a lower limb rehabilitation exoskeleton device with joint self-calibration and a body adjusting method.
Background
Rehabilitation exoskeleton helps personnel suffering from limb dyskinesia to restore motor function by providing auxiliary support and motor assistance to the patient. The exoskeleton of the lower limb serves the rehabilitation of the lower limb movements of the patient, and is loaded much more than the upper limb. The adoption of rigid connecting rod transmission is a limb transmission mode commonly adopted by the exoskeleton at present, and has high control precision and enough large driving moment. However, during exercise rehabilitation, different patients exhibit different physiological motion trajectories at different phases of the gait cycle. If the motion trail of the exoskeleton does not accord with the actual physiological motion trail of the human body, man-machine countermeasure can be generated, wearing comfort is seriously affected, and even secondary damage is caused. In addition, the bones and the articular cartilage of the human body have certain toughness, and play a role in buffering impact on the human body during the movement. And the flexibility of different people is different, and the required matched flexible buffering force is also different. Only if the rigidity and the flexibility of the connecting rod accord with the flexibility of the human body, the wearing comfort and the functional matching performance of the exoskeleton can be ensured.
Currently, the length of the exoskeleton limb connecting rod is mostly manually adjusted and manually locked, or electrically adjusted and manually locked. The length is adjusted in advance in the wearing process, and the length of the exoskeleton limb connecting rod is kept unchanged in the moving process. However, the rotation of the joints of the human body is not centered, and the length of the limbs of the person in an extended state is longer than that in a flexed state. The exoskeleton-simulated human joint is precisely centered in rotation about the motor shaft. This results in the exoskeleton not being able to adapt to the length changes of the person's limb when the person is wearing the exoskeleton for exercise, and thus fight. In addition, the existing scheme, such as the scheme of electrically adjusting the limb length and manually locking, has large error in pre-adjusting the external skeleton limb connecting rod, and only rough estimation and alignment can be performed. Even if wearing discomfort is felt during exercise, correction and fine adjustment cannot be performed. Meanwhile, in order to ensure that the exoskeleton has enough strength, the connecting rod is mostly processed by adopting materials with high rigidity such as aluminum alloy and the like, and only the connecting part is provided with a spring to play a role in buffering. This is also a key factor in the difficulty in improving the wearing comfort and motion matching of current exoskeleton devices. In summary, if the dynamic, rapid, reliable and self-adaptive adjustment and calibration of the exoskeleton limb connecting rod cannot be performed, on one hand, the actual state of a person in the exercise process cannot be met to influence the exercise suitability, and on the other hand, the personalized requirements of the human body with different heights are difficult to meet. And the existing exoskeleton buffer design is difficult to meet the flexibility requirement of the human body structure.
The patent application 202311268427.5 discloses a deformable exoskeleton device, the thigh and the shank are driven by motor lead screws, and the length of the thigh and the shank are adjustable. But the locking device of the extension part is not adopted, all stress acts on the screw nut in the movement process, the reliability is reduced, and the transmission part is easy to damage in the long-term use process.
The invention with the application number 201921676730.8 discloses an automatic length adjusting structure for leg joints of a lower limb power-assisted exoskeleton. The automatic length adjusting motor is adopted to drive the screw rod through the transmission mechanism, so that the screw rod sliding block is driven to move up and down. The length can be given by the controller and adjusted to the corresponding position. Simultaneously, the inner leg tube and the outer leg tube are locked by adopting the locking buckle. The locking buckle has the defect that the locking buckle can only adopt a manual mode, and can only realize the pre-length adjustment of the exoskeleton.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a rigid-flexible integrated lower limb rehabilitation exoskeleton device with joint self-calibration and a body adjusting method, which have the advantages of dynamic length adjustment, automatic locking, rigid-flexible integrated body of a limb connecting rod and variable stiffness adjustment, and can realize the function of self-adaptive calibration of the exoskeleton according to individual differences in the movement process. The length of the exoskeleton connecting rod is continuously calibrated at the initial stage of movement by sensing the angle of the joints of the human body, so that the adaptability of the exoskeleton is improved. The rigid-flexible integrated connecting rod can well simulate the elasticity and deformability of human articular cartilage, and the rigidity is adjustable so as to adapt to the flexibility difference of different people. Solves the problems that the manual locking and the pre-length adjustment can be only carried out in the published patent, the length adjustment can not be carried out in the movement process, and the flexibility of the connecting rod transmission is insufficient.
