CN111568703A - Flexible lower limb exoskeleton robot and bionic control method - Google Patents

Abstract

The invention discloses a flexible lower limb exoskeleton robot and a bionic control method, relates to the technical field of wearable intelligent equipment, and particularly relates to a flexible lower limb exoskeleton robot and a bionic control method. The belt is arranged at the waist part of the intelligent sports pants; the two sets of walking devices are respectively arranged on the two trouser legs of the intelligent sports trousers and are connected with the waistband; the back wearing device is carried on the back of a wearer through the shoulder straps; a driving device and a control system are arranged in the back box; the motion sensing device is arranged on the intelligent sports pants and is connected with a control system in the back wearing device; the upper end of each knee joint traction rope is connected with the driving device in the back box, and the lower end of each knee joint traction rope is respectively connected with the two sets of shank wearing devices; the upper end of each hip joint traction rope is connected with the driving device in the back box, and the lower end of each hip joint traction rope is respectively connected with the two sets of thigh wearing devices.

Description

Flexible lower limb exoskeleton robot and bionic control method

technical field

The invention discloses a flexible lower limb exoskeleton robot and a bionic control method, and relates to the technical field of wearable intelligent equipment, in particular to a flexible lower limb exoskeleton robot and a bionic control method.

Background technique

The aging of my country's population is becoming more and more severe. As of May 2020, the elderly aged 65 and above accounted for 10.83% of the country's total population. Cerebral contusion, Parkinson's disease, and Alzheimer's disease are common and frequently-occurring diseases of the elderly. About 2 million new patients are diagnosed each year. 80% of the patients will cause hemiplegia of the lower extremities, resulting in weak lower extremity muscles and unable to provide enough energy. The elderly with mild hemiplegia can rely on wheelchairs for exercise, and the elderly with severe hemiplegia need to stay in bed all year round, which often causes bedsores, muscle atrophy, venous thrombosis, urinary tract infection, osteoporosis, etc. Complications, physical and mental enduring for many years the pain that ordinary people can not understand, bring a huge burden to the family and society.

The lower limb exoskeleton robot is worn on the legs of the elderly, acting as the exoskeleton of the elderly wearer, helping the elderly to stand and walk again, promoting blood circulation, preventing muscle atrophy, reducing the occurrence of complications, and restoring the exercise ability of the elderly and the ability to live and reintegrate into society.

Existing lower-extremity exoskeleton robots generally adopt a rigid body structure, which is cumbersome to wear, resulting in a stiff gait, limiting the wearer's flexibility and sophistication of movement, easily causing serious posture deviation, reducing the wearer's comfort, and increasing wearability. walking fatigue. Most lower-extremity exoskeleton robots move according to pre-set action sequences and gait trajectories, which are suitable for structured and simple terrain, and rarely incorporate the wearer's dynamic walking characteristics. When moving in unstructured complex terrain, it is difficult to coordinate The motion stability and environmental adaptability of the wearer and the lower limb exoskeleton robot restrict the practical application of the lower limb exoskeleton robot.

After hundreds of millions of years of natural evolution, the human body has excellent movement characteristics, can walk on unknown, unstructured and complex terrain, can coordinate limbs to produce stable movements, and can quickly and accurately change gait patterns when changing the movement terrain. It has strong flexibility, coordination, stability and adaptability, providing a rich and reasonable bionic source for lower limb exoskeleton robots.

In view of the above problems in the prior art, it is very necessary to research and design a new type of flexible lower limb exoskeleton robot and a bionic control method, so as to overcome the problems in the prior art.

SUMMARY OF THE INVENTION

Aiming at the above shortcomings of the prior art, the present invention provides a flexible lower limb exoskeleton robot and a bionic control method according to the motion characteristics of the human body and the principle of bionic design, which can reduce the weight of the flexible lower limb exoskeleton robot and reduce the wearer's load , break through the movement restrictions of the rigid body structure for the wearer, increase the wearer's comfort, realize the integration of the flexible lower limb exoskeleton robot and the wearer's movements, and improve the movement flexibility, delicate movement and gait stability of the flexible lower limb exoskeleton robot. Sexuality and environmental suitability.

