CN111110519B - A multi-sensing intelligent wearable lower limb exoskeleton robot - Google Patents

Abstract

The invention discloses a multi-sensing intelligent wearable lower limb exoskeleton robot, which comprises a waist and hip assembly, a hip joint driving mechanism, a thigh rod piece, a knee joint driving mechanism, a shank rod piece and a foot assembly, wherein the waist and hip assembly is arranged on the waist and hip assembly; the waist and hip assembly comprises a back plate, a first pull pressure sensor, a hip fixing rod, a hip adjusting rod and a hip joint rod piece; the back plate is fixed on the hip fixing rod; the left end and the right end of the hip fixing rod are respectively connected with a hip adjusting rod; the other ends of the two hip adjusting rods are connected with hip joint rods; the first connecting piece is arranged on the back plate, and the first connecting piece is provided with a binding belt, and the first pulling and pressing sensor is fixed on the back plate and connected with the first connecting piece; the inner sides of the two thigh rod pieces are respectively provided with a second pulling pressure sensor; third pull pressure sensors are arranged on the inner sides of the two shank rods; the upper end of the foot component is rotationally connected with the lower end of the shank rod piece through a third rotating shaft; the foot component is provided with a pressure sensor; the invention can realize the multifunction of the lower limb exoskeleton robot.

Description

A multi-sensing intelligent wearable lower limb exoskeleton robot

technical field

The invention belongs to the field of medical devices, in particular to a multi-sensing intelligent wearable lower limb exoskeleton robot.

Background technique

There are a large number of aging population and people with lower extremity dysfunction in China, and the aging trend is getting worse. The present invention aims to realize the rehabilitation training of the disabled (hemiplegia, stroke, motor nerve damage, etc.) and the walking strength assistance of normal people, and designs a lower limb exoskeleton robot with multifunctional modularity. At present, due to the decline of lower extremity function and the weakening of daily living ability of the elderly population, there is a huge demand for nursing care. People with lower extremity dysfunction still need more effective rehabilitation training methods to improve rehabilitation efficiency and reduce the burden on doctors.

At present, most of the successful applications are lower extremity exoskeletons for rehabilitation training, and their functions are relatively single, usually for single joint or combined with other auxiliary equipment for rehabilitation training, lack of flexibility in application, patients need to spend a long time Fit and run-in with the exoskeleton. Chinese Patent Application No. 108578174A discloses a portable wearable lower limb exoskeleton robot. The exoskeleton robot only has joint angle/velocity feedback and is mainly used for rehabilitation training. The human lower limbs exercise, due to the lack of corresponding force sensing devices, its function is relatively simple, only for passive rehabilitation, unable to intelligently adjust the gait trajectory of rehabilitation training in real time, to achieve active rehabilitation, and does not have the ability to target healthy people. Daily walking ability. Chinese Patent Publication No. 105798886A discloses a human lower limb exoskeleton with a semi-annular hip structure. The exoskeleton adds spring devices at the joints to reduce the walking burden of the human body after wearing, but the joints are all non-driving joints and do not have active Auxiliary ability. Chinese Patent Publication No. 106002962A discloses a lightweight, high-speed and large-load lower limb exoskeleton robot, which is mainly used in material transportation occasions. The tension and pressure sensor used to detect the interaction between the human and the exoskeleton is arranged between the structures, instead of Direct detection of the contact force between the human and the exoskeleton rod results in a certain physical delay in the force feedback during the control process, reducing real-time performance.

In addition, there is still a lack of successful design and application of exoskeleton equipment for daily functional rehabilitation training and normal people's daily weight-bearing assistance for objects with reduced walking ability such as the elderly population.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a multi-sensing intelligent wearable lower limb rehabilitation exoskeleton robot to solve the problems of single function, poor adaptability and insufficient flexibility of the existing lower limb exoskeleton robot.