The lower limb rehabilitation exoskeleton device comprises a hip joint, a thigh component, a knee joint, a shank component, an ankle joint and a sole supporting plate, wherein the hip joint and the knee joint are respectively connected to two ends of the thigh component, one end of the shank component is connected with the knee joint, the other end of the shank component is connected with the ankle joint, the sole supporting plate is arranged on the ankle joint, the thigh component is telescopically provided with a limb extension part relative to one end of the knee joint, the thigh component is connected with the knee joint through the limb extension part, a magnetic locking module is fixed on the side wall of the thigh component, a groove is dug downwards at one side of the limb extension part, and an iron patch is fixed on the groove through bolts so as to generate magnetic force to adsorb the iron patch to realize telescopic locking of the limb extension part after the limb extension part is telescopic in place.
As a further improvement of the invention, the thigh assembly comprises a limb shell and a thigh cover plate, wherein one side of the limb shell is provided with a containing groove penetrating through two ends of the limb shell, the thigh cover plate is fixed on a notch of the containing groove through a bolt, so that the thigh assembly forms a hollow prismatic structure, the limb extension part is slidably arranged in the prismatic structure, the hip joint is provided with a length adjusting motor, a rotating shaft of the length adjusting motor is connected with a coupler, the coupler is coaxially fixed with a screw rod, the end part of the limb extension part is fixed with a screw nut, and the screw rod penetrates through the screw rod nut and then stretches into the limb extension part.
As a further improvement of the invention, the magnetic locking module comprises an electromagnet holder fixedly mounted on the thigh cover plate and an electromagnet mounted on the electromagnet holder and attached to the iron patch.
As a further improvement of the present invention, there is also included an angle sensor to which an upper wing plate and a lower wing plate are connected, the side edges of which are bent toward one side and are respectively fixed to the thigh and the calf of the patient.
As a further improvement of the present invention, a hip joint connecting member is connected to the hip joint, a knee joint connecting member is connected between the knee joint and the limb extension portion, an ankle joint connecting member is connected between the calf part component and the ankle joint, the hip joint is connected to the external waist fixing member through the hip joint connecting member, the knee joint is connected to the limb extension portion through the knee joint connecting member, the ankle joint is connected to the calf part component through the ankle joint connecting member, and flexible portions are provided on the hip joint connecting member, the knee joint connecting member, and the ankle joint connecting member.
As a further improvement of the invention, the flexible part is formed by combining a plurality of mutually-spaced long grooves formed in the hip joint connecting piece, the knee joint connecting piece and the ankle joint connecting piece, and the two adjacent long grooves are vertically staggered, so that an S-shaped elastic strip is formed at the position between the two long grooves.
As a further improvement of the invention, the flexible part of the knee joint connecting piece is provided with a rigidity-changing component, the rigidity-changing component comprises a plurality of electric push rods and a plurality of h-shaped structural blocks, the bodies of the electric push rods are arranged at the position between two adjacent long grooves of the S-shaped elastic strip, the directions of telescopic rods of the two adjacent electric push rods are opposite, the h-shaped structural blocks are arranged at the positions of the corners of the S-shaped elastic strip, the h-shaped structural blocks are provided with through holes, and the telescopic rods of the electric push rods can be inserted into the through holes or pulled out from the through holes.
In another aspect, the present invention provides a body adjusting method, including the steps of:
Firstly, wearing an exoskeleton device in a sitting posture state of a tested person, primarily adjusting the lengths of a thigh component and a shank component to proper positions, and enabling the exoskeleton to drive the tested person to stand up to mark the upright state of the tested person and the exoskeleton as an initial state;
Step two, the testee slowly starts to move, and the hip joint angle is recorded as ,Collecting thigh and shank angles of a subjectAcquisition of angles of exoskeleton thigh and calf componentsThereafter comparing and comparingAndSize, ifSequentially shortening the length of the exoskeleton thigh component and the lower leg componentIf (3)Sequentially extending the exoskeleton thigh and calf components to a length;
Step three, storing the adjusted lengths of the exoskeleton thigh component and the calf component and the hip joint angles into a database;
Step four, making Judging whether the rotation angle of the hip joint reaches,Is the sampling interval angle;
Step five, if the rotation angle of the hip joint is not reached If the stride period is not reached, repeating the third to fourth steps, and if the hip joint rotation angle is reachedJudging that the stride period is reached, further judging whether the data quantity reaches a sampling preset value or not, if the data quantity does not reach the sampling preset value, repeating the steps two to four, expanding the database, if the data quantity reaches the sampling preset value, further judging whether the data quantity reaches a training preset value or not, if the data quantity does not reach the training preset value, adjusting the sampling time interval to beAnd continuously repeating the second step to the fifth step;
step six, if reaching the training preset value, combing the database, taking the sampling interval as the sampling interval Is a training library, taking sampling interval asIs a verification library;
step seven, training gait curve parameters by applying a deep learning method based on training library and verification library data;
and step eight, judging whether the fitting precision meets the preset requirement, if not, adjusting the database data quantity to train the preset value, repeating the steps five to eight, and if so, outputting gait curve parameters.