The technical means adopted in the present invention are as follows:

A flexible lower limb exoskeleton robot comprises: a back wearing device, a belt, two sets of walking devices, a knee joint traction rope, a smart sports pants hip joint traction rope and a motion sensing device;

Further, the waistband is an arc-shaped belt structure with certain elasticity, and its arc is the same as that of the wearer's waist; the waistband is mounted on the waist of the smart sports pants;

Further, two sets of walking devices are respectively installed on the two legs of the smart sports pants, and are connected with the waist belt; each set of walking devices includes a set of thigh wearing devices and a set of calf wearing devices;

Further, the back wearing device includes: a back case and a shoulder strap; the front part of the back case is provided with two shoulder straps, which are carried on the wearer's back through the shoulder straps; the interior of the back case is provided with a driving device and a control system;

Further, the smart sports pants are made of spandex material with certain elasticity;

Further, the motion sensing device is mounted on the smart sports pants, and is connected with the control system in the back wearing device;

Further, the knee joint traction rope is two, the upper end of each knee joint traction rope is connected with the driving device inside the back box, and the lower end is respectively connected with two sets of calf wearing devices; The traction rope protective cover, the upper end of the knee joint traction rope protective cover is installed on the back box, and the lower part is installed on the calf wearing device;

Further, there are two hip joint traction ropes, the upper end of each hip joint traction rope is connected with the driving device inside the back box, and the lower end is respectively connected with two sets of thigh wearing devices; The upper end of the hip joint traction rope protection sleeve is installed on the back box, and the lower part is installed on the waist belt.

Further, the back box includes: a back box shell, an upper flat plate, a lower flat plate, a driving device and a control system; the upper flat plate and the lower flat plate are installed in parallel inside the back box shell; the driving device and the control system are connected and installed on the upper flat plate and on the lower plate;

Further, the control system includes: a battery, a controller and a bluetooth receiving module; the battery, the controller and the bluetooth receiving module are connected to each other and mounted on the lower flat panel;

Further, the driving device includes: a right-leg knee motor, a right-leg hip motor, a left-leg knee motor and a left-leg hip motor; the right-leg knee motor and the right-leg hip motor are installed side by side on the upper flat plate, respectively. Connect the upper end of the knee joint traction rope and the hip joint traction rope; the left leg knee joint motor and the left leg hip joint motor are installed side by side at the bottom of the back box shell, and are respectively connected to the other two knee joint traction ropes and hip joint traction ropes;

Further, the right leg knee joint motor and the right leg hip joint motor are assembled with the left leg knee joint motor and the left leg hip joint motor in left and right opposite directions.

Further, the right leg knee joint motor, the right leg hip joint motor, the left leg knee joint motor and the left leg hip joint motor are connected to the controller and the Bluetooth receiving module through a data cable for data transmission.

Further, the thigh wearing device includes: a hip joint network structure, a thigh strap, a waistband fixing ring, and a thigh fixing ring;

Further, the hip joint network structure is a mesh structure woven by a plurality of elastic belts, and the upper end is installed at the lower end of the waist behind the waistband; the lower end is installed at the upper end of the rear portion of the thigh strap;

Further, there are two thigh straps, which are made of an arc-shaped belt structure with a certain elasticity, and the arc shape is the same as that of the wearer's thigh;

Further, one belt fixing ring is installed on the left and right sides of the front part of the belt;

Further, the thigh fixing ring is installed at the front of the thighs of the two trouser legs of the smart sports pants;

Further, the hip joint mesh structure is installed at the rear of the hip position of the smart sports pants; two thigh straps are installed on both sides of the outer thighs of the smart sports pants.

Further, the calf wearing device comprises: an upper calf fixing ring, a lower calf fixing ring, a sole strap, an upper calf strap, a knee joint mesh structure, and a lower calf strap;

Further, the mesh structure of the knee joint is formed by cross-weaving a plurality of elastic belts; the upper end of the knee joint is installed with the upper leg bandage, and the lower end is installed with the lower leg bandage;

Further, the upper calf strap and the lower calf strap are arc-shaped belt structures with certain elasticity, and the arc shape is the same as that of the wearer's calf;

Further, the upper leg strap, the lower leg strap and the mesh structure of the knee joint are installed on the outside of the smart sports pants, and the mesh structure of the knee joint is located at the front knee joint position of the smart sports pants;

Further, the sole strap is made of a certain elastic band-like fabric, the two ends are respectively installed on the outer side and the inner side of the lower leg strap, and the sole strap is fitted on the wearer's foot.

Further, the motion sensing device includes: a front sensing device on the inner side of the smart sports pants and a back sensing device on the inner side of the smart sports pants, which are respectively installed on the front and back of the inner side of the smart sports pants.