The technical solution that realizes the object of the present invention is:

A multi-sensing intelligent wearable lower extremity exoskeleton robot, comprising a waist and hip assembly, a hip joint drive mechanism, a thigh rod, a knee joint drive mechanism, a calf rod, and a foot assembly;

The waist and hip assembly includes a back plate, a first tension pressure sensor, a hip fixing rod, a hip adjusting rod, and a hip joint rod; the back plate is fixed on the upper end of the hip fixing rod; the hip fixing rod The left and right ends are respectively connected with hip adjustment rods; the other ends of the two hip adjustment rods are connected with hip joint rods; the back plate is provided with a first connecting piece, and the first connecting piece is provided with a strap for use to fix the back of the human body and the back plate; the first tensile pressure sensor is fixed on the back plate and connected with the first connector to detect the tensile force between the back of the human body and the back plate;

The upper end of the thigh rod is rotatably connected with the hip joint rod through a first rotating shaft; the hip joint driving mechanism is fixed with the hip joint rod and connected with the rotating shaft to drive the relative relationship between the hip joint rod and the thigh rod. rotation; an encoder is provided in the hip joint driving mechanism to detect the rotation angle of the hip joint driving mechanism; the thigh rod is provided with a second connecting piece, and the second connecting piece is provided with a strap for detecting the rotation angle of the hip joint driving mechanism; The human thigh and the thigh rod are fixed; the inner side of the two thigh rods are provided with a second tension pressure sensor, and the second tension pressure sensor is connected with the second connecting piece to detect the tension pressure between the human thigh and the thigh rod ;

The upper end of the calf rod is rotatably connected with the lower end of the thigh rod through a second rotating shaft; the knee joint driving mechanism is fixed with the calf rod and connected with the second rotating shaft to drive the calf rod and the thigh rod to rotate relative to each other; The knee joint driving mechanism is provided with an encoder to detect the rotation angle of the knee joint driving mechanism; the lower leg rod is provided with a third connecting piece, and the third connecting piece is provided with a strap to connect the human body The calf is fixed with the calf rod; the inner sides of the two calf rods are provided with a third tension pressure sensor, and the third tension pressure sensor is connected with the third connecting piece to detect the tension pressure between the human calf and the thigh rod;

The upper end of the foot assembly is rotatably connected with the lower end of the calf rod through a third rotating shaft; a pressure sensor is arranged on the foot assembly to detect the pressure of the human foot on the foot assembly.

Compared with the prior art, the present invention has significant advantages:

(1) The application of the present invention is more intelligent and has better flexibility. Tension and pressure sensors are provided on the back and upper legs, angle/angular velocity sensors are provided on the knee joint and hip joint, and pressure sensors are provided on the sole of the foot. Sensing and multi-sensing methods make the exoskeleton suitable for different application requirements and different control methods.

(2) The present invention adopts a modular structure design, in addition to the overall use of both lower limbs, the exoskeleton can be disassembled and assembled for single-joint (knee/hip) use or single-leg use (hemiplegic or ).

(3) The present invention has multifunctional features and can be applied to various groups of people, such as the elderly who need to provide daily life assistance, the heavy manual labor practitioners who need to provide augmentation assistance, and the hemiplegia patients who need to provide rehabilitation training.

The present invention will be described in further detail below with reference to the accompanying drawings.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the multi-sensing intelligent wearable lower limb exoskeleton robot of the present invention.

Fig. 2 is a schematic diagram of a waist-hip assembly with adjustable width fixed with the wearer's waist and back.

FIG. 3 is a schematic diagram of a hip joint assembly with drive capability.

Figure 4 is a schematic diagram of a thigh assembly with adjustable length and tension and pressure sensing.

FIG. 5 is a schematic diagram of a knee joint assembly with drive capability.

FIG. 6 is a schematic diagram of a calf assembly with adjustable length and tension and pressure sensing.

7 is a schematic diagram of an ankle joint and foot assembly with plantar pressure sensing.

Figure 8(a-c) is a schematic diagram of the range of motion of each joint.

Detailed ways

In order to illustrate the technical solution and technical purpose of the present invention, the present invention will be further introduced below with reference to the accompanying drawings and specific embodiments.