The invention has the beneficial effects that:
The length-adjusting driving module consists of a length-adjusting motor, a shaft coupling, a screw rod nut, a limb extension part and a limb shell. The limb extension part and the limb shell are made of aluminum square tubes and are in clearance fit with each other. The weight is reduced, the processing amount is reduced, and the volume is prevented from being increased by additionally adding the guide rail.
The hip joint and the knee joint are connected with the leg assembly through the joint motor, and the connecting part extends to serve as a cover plate part of the leg assembly, so that the connecting rigidity is enhanced.
The magnetic locking module consists of an electromagnet, an electromagnet retainer and an iron patch. The limb extension part and the limb shell can be flexibly locked and released through the control of the power switch. Thereby reducing the impact on the screw rod and the motor in the movement process and improving the reliability.
The length-adjusting driving module is matched with the magnetic locking module, so that the dynamic automatic length adjustment and locking of the exoskeleton limb can be realized, and the length adjustment of the limb in the movement process can be realized. Under the cooperation of the self-calibration control method, the length of the exoskeleton connecting rod can be dynamically calibrated according to the gesture in the human movement process.
The self-calibration control method provides a method for calculating the joint angle and the connecting rod length according to the human thigh and calf angle and the exoskeleton thigh and calf angle. And through fusion of a deep learning algorithm, gait curve parameters are calibrated continuously, so that the exoskeleton can adapt to a human body continuously in the motion process.
The rigid-flexible integrated joint connecting rod sleeve member realizes rebound by alternately grooving on the metal connecting piece to form an S-shaped loop so as to simulate the toughness of human bones. But also can conveniently realize different resilience forces and rebound intervals by controlling the width and the interval of the grooves, thereby meeting the personalized bone characteristic requirements of different patients.
The rigidity-variable adjusting assembly is combined with the rigid-flexible integrated connecting rod suite, and the locking and the releasing of each layer of rebound structure can be controlled respectively by arranging the electric push rod on each layer of the S-shaped rebound structure, so that the rigidity-variable adjustment of the connecting piece is realized.
Drawings
FIG. 1 is a schematic diagram of a lower limb rehabilitation exoskeleton structure with joint self-calibration;
FIG. 2 is a cross-sectional view of a lower extremity exoskeleton length adjustment drive module;
FIG. 3 is a technical roadmap of a self-calibrating control method;
FIG. 4 is a schematic view of the joint angle of the self-calibration control method;
FIG. 5 is a logic diagram of a force feedback control module;
FIG. 6 is a schematic diagram of a leg assembly structure;
FIG. 7 is a schematic illustration of thigh assembly;
FIG. 8 is a schematic view of a rigid-flexible integral joint-link kit;
FIG. 9 is a schematic diagram of a patient limb angle measurement mechanism;
FIG. 10 is a schematic view of the joint angle measurement mechanism mated with the exoskeleton and patient limb;
FIG. 11 is an S-shaped flexible resilient structure on an extension attachment cover;
Fig. 12 is a construction of a variable stiffness adjustment assembly.
Detailed Description
The invention will be further described in detail with reference to examples of embodiments shown in the drawings.