Further, the front sensing device on the inner side of the smart sports pants includes: right leg chip device, left leg hip joint inertial sensor, left leg chip device, left leg lateral EMG sensor, left leg knee joint inertial sensor, left leg medial EMG sensor , right leg hip joint inertial sensor, right leg lateral EMG sensor, right leg knee joint inertial sensor, right leg inner EMG sensor;

Further, the inertial sensor of the left leg hip joint is a flexible patch, which is pasted on the inner layer of the smart sports pants, corresponding to the position of the wearer's left leg hip joint;

Further, the left leg chip device is embedded in the inner layer of the smart sports pants, corresponding to the position of the wearer's left thigh;

Further, the EMG sensor on the outer side of the left leg is a flexible patch, which is pasted on the inner layer of the smart sports pants, corresponding to the position of the quadriceps muscle on the outer side of the wearer's left leg;

Further, the inertial sensor of the left leg knee joint is a flexible patch, which is pasted on the inner layer of the smart sports pants and corresponds to the position of the wearer's left knee joint;

Further, the EMG sensor on the inner side of the left leg is a flexible patch, which is pasted on the inner layer of the smart sports pants, corresponding to the position of the quadriceps muscle on the inner side of the wearer's left leg;

Further, the left leg hip joint inertial sensor, the left leg lateral EMG sensor, the left leg knee joint inertial sensor, and the left leg medial EMG sensor are connected to the left leg chip device through a data cable for data transmission; the left leg chip device and the Bluetooth receiving module Data transmission via bluetooth signal;

Further, the right leg hip joint inertial sensor is a flexible patch, pasted on the inner layer of the smart sports pants, corresponding to the wearer's right leg hip joint position;

Further, the right leg chip device is embedded in the inner layer of the smart sports pants, corresponding to the position of the wearer's right thigh;

Further, the EMG sensor on the outer side of the right leg is a flexible patch, which is pasted on the inner layer of the smart sports pants and corresponds to the position of the quadriceps muscle on the outer side of the right leg of the wearer;

Further, the inertial sensor of the knee joint of the right leg is a flexible patch, which is pasted on the inner layer of the smart sports pants, corresponding to the position of the knee joint of the right leg of the wearer;

Further, the EMG sensor on the inner side of the right leg is a flexible patch, which is pasted on the inner layer of the smart sports pants, corresponding to the position of the quadriceps muscle on the inner side of the right leg of the wearer;

Further, the right leg hip joint inertial sensor, the right leg outer EMG sensor, the right leg knee joint inertial sensor, and the right leg inner EMG sensor are connected to the right leg chip device through a data cable for data transmission; the right leg chip device and the Bluetooth receiving module Data transmission via bluetooth signal.

Further, the sensing device on the inner side of the smart sports pants includes: a right gluteus EMG sensor, an EMG sensor on the back of the right leg, a left glute EMG sensor, and an EMG sensor on the back of the left leg;

Further, the right gluteus EMG sensor is a flexible patch, pasted on the inner layer of the smart sports pants, corresponding to the position of the gluteus maximus of the right leg of the wearer;

Further, the EMG sensor on the back side of the right leg is a flexible patch, which is pasted on the inner layer of the smart sports pants, corresponding to the position of the hamstring muscle of the right leg of the wearer;

Further, the right gluteal EMG sensor and the right leg back EMG sensor are connected to the right leg chip device through a data cable for data transmission;

Further, the left gluteus EMG sensor is a flexible patch, which is pasted on the inner layer of the smart sports pants and corresponds to the position of the gluteus maximus of the wearer's left leg;

Further, the myoelectric sensor on the back of the left leg is a flexible patch, which is pasted on the inner layer of the smart sports pants, corresponding to the position of the hamstring muscle of the wearer's left leg;

Further, the left gluteal EMG sensor and the left leg back EMG sensor are connected to the left leg chip device through a data cable for data transmission.

Further, the left leg chip device has the same structure as the right leg chip device, and both include: an upper shell, a motion chip, a somatosensory chip, a lithium battery, a main control chip, a Bluetooth transmitter module, a circuit board, and a lower shell;

Further, the motion chip, the somatosensory chip, the main control chip and the bluetooth transmitting module are installed on the circuit board; the motion chip, the somatosensory chip and the main control chip are connected to the bluetooth transmitting module through the data line of the circuit board for data transmission;

Further, the lithium battery is installed on the card slot inside the lower shell to supply power to the circuit board;

Further, the circuit board is on the upper layer, the lithium battery is on the lower layer, and is encapsulated in the case by the upper case and the lower case.