1-7 and 8(a-c), a multi-sensing intelligent wearable lower limb rehabilitation exoskeleton robot of the present invention includes a waist and hip assembly 1, a hip joint drive mechanism 2, a thigh rod 3, a knee joint Drive mechanism 4, calf rod 5, foot assembly 6;

The waist and hip assembly includes a back plate 7 , a first tension pressure sensor 10 , a hip fixing rod 12 , a hip adjusting rod 14 , and a hip joint rod 17 ; the back plate 7 is fixed on the upper end of the hip fixing rod 12 ; The tension pressure sensor 10 is fixed on the back plate 7, and the force end is connected with the first connector 8 through the back plate hole to realize the tension pressure detection; The hip fixing rod 12 is fixedly connected with the hip sleeve 14, The hip sleeve 14 is connected to the hip adjusting rod 14 to realize the adjustment of the length of the hip; the other ends of the two hip adjusting rods 14 are connected with a hip joint rod 17; To fixedly connect the first connector 8 with the human body; the back rotation shaft 16 is connected with the back rotation hole 15, and then connected with the hip joint rod 17;

The upper end of the thigh rod member 3 is rotatably connected with the hip joint rod member 17 through the first rotating shaft 24; the hip joint driving mechanism 2 is fixed with the hip joint rod member 17 and connected with the rotating shaft to drive the hip joint rod member 17 and the hip joint rod member 17. Relative rotation between the thigh rods 3; an encoder is provided in the hip joint driving mechanism 2 to detect the rotation angle of the hip joint driving mechanism 2; the thigh rod 3 is provided with a second connecting member 37, the first The two connecting pieces 37 are provided with straps for fixing the thighs of the human body and the thigh rods 3 ; the inner sides of the two thigh rods 3 are provided with second tension pressure sensors 40 , and the second tension pressure sensors 40 are fixed with the fixing piece 39 , and the force-bearing end is connected with the second connecting member 37 to detect the tensile pressure between the human thigh and the thigh rod 3;

The upper end of the calf rod 5 is rotatably connected with the lower end of the thigh rod 3 through the second rotating shaft 44; the knee joint driving mechanism 4 is fixed with the calf rod 5 and is connected with the second rotating shaft 44 to drive the calf rod 5 It rotates relative to the thigh rod 3; the knee joint driving mechanism 4 is provided with an encoder to detect the rotation angle of the knee joint driving mechanism 4; The three connecting pieces 61 are provided with straps for fixing the lower legs of the human body and the lower leg rods 5 ; the inner sides of the two lower leg rods 5 are provided with a third tension pressure sensor 59 , and the third tension pressure sensor 59 is fixed with the fixing piece 58 , and the force-receiving end is connected with the third connecting member 61 to detect the tensile pressure between the human calf and the exoskeleton calf rod 5;

The upper end of the foot assembly 6 is rotatably connected with the lower end of the calf rod 5 through the third rotating shaft 67, and the rod end bearing joint on the foot assembly 6 has three degrees of freedom of movement, which can ensure the flexibility of the ankle joint during walking; The foot assembly 6 is provided with a pressure sensor for detecting the pressure of the human foot on the foot assembly 6 .

Further, the pressure of the human foot on the foot assembly 6 is measured by a pressure sensor to determine whether the human leg on the foot assembly 6 is in a supported state.

I. If the measured value of the pressure sensor is greater than zero, the leg is in a supporting state. For the supporting leg:

1.1 If the exoskeleton is used for rehabilitation training, the controller of the exoskeleton rotates the hip joint drive mechanism 2 according to the tension force F fed _back by the first tension pressure sensor 10:

If the pulling force value F _back > 0, it means that the exoskeleton and the back of the human body are pulling force, and the hip joint drive mechanism 2 drives the waist and hip components to rotate toward the back of the human body to reduce the pulling force; if the pulling force value F _{back is} < 0, then It shows that the exoskeleton and the back of the human body are under pressure, and the hip joint drive mechanism 2 drives the waist and hip components to rotate away from the back of the human body to reduce the pressure.

According to the pulling pressure F _thigh fed back by the second pulling pressure sensor, the knee joint driving mechanism 4 rotates:

If the pulling force value F _thigh > 0, it means that there is a pulling force between the exoskeleton and the human thigh, and the knee joint drive mechanism 4 drives the thigh rod 3 to rotate forward, thereby reducing the pulling force between the exoskeleton and the human thigh; If the pressure value F _thigh < 0, it indicates that there is pressure between the exoskeleton and the human thigh, and the knee joint drive mechanism 4 drives the thigh rod 3 to move backwards, reducing the pressure between the exoskeleton and the thigh.