Referring to fig. 1 to 12, a joint-self-aligning lower limb rehabilitation exoskeleton device of the present embodiment includes a hip joint 1, a thigh assembly 2, a knee joint 4, a shank assembly 15, an ankle joint 5, and a foot support plate 6, wherein the hip joint 1 and the knee joint 4 are respectively connected to both ends of the thigh assembly 2, one end of the shank assembly 15 is connected to the knee joint 4, and the other end is connected to the ankle joint 5, and the foot support plate 6 is attached to the ankle joint 5, characterized in that: the thigh component 2 is provided with a limb extension part 3 which is telescopic relative to one end of the knee joint 4, the limb extension part 3 is connected with the knee joint 4, a magnetic locking module 7 is fixed on the side wall of the thigh component 2, a groove is dug downwards at one side of the limb extension part 3, and an iron patch 203 is fixed on the groove through bolts, so that after the limb extension part 3 stretches in place, the magnetic locking module 7 generates magnetic force to absorb the iron patch 203 to realize telescopic locking of the limb extension part 3, the hip joint 1 is connected with the thigh component 2 through a joint motor, the same knee joint 4 is connected with the thigh component 2 and the shank component 15 through the joint motor, the ankle joint 5 is not provided with a power source, passive rotation is realized, in the process of calibration, the length adjustment of the thigh component 2 is mainly realized through the combined structure of the limb extension part 3, the iron patch 203 and the magnetic locking module 7, thereby realizing the self-calibration effect, wherein the effect of the magnetic locking module 7 can realize positioning of the adjusted limb extension part 3, the main bearing force is the attractive force between the magnetic locking module 7 and the iron patch 203, the service life of the whole device can be prolonged, and enables electrically variable adjustment.
The above components are described in further detail below:
In this embodiment, the thigh assembly 2 includes a limb shell 8 and a thigh cover plate 9, one side of the limb shell 8 is provided with a receiving groove penetrating through two ends of the limb shell 8, the thigh cover plate 9 is fixed to a notch of the receiving groove through a bolt, so that the thigh assembly 2 forms a hollow prismatic structure, the limb extension 3 is slidably arranged in the prismatic structure, a length-adjusting motor 101 is mounted on the hip joint 1, a shaft of the length-adjusting motor 101 is connected with a coupling 102, the coupling 102 is coaxially fixed with a screw rod 103, the end of the limb extension 3 is fixed with a screw nut 104, the limb extension 3 is composed of a limb extension shell 105 of an aluminum square tube, the screw rod 103 penetrates through the screw nut 104 and then extends into the limb extension 3, thus in the process of adjusting the limb extension 3, the effect of the magnetic locking module 7 can be matched with the magnetic locking module to realize the follow-up adjustment effect, the corresponding magnetic locking module 7 adopts the combination of the electromagnet retainer 201 and the electromagnet 202, the electromagnet retainer 201 is fixedly arranged on the thigh cover plate 9, the electromagnet 202 is arranged on the electromagnet retainer 201 and is attached to the iron patch 203, in order to realize the self-calibration effect in the embodiment, the corresponding angle sensor 402 is arranged at the knee joint of the human body, in particular, the angle sensor 402 is connected with the upper wing plate 401 and the lower wing plate 403, the side edges of the upper wing plate 401 and the lower wing plate 403 are bent towards one side and are respectively fixed on the thigh and the shank of the human body, in particular, as shown in figure 10, the angle of the joint of the lower limb of the human body can be effectively collected, thus, the self-calibration effect on the joint can be realized by the arrangement of the components, wherein the structure of the shank component 15 is the same as that of the thigh component 2, in this embodiment, the magnetic locking module 7 adopts the mode that aluminum component and iron paster 203 combine, lighten weight, iron paster 203 surface carries out the sandblast, throw the ball or passivation handles, improve surface roughness, with the frictional force that increases magnetic locking, play rust-resistant effect simultaneously, magnetic locking module 7 can adopt whole cast iron to make simultaneously, promote the magnetic attraction, limb extension 3 and limb shell 8 adopt aluminum square pipe to make in addition, inside and outside clearance fit, form the guide effect, and in the magnetic locking module 7, the electro-magnet passes limb shell 8 and iron paster 203 contact on the limb extension 3, can adsorb limb extension 3 under the condition of circular telegram.