Further, a bionic control method for a flexible lower limb exoskeleton robot is characterized in that, the bionic control method includes the following steps:

Step 1: When the human body wears the flexible lower limb exoskeleton robot to move, the wearer swings the left leg forward, and the EMG sensor on the outer left leg, the inner left leg EMG sensor, the left glute EMG sensor installed on the flexible lower limb exoskeleton robot, The EMG sensor on the back of the left leg collects EMG signals in real time. After signal conditioning and digital-to-analog conversion, the EMG data is transmitted to the somatosensory chip through the data line, and data calculation is performed to obtain the outer quadriceps femoris and inner side of the wearer's left leg. The muscle strength of the quadriceps femoris, gluteus maximus and hamstrings is collected in real time through the inertial sensor of the left leg hip joint and the left leg knee joint inertial sensor installed on the flexible lower limb exoskeleton robot. After signal conditioning and digital modeling Convert, transmit the rotation angle data to the motion chip through the data line, perform motion generation and motion inverse solution, obtain the angular velocity and acceleration of the wearer's left leg hip joint and knee joint, and solve the three-dimensional pose of the wearer's left leg;

Step 2: The calculation result of the motion chip and the somatosensory chip, the pose data and EMG data are transmitted to the main control chip through the data line, the main control chip sends a signal to the Bluetooth receiving module of the back box through the Bluetooth transmitting module, and the Bluetooth receiving module sends a signal to the control chip. The controller sends a signal to perform data calculation, the controller sends a signal to the left leg hip motor, the left leg hip motor rotates forward, winds the left hip traction rope, stretches the left hip mesh structure, and provides the wearer The required moment of the left leg hip joint, then the controller sends a signal to the left leg knee joint motor, the left leg knee joint motor rotates forward, wraps the left leg knee joint traction rope, stretches the left leg knee joint mesh structure, provides The knee joint torque of the left leg required by the wearer to assist the wearer's left leg off the ground;

Step 3: Compare the pose data and muscle force data of the wearer's left leg with the corresponding preset thresholds. When the hip joint of the wearer's left leg reaches the limit pose, the controller of the flexible lower-limb exoskeleton robot moves to the hip of the left leg. The joint motor sends a signal, the left leg hip motor reverses, and then the controller sends a signal to the left knee motor, the left knee motor reverses, and the left hip traction rope is restored by the wearer's stretching motion of the left leg and the length of the knee joint traction rope of the left leg, contract the hip joint mesh structure of the left leg and the knee joint mesh structure of the left leg, provide the hip joint torque and knee joint torque required by the wearer's left leg, and assist the wearer's left leg land;

Step 4: The wearer swings the right leg forward, and collects the wearer through the EMG sensor on the outer side of the right leg, the EMG sensor on the inner side of the right leg, the EMG sensor on the right glute, and the EMG sensor on the back of the right leg installed on the flexible lower limb exoskeleton robot. The EMG signal of the wearer's right leg, after signal conditioning and digital-to-analog conversion, transmits the EMG data to the somatosensory chip through the data line, performs data calculation, and obtains the outer quadriceps femoris, inner quadriceps femoris, and hip of the wearer's right leg. The muscle force of the major muscle and hamstring muscle is transmitted to the main control chip through the data cable, and the right leg hip joint inertial sensor and right knee knee joint inertial sensor installed on the flexible lower limb exoskeleton robot are used to collect the data of the wearer's right The angle signal of the leg, after signal conditioning and digital-to-analog conversion, transmits the angle data to the motion chip through the data line, performs motion generation and motion inverse solution, obtains the angular velocity and acceleration of the wearer's right hip joint and knee joint, and solves the wearer's right leg. The three-dimensional posture of the right leg of the user is transmitted to the main control chip through the data cable. The main control chip sends a signal to the Bluetooth receiving module of the back box through the Bluetooth transmitting module, and the Bluetooth receiving module sends a signal to the controller to perform data operation. The controller sends a signal to the right leg hip motor, the right leg hip motor rotates forward, wraps the right hip traction rope, stretches the right leg hip mesh structure, and provides the right hip joint torque required by the wearer , and then the controller sends a signal to the knee motor of the right leg, the motor of the knee joint of the right leg rotates forward, wraps the traction rope of the knee joint of the right leg, stretches the mesh structure of the knee joint of the right leg, and provides the right knee joint required by the wearer. Joint moment to assist the wearer's right leg off the ground;

Step 5: Compare the pose data and muscle force data of the wearer's right leg with the corresponding preset thresholds. When the hip joint of the wearer's right leg reaches the limit pose, the controller of the flexible lower-limb exoskeleton robot will move the hip to the right leg. The joint motor sends a signal, the hip motor of the right leg is reversed, and then the controller sends a signal to the knee motor of the right leg, and the knee motor of the right leg is reversed, relying on the stretching motion of the wearer's right leg to restore the right hip traction rope and the length of the knee joint traction rope of the right leg, contract the hip joint mesh structure of the right leg and the knee joint mesh structure of the right leg, provide the hip joint moment and knee joint moment required by the wearer's right leg, and assist the wearer's right Legs land on the ground to complete a gait cycle.