1.2 If the exoskeleton is used for walking augmentation assistance,

For the hip joint, the controller of the exoskeleton rotates the hip joint drive mechanism 2 according to the pulling pressure F _back fed back by the first pulling pressure sensor 10:

If the pulling force value F _back > 0, it means that the exoskeleton and the back of the human body are pulling force, and the hip joint drive mechanism 2 drives the waist and hip components to rotate toward the back of the human body to reduce the pulling force; if the pulling force value F _back < 0, the hip joint The joint motor drives the waist and hip components to rotate away from the back of the human body to reduce pressure.

The wearer's height, weight, length of legs and body mass distribution should be measured before wearing, because the posture and trajectory of the human body after wearing the exoskeleton are relatively consistent with the exoskeleton; in the supported state, the controller can encode according to the knee joint. The exoskeleton controller and the encoder at the hip joint obtain the angle/angular velocity of the two joints at this time. Using the information obtained above, the exoskeleton controller obtains the torque required by the knee joint of the human support leg, and the knee joint drive mechanism is given according to the torque. With the same torque command, the rotation of the knee joint drive mechanism 4 drives the thigh rod 3 to rotate, so that the second pull pressure sensor 40 is under pressure, so that the thigh rod 3 produces a supporting force on the human thigh, thereby achieving the purpose of assisting the knee joint support.

II. If the measured value of the pressure sensor is less than zero, the leg is in a swinging state. For the swinging leg:

2.1 If the exoskeleton is used for rehabilitation training, the pulling pressure between the lower leg and the exoskeleton of the human body needs to be controlled within a certain safety range, and the threshold of pulling pressure on the thigh is defined as T ₁ , and the pulling pressure threshold on the lower leg is T ₂ . According to multiple tests, the comfortable state value of the human body is obtained; the controller of the exoskeleton can judge whether it exceeds the set threshold according to the measured value of the pressure sensor of the lower leg:

2.11 For thigh pull pressure F _thigh ,

If F _thigh > 0 and |F _thigh | > T ₁ , it means that there is tension between the thigh and the exoskeleton, and the tension value exceeds the threshold. At this time, according to the angle/angular velocity information fed back by the hip joint encoder, the thigh rod can be judged Component 3 swings backward or forward. If it swings forward, it means that the human thigh moves faster, and the movement speed of hip joint drive mechanism 2 needs to be increased until the tension value is within the threshold range; if it is backward Swing, it indicates that the range of motion of the human thigh is greater than the range of motion of the thigh rod 3, and the forward motion trajectory of the thigh rod 3 needs to be adjusted to a larger range according to the tension value until the tension value is within the threshold range;

If _Fthigh <0 and | _Fthigh |>T ₁ , it means that there is pressure between the thigh and the exoskeleton, and the pressure value exceeds the threshold value. Since the time for the thigh part to swing backward in the swinging situation is very short, the larger the pressure value is. The situation occurs only when the thigh moves forward, which indicates that the speed of the thigh rod 3 is too high, and the rotational speed of the hip joint drive mechanism 2 needs to be reduced until the pressure value is within the threshold range.

2.12 For calf pull pressure F _calf ,

If F _calf >0 and |F _calf |>T ₂ , it means that there is tension between the calf and the exoskeleton, and the tensile force value exceeds the threshold. At this time, according to the angle/angular velocity information fed back by the encoder at the knee joint, the calf can be judged The rod 5 swings backward or forward. If it swings forward, it means that the movement speed of the human calf is faster, and the movement speed of the knee joint drive mechanism 4 needs to be increased until the tension value is within the threshold range. Swing backward, it means that the range of motion of the calf of the human body is greater than the range of motion of the calf rod 5, and the forward motion trajectory of the calf rod 5 needs to be adjusted to a larger range according to the tension value until the tension value is within the threshold range;