In addition, in this embodiment, the hip joint 1 is connected with the hip joint connector 301, the knee joint 4 is connected with the limb extension portion 3, the knee joint connector 302 is connected between the calf component 15 and the ankle joint 5, the hip joint 1 is connected with the external waist fixing component through the hip joint connector 301, the knee joint 4 is connected with the limb extension portion 3 through the knee joint connector 302, the ankle joint 5 is connected with the calf component 15 through the ankle joint connector 303, and flexible portions are respectively arranged on the hip joint connector 301, the knee joint connector 302 and the ankle joint connector 303, so that the connection between each component has a certain flexibility, the bending performance of each component is increased, the flexible portions of the corresponding embodiment are formed by combining a plurality of mutually spaced elongated grooves formed in the hip joint connector 301, the knee joint connector 302 and the ankle joint connector 303, the adjacent two elongated grooves are vertically staggered, so that the positions between the two elongated grooves form an S-shaped elastic strip, and the width, the length and the number of the elongated grooves can be determined according to the material properties of the connecting pieces and the joint stress. The wider the width, the longer the length and the greater the number, the greater the flexibility of the flexible portion, while in order to further adapt to the action of the legs of the human body, in this embodiment there is a miniature electric putter 13 fixed between the S-shaped flexible resilient structures. The h-shaped structure 11 integrally processed with the S-shaped flexible rebound structure is matched with the telescopic rod of the electric push rod 13, and the locking and releasing of each layer of rebound structure can be realized. By arranging the electric push rods on each layer of the S-shaped rebound structure, locking and releasing of each layer of the rebound structure can be controlled respectively, and therefore variable rigidity adjustment of the connecting piece is achieved. The adjusting mode is purely electric, and can be automatically adjusted in an upright state before the exoskeleton wears or in the movement process, so that the connection piece of the hip joint 1 and the knee joint 4 is limited by the structural shape, and is physically limited, and the occurrence of excessive buckling is prevented, so that the injury to a human body is prevented.
Thus, based on the above-constructed device, the present embodiment provides a body adjusting method including the steps of:
Firstly, wearing an exoskeleton device in a sitting posture state of a tested person, primarily adjusting the lengths of a thigh component 2 and a shank component 15 to proper positions, and enabling the exoskeleton to drive the tested person to stand up, so as to mark the upright state of the tested person and the exoskeleton as an initial state;
Step two, the testee slowly starts to move, and the hip joint angle is recorded as ,Collecting thigh and shank angles of a subjectAcquisition of the angles of exoskeleton thigh assembly 2 and calf assembly 15Thereafter comparing and comparingAndSize, ifSequentially shortening the length of exoskeleton thigh assembly 2 and calf assembly 15 toIf (3)Sequentially extending the exoskeleton thigh assembly 2 and calf assembly 15 to a length;
Step three, storing the adjusted lengths and hip joint angles of the exoskeleton thigh component 2 and the calf component 15 into a database;
Step four, making Judging whether the rotation angle of the hip joint reaches,Is the sampling interval angle;
Step five, if the rotation angle of the hip joint is not reached If the stride period is not reached, repeating the third to fourth steps, and if the hip joint rotation angle is reachedJudging that the stride period is reached, further judging whether the data quantity reaches a sampling preset value or not, if the data quantity does not reach the sampling preset value, repeating the steps two to four, expanding the database, if the data quantity reaches the sampling preset value, further judging whether the data quantity reaches a training preset value or not, if the data quantity does not reach the training preset value, adjusting the sampling time interval to beAnd continuously repeating the second step to the fifth step;
step six, if reaching the training preset value, combing the database, taking the sampling interval as the sampling interval Is a training library, taking sampling interval asIs a verification library;
step seven, training gait curve parameters by applying a deep learning method based on training library and verification library data;
And step eight, judging whether the fitting precision meets the preset requirement, if the fitting precision does not meet the preset requirement, adjusting the database data quantity to train the preset value, and repeating the steps five to eight, if the fitting precision meets the preset requirement, outputting gait curve parameters, wherein in the adjusting method, a tested person stands on the sole supporting plate 6, and adopts soft package fixation to control the length adjusting motor 101 to adjust the length of the thigh component 2 and/or the shank component 15, so that the motor centers of the knee joint 4 and the hip joint 1 are kept substantially consistent with the hip and the knee of the tested person, and the movement amplitude is larger in slow movement of the tested person, so that the movement is in place as much as possible. Gait training is carried out according to logic provided by the self-calibration control method, and meanwhile, in a control program in the controller, the length-adjusting driving module and the magnetic locking module 7 are mutually exclusive. When the length adjusting driving module acts, the magnetic locking module 7 is released, and when the length adjusting driving module stops, the magnetic locking module 7 starts locking. After the adjustment is completed, when the tested person feels that the resistance with the exoskeleton mechanism is reduced, the normal motion stage can be entered, and as the database is expanded, the deep learning algorithm continuously self-calibrates gait curve parameters, the fusion degree of the tested person and the exoskeleton is continuously improved, and the self-calibration operation is effectively completed.