Step 6: Determine whether to end the movement. If it is necessary to end the movement, the flexible lower limb exoskeleton robot and the wearer stop the movement. Otherwise, go back to the step and repeat the steps 1 to 5 in turn.

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

1. The flexible lower limb exoskeleton robot of the present invention has the characteristics of compact structure, simple operation, easy assembly and disassembly, and easy portability, which can reduce the weight of the wearer, break through the movement restrictions imposed by the rigid body structure on the wearer, and improve exercise flexibility and movement. Sophistication.

2. In the flexible lower limb exoskeleton robot of the present invention, the waist belt, thigh straps, calf straps and smart sports pants can be adjusted, which can satisfy wearers of different heights, fat and thin, and improve the wearer's comfort.

3. The bionic control method of the present invention uses a somatosensory chip to obtain the muscle force of the wearer's leg, and uses a motion chip to calculate the three-dimensional pose of the wearer's leg, which can quickly adjust the motion posture of the flexible lower limb exoskeleton robot and maintain balance and stability , improve the accuracy of adjustment, realize the integration of the movements of the flexible lower limb exoskeleton robot and the wearer, enhance the compatibility between human and machine, and improve gait stability and environmental adaptability.

To sum up, the application of the technical solution of the present invention solves the problem that the rigid body structure in the prior art is cumbersome to wear, resulting in a stiff gait, limiting the flexibility and delicacy of the wearer's movement, easily causing serious posture deviation, and reducing the wearer's comfort. It is difficult to coordinate the motion stability and environmental adaptability of the wearer and the lower limb exoskeleton robot, which restricts the practical application of the lower limb exoskeleton robot.

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 accompanying drawings in the following description These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of a flexible lower limb exoskeleton robot of the present invention;

Fig. 2 is the structural representation of the right leg chip device of the present invention;

Fig. 3 is the structural representation of the back box of the present invention;

Fig. 4 is the structural representation of the inside front of the intelligent sports pants of the present invention;

Fig. 5 is the structural representation of the inner back of the intelligent sports pants of the present invention;

Fig. 6 is the control principle diagram of the present invention;

Fig. 7 is the flow chart of the bionic control method of the present invention;

Fig. 8 is the motion schematic diagram of the plane terrain of the present invention;

FIG. 9 is a schematic diagram of the movement of the step terrain of the present invention.

In the figure: 1. Back box 2. Hip joint traction rope protective cover 3. Knee joint traction rope protective cover 4. Belt 5. Hip joint mesh structure 6. Thigh strap 7. Upper leg fixing ring 8. Knee joint traction rope 9. Lower leg fixing ring 10, sole strap 11, shoulder strap 12, belt fixing ring 13, smart sports pants 14, hip joint traction rope 15, thigh fixing ring 16, right leg chip device 17, upper calf strap 18 , knee joint mesh structure 19, lower leg strap 20, left leg hip joint inertial sensor 21, left leg chip device 22, left leg lateral EMG sensor 23, left leg knee joint inertial sensor 24, left leg medial EMG sensor 25. Right leg hip joint inertial sensor 26, right leg outer EMG sensor 27, right knee knee joint inertial sensor 28, right leg inner EMG sensor 29, right glute EMG sensor 30, right back leg EMG sensor 31, Left gluteal EMG sensor 32, left back leg EMG sensor;

1-1 Right Leg Knee Motor 1-2 Right Leg Hip Motor 1-3 Back Case 1-4 Battery 1-5 Left Leg Knee Motor 1-6 Left Leg Hip Motor 1-7 Upper Plate 1-8 Controller 1-9 Bluetooth receiving module 1-10 Lower panel;

16-1 Upper shell 16-2 Motion chip 16-3 Somatosensory chip 16-4 Lithium battery 16-5 Main control chip 16-6 Bluetooth transmitter module 16-7 Circuit board 16-8 Lower shell.