If F _calf <0 and |F _calf |>T ₂ , it means that there is pressure between the human calf and the calf rod 5, and the pressure value exceeds the threshold value. Since the calf part swings backward in the swing condition, the time is very short, and the pressure value The larger situation occurs only when the calf moves forward, which indicates that the speed of the calf rod 5 is too large, and the rotation speed of the knee joint drive mechanism 4 needs to be reduced until the pressure value is within the threshold range;

The introduction of tension and pressure sensing can provide real-time feedback of the contact and interaction between the exoskeleton and the wearer. Through the feedback of tension and pressure, the controller can adjust the movement trajectory of the exoskeleton in real time, enhancing the adaptation of the exoskeleton in rehabilitation training. In addition, the contact force between the exoskeleton and the human body can be controlled within a certain range with the help of tension and pressure feedback, which also ensures the safety of the rehabilitation training process.

2.2 If the exoskeleton is used for walking augmentation assistance, for the swing leg, the control goal is to make the exoskeleton follow the movement of the lower limbs of the human body in time, that is, to control the tensile force between the upper and lower legs of the human body and the exoskeleton to be 0. The tensile force value F _thigh between the exoskeleton thigh rods 3, if F _thigh > 0, it means that there is tension between the human thigh and the exoskeleton, at this time, the hip joint drive mechanism 2 is rotated to make the thigh rod 3 move forward On the contrary, if F _thigh < 0, it means that there is pressure between the human thigh and the exoskeleton. At this time, the hip joint drive mechanism 2 is rotated to make the thigh rod 3 move backward, and the hip joint rotation speed is positively correlated with |F _thigh | That is, the larger | _Fthigh | is, the greater the rotation speed; for the tensile force value F _shank between the human calf and the calf rod 5, if F _calf > 0, it means that there is a tension between the human calf and the calf rod 5, At this time, the knee joint driving mechanism 4 is rotated to make the calf rod 5 move forward. On the contrary, if F _thigh < 0, it means that there is pressure between the human calf and the calf rod 5. At this time, the knee joint driving mechanism 4 is rotated to make the calf When the rod 5 moves backward, the rotational speed of the knee joint is positively correlated with |F _calf |, that is, the greater the |F _calf |, the greater the rotational speed.

The introduction of pull pressure sensing can feedback the contact and interaction between the exoskeleton and the wearer in real time. Through the feedback of pull pressure, the controller can adjust the movement trajectory of the exoskeleton in real time to match the movement of the human body. In the process of assisted walking, the exoskeleton needs to follow the movement of the human body in a timely and fast manner. The feedback of the tension and pressure is the basis for the exoskeleton's stroke motion command, so that the exoskeleton can truly follow the movement.

Further, both ends of the hip fixing rod 12 are provided with hip sleeves 13; one end of the hip adjusting rod 14 is connected with the hip joint rod 17 through the pin 16, and the other end is matched with the sleeve 13 to realize the hip joint. The width of the joints can be adjusted.

Further, the lower part of the front end of the hip joint rod 17 is provided with a first rotation slot 18, and the rotation slot 18 provides the hip joint flexion and extension rotation degree of freedom, and its rotation range is 120 degrees, 90 degrees forward and 30 degrees backward along the vertical line. . The range of motion of the joint is 120 degrees, which is within the range of motion of the lower limbs of the human body to ensure the safety of the human thigh.

Further, the back of the back plate 7 is also provided with a load-bearing basket 11 .

Further, the hip joint drive mechanism 2 includes a first drive motor 25, a first harmonic reducer 22, and a first flange 23; the drive motor 25 includes an encoder inside, which can detect the hip joint rotation angle and rotational speed and feedback To the controller, the first drive motor 25 is connected to the first harmonic reducer 22 through the first flange 23, the first harmonic reducer 22 is decelerated to amplify the output torque of the motor, and is connected to the first harmonic reducer 22 through the first rotating flange 28. The moving shaft 24 is connected; the first rotating flange 28 is fixed to the first harmonic reducer 22 ; the first flange 23 is connected to the hip joint rod 17 through the first fixing flange 20 .

Further, the upper end of the thigh rod 3 is connected with the first shaft 24 through the first connecting member 30; the upper end of the thigh rod 3 is fixedly connected with the lower end of the first connecting member 30; the upper end of the first connecting member 30 is connected with the first rotating shaft 24 .