Based on the above adjustment method, the controller in the present embodiment has the following control logic;
The force sensor includes, but is not limited to, a digital force sensor mounted at the exoskeleton ankle of the lower limb. During training, the thighs and the lower legs of the subject are tied together with the lower limb exoskeleton through soft straps, and the relative movement allowance between the thighs and the lower limb exoskeleton causes errors to the force sensor. The exoskeleton ankle joint of the lower limb is close to the movement tail end of the lower limb of the human body, the movement amplitude is large, and the force sensor is arranged at the position, so that the error of the force sensor can be effectively reduced.
The lower limb exoskeleton hip joint 1 and the knee joint 4 are integrated servo motors, and encoders and drivers are arranged in the motors, so that data such as angles and rotating speeds can be fed back in real time. The single chip microcomputer and the lower limb exoskeleton sensor are communicated through a CAN bus, the angle of the lower limb joint of the human body is obtained by an angle sensor 402 arranged at the hip joint 1 and the knee joint 4, and the angle of the exoskeleton joint 1 and the man-machine interaction force data are respectively measured by a motor built-in encoder and a force sensor arranged at the ankle joint 5 and fed back to the single chip microcomputer. The singlechip carries out real-time processing on corresponding angle data and force feedback data, and simultaneously sends the data into the upper computer by utilizing a serial port communication mode for analysis and visualization processing. Integrating the functions of data analysis, data storage, interface display, exoskeleton control and the like in the upper computer, and obtaining control instructions of the lower limb exoskeleton after the angle and force feedback data are calculated through an algorithm. The module controller receives the instruction of the upper computer and drives the corresponding module to finish the action.
Before the testee wears the exoskeleton, the angle sensor 402 measures the joint angle of the human body and sends the data to the singlechip, and the servo motor sends the exoskeleton joint angle data to the singlechip. And the upper computer calculates and analyzes the difference value of the two groups of data, and if the two groups of data are not within the allowable range of the difference value, a magnet releasing instruction is sent to the magnetic locking controller, so that the magnet of the magnetic locking module 7 is released. And then, the upper computer sends an adjusting instruction to the length adjusting motor controller according to the angle difference value to drive the exoskeleton leg connecting rod to stretch and retract until the angle difference value meets the allowable range of the length of the leg of the human body. At this time, the calibration and adjustment of the lower limb exoskeleton connecting rod and the length of the leg of the human body are completed, and the upper computer sends a magnet actuation instruction to enable the magnet to attract the exoskeleton limb extension part, so that the purpose of locking the extension part is achieved. The magnetic locking module 7 and the length adjusting driving module are a pair of mutual exclusion modules, when the magnet is attracted, the length adjusting motor 101 stops acting, and when the magnet is released, the length adjusting motor 101 starts acting.
After the testee wears the exoskeleton, the upper computer sends gait movement instructions to the servo motor to control the lower limb exoskeleton to assist the testee in gait rehabilitation training, and leg length adjustment actions of the magnetic locking module 7 and the length adjustment driving module are repeated in the process until the requirement of dynamic calibration is met. Meanwhile, the force sensor at the ankle joint 5 sends interaction force data to the upper computer for analysis and processing through the singlechip, and sends an instruction to the variable stiffness controller according to the result so as to drive the variable stiffness module to adjust the stiffness of the lower limb exoskeleton, namely, control the number of the telescopic rods of the plurality of electric push rods 13 and the number of the mutually matched h-shaped structural blocks 14.
In summary, the lower limb rehabilitation exoskeleton device with self-calibration joint and the body adjusting method of the embodiment extend the connecting part of the length adjusting part structure and the joint motor to be the cover plate of the leg assembly, so that the connecting rigidity is enhanced. The extension part and the limb shell are manufactured by adopting aluminum square tubes, the inside and outside clearance fit is realized, the guiding function is realized, the magnetic locking module 7 can flexibly lock and release the extension part and the limb shell through the control of a power switch, the self-calibration method calculates the joint angle and the connecting rod length according to the included angle of the human leg and the included angle of the exoskeleton leg and the exoskeleton leg, and the gait curve parameters are continuously calibrated through a fusion deep learning algorithm, so that the exoskeleton can be continuously matched with a human body in the movement process, and the rebound is realized through alternately slotting on a metal connecting piece to form an S-shaped loop so as to simulate the toughness of the skeleton of the human body. But also can conveniently realize different resilience forces and rebound intervals through controlling the width and the interval of the groove, which can meet the individual skeleton characteristic requirements of different patients, and each layer of the S-shaped rebound structure is provided with an electric push rod 13, and the locking and the releasing of each layer of the rebound structure can be respectively controlled, thereby realizing the variable stiffness adjustment of the connecting piece.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (8)
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