Detailed ways

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

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 It is only a part of the embodiments of the present invention, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the invention unless specifically stated otherwise. Meanwhile, it should be understood that, for convenience of description, the dimensions of various parts shown in the accompanying drawings are not drawn in an actual proportional relationship. Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the authorized specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only and not limiting. Accordingly, other examples of exemplary embodiments may have different values. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present invention, it should be understood that the orientations indicated by orientation words such as "front, rear, top, bottom, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and these orientation words do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as a limitation on the scope of protection of the present invention: the orientation words "inside and outside" refer to the inside and outside relative to the contour of each component itself.

For ease of description, spatially relative terms such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or features would then be oriented "below" or "over" the other devices or features under its device or structure". Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." The device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood to limit the scope of protection of the present invention.

As shown in FIG. 1 , the present invention provides a flexible lower limb exoskeleton robot including: a back wearing device, a belt 4, two sets of walking devices, a knee joint traction rope 8, intelligent sports pants 13, a hip joint traction rope 14 and a motion sensor sensing device;

The belt 4 is an arc-shaped belt structure with a certain elasticity, and its arc is the same as that of the wearer's waist; the belt 4 is mounted on the waist of the smart sports pants 13;

The two sets of walking devices are installed on the two legs of the smart sports pants 13 respectively, and are connected with the waist belt 4; each set of walking devices includes a set of wearing devices for thighs and a set of wearing devices for calves;

The back wearing device includes: a back case 1 and a shoulder strap 11; the front part of the back case 1 is provided with two shoulder straps 11, which are carried on the wearer's back through the shoulder straps 11; devices and control systems;

The smart sports pants 13 are made of spandex material with certain elasticity;

The motion sensing device is mounted on the smart sports pants 13 and is connected with the control system in the back wearing device;

There are two described knee joint traction ropes 8, the upper end of each knee joint traction rope 8 is connected with the driving device inside the back box 1, and the lower end is respectively connected with two sets of calf wearing devices; The knee joint traction rope protective cover 3 is set, and the upper end of the knee joint traction rope protective cover 3 is mounted on the back box 1, and the lower part is mounted on the calf wearing device;

The described hip joint traction rope 14 is two, the upper end of each hip joint traction rope 14 is connected with the driving device inside the back box 1, and the lower end is respectively connected with two sets of thigh wearing devices; The suit is provided with a hip joint traction rope protective cover 2 , the upper end of the hip joint traction rope protective cover 2 is mounted on the back box 1 , and the lower portion is mounted on the belt 4 .

As shown in Figure 3, the back box 1 includes: a back box shell 1-3, an upper flat plate 1-7, a driving device and a control system for the lower flat plate 1-10; the upper flat plate 1-7 and the lower flat plate 1-10 are installed in parallel on the back The inside of the box shell 1-3; the driving device is connected with the control system, and is installed on the upper flat plate 1-7 and the lower flat plate 1-10;

The control system includes: a battery 1-4, a controller 1-8 and a bluetooth receiving module 1-9; the battery 1-4, the controller 1-8 and the bluetooth receiving module 1-9 are connected to each other and installed in the lower layer On the plate 1-10;

The drive device includes: right leg knee motor 1-1, right leg hip motor 1-2, left leg knee motor 1-5 and left leg hip motor 1-6; right leg knee motor 1- 1 and the right leg hip joint motor 1-2 are installed side by side on the upper flat plate 1-7, respectively connecting the knee joint traction rope 8 and the upper end of the hip joint traction rope 14; the left leg knee joint motor 1-5 and the left leg hip joint motor 1-6 are installed side by side at the bottom of the back box shell 1-3, and are respectively connected to the other two knee joint traction ropes 8 and hip joint traction ropes 14;

The right leg knee joint motor 1-1 and the right leg hip joint motor 1-2 are assembled in opposite directions with the left leg knee joint motor 1-5 and the left leg hip joint motor 1-6.

The said right leg knee motor 1-1, right leg hip motor 1-2, left leg knee motor 1-5 and left leg hip motor 1-6 are connected to the controller 1-8 and the Bluetooth receiver through the data cable Modules 1-9 carry out data transfer.