Further, the thigh rod 3 includes a thigh sleeve 32, a thigh length adjustment rod 33, and a height adjustment member 34; the upper end of the thigh length adjustment rod 33 cooperates with the thigh sleeve 32 to adjust the length of the thigh rod 3; The height adjustment member 34 is fixedly connected with the thigh length adjustment rod 33; the fixing plate 39 is used to fix the second tension pressure sensor 40, and the fixing plate 39 is provided with an adjustment groove 41; Adjust the position of the tension and pressure sensor; the second connecting member 37 is provided with a connecting hole 38 through which the strap passes.

Further, the knee joint drive mechanism 4 includes a second drive motor 54 , a second harmonic reducer 52 , and a second flange 53 ; the second drive motor 54 decelerates with the second harmonic through the second flange 53 The second harmonic reducer 52 amplifies the motor output torque through deceleration, and is connected to the second moving shaft 44 through the second rotating flange 48; the second rotating flange 48 is fixed to the second harmonic reducer 52; The second flange 53 is connected to the lower leg adjustable rod 56 through the second fixing flange 55 .

Further, the upper end of the lower leg rod member 5 is connected with the second rotating shaft 44 through the second connecting rod 42; the upper end of the lower leg rod member 5 is fixedly connected with the lower end of the second connecting rod 42; The holes 43 are connected.

Further, the upper end of the lower leg rod 5 is provided with a second rotation groove 46 of 90 degrees backward; the knee joint is mechanically limited, and the joint range of motion is 90 degrees, which is within the range of motion of the lower limbs of the human body to ensure personal safety.

Further, the calf rod 5 includes a calf adjustable rod 56, a calf sleeve 63, and a height adjustment member 64; the upper end of the height adjustment member 64 cooperates with the calf sleeve 63 to adjust the length of the calf rod 5; the height The adjusting member 64 is fixedly connected with the calf adjustable rod 56; the fixing plate 58 is used to fix the third tension pressure sensor 59; the fixing plate 58 is provided with an adjustment groove 62; Sensing position; the third connector 62 is provided with a connector hole 60 through which the strap passes.

Further, the foot assembly 6 includes a rod end bearing joint 66, an ankle joint slider 68, a foot connecting plate 73, a sole connecting piece 75, and a sole plate 71; the upper end of the rod end bearing joint 66 is connected to the calf adjustment rod. The rod end bearing joint 66 is connected to the upper end hole 69 of the ankle joint slider 68 through the third shaft 67. With the help of the bearing rotor on the rod end bearing joint, the joint can freely move within three degrees of freedom; The upper end of the foot connecting plate 73 is provided with a chute 72; the ankle joint slider 68 cooperates with the chute 72 and can slide back and forth in the chute 72 to achieve a translational freedom of 2 cm; the foot connecting plate 73 is fixedly connected with the sole connector 75; the upper end of the sole connector 75 is provided with a circular groove 76 for installing a pressure sensor to detect the pressure between the wearer's foot and the foot assembly, and the sole connector 75 There is also a straight groove 74 on the top for sensor wiring; the foot bottom plate 71 is provided with a mounting groove 70 for installing the foot connecting piece 75 .

Claims (5)

1. A multi-sensing intelligent wearable lower limb rehabilitation exoskeleton robot is characterized by comprising a waist and hip assembly (1), a hip joint driving mechanism (2), a thigh rod piece (3), a knee joint driving mechanism (4), a shank rod piece (5), a foot assembly (6) and a controller;

the waist and hip assembly comprises a back plate (7), a first pull pressure sensor (10), a hip fixing rod (12), a hip adjusting rod (14) and a hip joint rod piece (17); the back plate (7) is fixed at the upper end of the hip fixing rod (12); the left end and the right end of the hip fixing rod (12) are respectively connected with a hip adjusting rod (14); the other ends of the two hip adjusting rods (14) are connected with hip joint rods (17); the first pulling and pressing force sensor (10) is fixed on the back plate (7), and the force bearing end is connected with the first connecting piece (8) and used for detecting the pulling and pressing force between the back of the human body and the back plate (7); the first connecting piece (8) is provided with a binding belt which is fixed with the back of the human body;

the upper end of the thigh rod piece (3) is rotationally connected with the hip joint rod piece (17) through a first rotating shaft (24); the hip joint driving mechanism (2) is fixed with the hip joint rod piece (17), is connected with the first rotating shaft (24) and is used for driving the hip joint rod piece (17) and the thigh rod piece (3) to rotate relatively; an encoder is arranged in the hip joint driving mechanism (2) and used for detecting the rotation angle and the angular speed of the hip joint driving mechanism (2); a second connecting piece (37) is arranged on the thigh rod piece (3), and a binding belt is arranged on the second connecting piece (37) and used for fixing the thigh of the human body and the thigh rod piece (3); the inner sides of the two thigh rod pieces (3) are respectively provided with a second pulling and pressing sensor (40), and the stress end of the second pulling and pressing sensor (40) passes through the first fixing plate (39) to be connected with the second connecting piece (37) for detecting the pulling and pressing force between the human thigh and the thigh rod piece (3);

the upper end of the shank rod piece (5) is rotatably connected with the lower end of the thigh rod piece (3) through a second rotating shaft (44); the knee joint driving mechanism (4) is fixed with the shank rod piece (5), is connected with the second rotating shaft (44) and is used for driving the shank rod piece (5) to rotate around the thigh rod piece (3) relatively; an encoder is arranged in the knee joint driving mechanism (4) and used for detecting the rotation angle and the angular speed of the knee joint driving mechanism (4); the shank rod piece (5) is provided with a third connecting piece (61), and the third connecting piece (61) is provided with a binding belt for fixing the shank of the human body and the shank rod piece (5); the inner sides of the two shank rods (5) are respectively provided with a third pull pressure sensor (59), and the stress end of the third pull pressure sensor (59) is connected with a third connecting piece (61) for detecting the pull pressure between the human shank and the shank rod (5);

the upper end of the foot component (6) is rotationally connected with the lower end of the shank rod piece (5) through a third rotating shaft (67); the foot component (6) is provided with a pressure sensor for detecting the pressure of the human foot on the foot component (6), and whether the human leg on the foot component (6) is in a supporting state or a swinging state is judged according to the pressure detected by the pressure sensor;

when the multi-sensing intelligent wearable lower limb rehabilitation exoskeleton robot is used for rehabilitation training, the pulling pressure F fed back by the first pulling pressure sensor (10)_{Back part}: if pulling pressure F_{Back part}When the angle is larger than 0, the hip joint driving mechanism (2) drives the waist and hip assembly to rotate towards the direction close to the back of the human body; if pulling pressure F_{Back part}If less than 0, the hip joint driving mechanism (2) drives the waist and hip assembly to rotate towards the back far away from the human body;

the tension and pressure F fed back by the second tension and pressure sensor corresponding to the leg of the person in the supporting state_Thigh: if pulling pressure F_ThighThe knee joint driving mechanism (4) drives the thigh rod piece (3) to rotate forwards when the angle is larger than 0; if pulling pressure F_ThighLess than 0, the knee joint driving mechanism (4) drives the thigh rod piece (3) to move backwards;

for being in a swinging stateThe second pull pressure sensor corresponding to the human leg feeds back the pull pressure F_ThighA pull pressure F fed back by the corresponding third pull pressure sensor_Shank：

If F_Thigh> 0 and | F_Thigh|＞T₁If the thigh rod (3) swings forwards, the speed of the hip joint driving mechanism (2) increases until the pulling pressure F_ThighWithin a thigh pull pressure threshold range; if the thigh rod piece (3) swings backwards, the hip joint driving mechanism (2) rotates to adjust the forward motion track of the thigh rod piece (3) to a larger range until the pulling pressure F_ThighWithin a thigh pull pressure threshold range;

if F_Thigh< 0 and | F_Thigh|＞T₁The rotation speed of the hip joint driving mechanism (2) is reduced until the pulling pressure F_ThighWithin a thigh pull pressure threshold range;