As shown in FIG. 1, the thigh wearing device includes: a hip joint network structure 5, a thigh strap 6, a waistband fixing ring 12, and a thigh fixing ring 15;

Described hip joint network structure 5 is a mesh structure woven by a plurality of elastic belts, and the upper end is installed on the lower end of the rear waist of the waist belt 4; the lower end is installed on the upper end of the rear part of the thigh strap 6;

There are two described thigh straps 6, which are made of an arc-shaped belt structure with a certain elasticity, and the arc shape is the same as that of the wearer's thigh;

The belt fixing rings 12 are installed on the left and right sides of the front part of the belt 4;

Described thigh fixing ring 15 is installed in the front part of the thigh position of two trouser legs of smart sports pants 13;

The hip joint mesh structure 5 is installed at the rear of the buttocks of the smart sports pants 13 ; the two thigh straps 6 are installed on both sides of the outer thighs of the smart sports pants 13 .

As shown in FIG. 1 , the calf wearing device includes: an upper calf fixing ring 7, a lower calf fixing ring 9, a sole strap 10, an upper calf strap 17, a knee joint mesh structure 18, and a lower calf strap 19;

The knee joint mesh structure 18 is formed by cross-weaving a plurality of elastic belts; the upper end of the knee joint is installed with the upper leg strap 17, and the lower end is installed with the lower leg strap 19;

The upper calf strap 17 and the lower calf strap 19 are arc-shaped belt structures with certain elasticity, and the arc is the same as that of the wearer's calf;

The upper calf strap 17, the lower calf strap 19 and the knee joint mesh structure 18 are installed on the outside of the smart sports pants 13, and the knee joint mesh structure 18 is located at the front knee joint position of the smart sports pants 13;

The sole strap 10 is made of a certain elastic band-like fabric, and the two ends are respectively installed on the outer and inner sides of the lower leg strap 19, and the sole strap 10 is fitted on the wearer's foot.

As shown in Figures 4 and 5, the motion sensing device includes: a front sensing device on the inner side of the smart sports pants and a back sensing device on the inner side of the smart sports pants, which are respectively installed on the front and back of the inner side of the smart sports pants.

As shown in FIG. 4 , the front sensing device on the inner side of the smart sports pants includes: a right leg chip device 16 , a left leg hip joint inertial sensor 20 , a left leg chip device 21 , a left leg lateral EMG sensor 22 , and a left leg knee joint inertial sensor 23. Left leg inner EMG sensor 24, right leg hip joint inertial sensor 25, right leg outer EMG sensor 26, right leg knee joint inertial sensor 27, right leg inner EMG sensor 28;

Described left leg hip joint inertial sensor 20 is a flexible patch, pasted on the inner layer of smart sports pants 13, corresponding to the position of the wearer's left leg hip joint;

The left leg chip device 21 is embedded in the inner layer of the smart sports pants 13, corresponding to the position of the wearer's left thigh;

The said left leg lateral myoelectric sensor 22 is a flexible patch, pasted on the inner layer of the smart sports pants 13, corresponding to the position of the wearer's left leg lateral quadriceps;

The inertial sensor 23 of the left leg knee joint is a flexible patch, which is pasted on the inner layer of the smart sports pants 13 and corresponds to the position of the left knee joint of the wearer;

The EMG sensor 24 on the inner side of the left leg is a flexible patch, which is pasted on the inner layer of the smart sports pants 13 and corresponds to the position of the quadriceps muscle on the inner side of the left leg of the wearer;

The left leg hip joint inertial sensor 20, the left leg lateral EMG sensor 22, the left knee knee joint inertial sensor 23, and the left leg medial EMG sensor 24 are connected to the left leg chip device 21 through a data cable for data transmission; the left leg chip The device 21 and the Bluetooth receiving modules 1-9 perform data transmission through Bluetooth signals;

The right leg hip joint inertial sensor 25 is a flexible patch, pasted on the inner layer of the smart sports pants 13, corresponding to the wearer's right leg hip joint position;

The right leg chip device 16 is embedded in the inner layer of the smart sports pants 13, corresponding to the position of the right thigh of the wearer;

The said right leg lateral EMG sensor 26 is a flexible patch, pasted on the inner layer of the smart sports pants 13, corresponding to the position of the wearer's right leg lateral quadriceps;

The right leg knee joint inertial sensor 27 is a flexible patch, pasted on the inner layer of the smart sports pants 13, corresponding to the position of the wearer's right knee joint;

The EMG sensor 28 on the inner side of the right leg is a flexible patch, which is pasted on the inner layer of the smart sports pants 13 and corresponds to the position of the quadriceps muscle on the inner side of the right leg of the wearer;

The right leg hip joint inertial sensor 25, right leg lateral EMG sensor 26, right knee knee joint inertial sensor 27, right leg inner EMG sensor 28 are connected to the right leg chip device 16 through a data cable for data transmission; The device 16 and the bluetooth receiving modules 1-9 perform data transmission through bluetooth signals.