if F_Shank> 0 and | F_Shank|＞T₂If the shank rod piece (5) swings forwards, the speed of the knee joint driving mechanism (4) is increased until the tension and pressure force F_ShankWithin a shank pull pressure threshold range; if the shank rod piece (5) swings backwards, the knee joint driving mechanism (4) rotates to adjust the forward motion track of the shank rod piece (5) to a larger range until the tension and pressure force F_ShankWithin a shank pull pressure threshold range;

if F_Shank< 0 and | F_Shank|＞T₂The knee joint driving mechanism (4) is rotated at a reduced speed until the tension and compression force F_ShankWithin a shank pull pressure threshold range;

when the multi-sensing intelligent wearable lower limb rehabilitation exoskeleton robot is used for assisting walking and reinforcement, for a human leg in a supporting state, the controller obtains the moment required by the knee joint of the human leg in the supporting state according to the angle/angular velocity of the two joints obtained by the encoder at the knee joint and the encoder at the hip joint, and sends a moment instruction to the knee joint driving mechanism (4) according to the moment; the knee joint driving mechanism (4) rotates to drive the thigh rod piece (3) to rotate, so that the second pull pressure sensor (40) is stressed, and the thigh rod piece (3) generates supporting force for a thigh of a human body;

the pulling pressure F fed back by the second pulling pressure sensor corresponding to the leg in the swinging state_ThighA pull pressure F fed back by the corresponding third pull pressure sensor_Shank：

If F_ThighWhen the angle is more than 0, the hip joint driving mechanism (2) rotates to enable the thigh rod piece (3) to move forwards; if F_ThighLess than 0, the hip joint driving mechanism (2) rotates to enable the thigh rod piece (3) to move backwards; if F_ShankMore than 0, the knee joint driving mechanism (4) rotates to enable the shank rod piece (5) to move forwards; if F_ThighLess than 0, the knee joint driving mechanism (4) rotates to enable the shank rod piece (5) to move backwards;

wherein F_{Back part}If the back plate is larger than 0, the back plate and the back of the human body are in tension; f_{Back part}If the pressure is less than 0, the pressure between the backboard and the back of the human body is indicated; f_ThighIf the angle is more than 0, the pulling force is indicated between the thigh rod piece and the thigh of the human body; f_ThighIf the pressure is less than 0, the pressure is between the thigh rod piece and the human thigh; f_ShankIf the tension is more than 0, the shank rod piece and the shank are in tension; f_ShankIf the pressure is less than 0, the shank rod piece and the shank are under pressure; t is₁Is thigh pull pressure threshold; t is a unit of₂Is the calf pull pressure threshold.

2. The robot according to claim 1, characterized in that the hip fixation rod (12) is provided with a hip sleeve (13) at both ends; one end of the hip adjusting rod (14) is connected with a hip joint rod piece (17) through a pin shaft (16), and the other end of the hip adjusting rod is matched with the sleeve (13).

3. The robot according to claim 1, characterized in that the lower part of the front end of the hip bar member (17) is provided with a first rotation groove (18), the rotation groove (18) provides the hip joint with a degree of freedom of flexion and extension rotation, the rotation range of the hip joint is 120 degrees, and the hip joint is forward 90 degrees and backward 30 degrees along the vertical line.

4. Robot according to claim 1, characterized in that the hip drive mechanism (2) comprises a first drive motor (25), a first harmonic reducer (22), a first flange (23); the first driving motor (25) is connected with the first harmonic reducer (22) through a first flange (23), the first harmonic reducer (22) amplifies the output torque of the first driving motor (25) through speed reduction, and is connected with the first rotating shaft (24) through a first rotating flange (28), and the first rotating flange (28) is fixed on the first harmonic reducer (22); the first flange (23) is connected to the hip joint lever (17) via a first fastening flange (20).

5. Robot according to claim 1, characterized in that the knee joint drive mechanism (4) comprises a second drive motor (54), a second harmonic reducer (52), a second flange (53); the second driving motor (54) is connected with the second harmonic reducer (52) through a second flange (53), the second harmonic reducer (52) amplifies the output torque of the second driving motor (54) through speed reduction, and is connected with the second rotating shaft (44) through a second rotating flange (48), and the second rotating flange (48) is fixed on the second harmonic reducer (52); the second flange (53) is connected with a shank adjustable rod (56) through a second fixed flange (55).

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