As shown in FIG. 5 , the sensing device on the inner back of the smart sports pants includes: an EMG sensor 29 on the right glute, an EMG sensor 30 on the back of the right leg, an EMG sensor 31 on the left glute, and an EMG sensor 32 on the back of the left leg;

The right gluteus EMG sensor 29 is a flexible patch, pasted on the inner layer of the smart sports pants 13, corresponding to the position of the gluteus maximus of the right leg of the wearer;

The EMG sensor 30 on the back side of the right leg is a flexible patch, which is pasted on the inner layer of the smart sports pants 13 and corresponds to the position of the hamstring muscle of the right leg of the wearer;

The right gluteal EMG sensor 29 and the right leg back EMG sensor 30 are connected to the right leg chip device 16 through a data cable for data transmission;

The left glute electromyography sensor 31 is a flexible patch, pasted on the inner layer of the smart sports pants 13, corresponding to the position of the gluteus maximus of the wearer's left leg;

The myoelectric sensor 32 on the rear side of the left leg is a flexible patch, which is pasted on the inner layer of the smart sports pants 13 and corresponds to the position of the hamstring muscle of the wearer's left leg;

The left gluteal EMG sensor 31 and the left leg back EMG sensor 32 are connected to the left leg chip device 21 through data lines for data transmission.

As shown in FIG. 2 , the left leg chip device 21 has the same structure as the right leg chip device 16 , and both include: an upper shell 16-1, a motion chip 16-2, a somatosensory chip 16-3, a lithium battery 16-4, and a main control chip 16. -5 Bluetooth transmitter module 16-6 circuit board 16-7, lower shell 16-8;

The motion chip 16-2, the somatosensory chip 16-3, the main control chip 16-5 and the Bluetooth transmitting module 16-6 are installed on the circuit board 16-7; the motion chip 16-2, the somatosensory chip 16-3 and the main The control chip 16-5 is connected to the Bluetooth transmitting module 16-6 through the data line of the circuit board 16-7 for data transmission;

The lithium battery 16-4 is installed on the card slot inside the lower shell 16-8 to supply power to the circuit board 16-7;

The circuit board 16-7 is on the upper layer, the lithium battery 16-4 is on the lower layer, and is encapsulated in the casing by the upper casing 16-1 and the lower casing 16-8.

As shown in Figures 1-9, the bionic control method of a flexible lower limb exoskeleton robot is characterized in that the bionic control method includes the following steps:

Step 1: When the human body wears the flexible lower limb exoskeleton robot and moves, the wearer swings the left leg forward. The sensor 31 and the EMG sensor 32 on the back of the left leg collect EMG signals in real time. After signal conditioning and digital-to-analog conversion, the EMG data is transmitted to the somatosensory chip 16-3 through a data cable, and data operations are performed to obtain the wearer's left leg. The muscle forces of the lateral quadriceps, medial quadriceps, gluteus maximus and hamstring are collected in real time through the left leg hip inertial sensor 20 and left knee knee inertial sensor 23 installed on the flexible lower limb exoskeleton robot The rotation angle signal, after signal conditioning and digital-to-analog conversion, transmits the rotation angle data to the motion chip 16-2 through the data line, performs motion generation and motion inverse solution, and obtains the angular velocity and acceleration of the wearer's left hip joint and knee joint. The three-dimensional pose of the wearer's left leg;

Step 2: The calculation result of the motion chip 16-2 and the somatosensory chip 16-3, the pose data and the EMG data are transmitted to the main control chip 16-5 through the data line, and the main control chip 16-5 transmits the Bluetooth transmission module 16-5. 6 Send signals to the bluetooth receiving modules 1-9 of the back box, and the bluetooth receiving modules 1-9 send signals to the controller 1-8 to perform data operations, the controller 1-8 sends signals to the left leg hip motor 1-6, and the left The leg hip joint motor 1-6 rotates forward, wraps the left hip joint traction rope 14, stretches the left leg hip joint mesh structure 5, provides the left leg hip joint torque required by the wearer, and then controls 1-8 Send a signal to the left knee motor 1-5, the left knee motor 1-5 rotates forward, wrap the knee traction rope 8 of the left leg, stretch the knee mesh structure 18 of the left leg, and provide the wearer's needs The moment of the left knee joint of the wearer, assisting the wearer's left leg off the ground;

Step 3: Compare the pose data and muscle force data of the wearer's left leg with the corresponding preset thresholds. When the hip joint of the wearer's left leg reaches the limit pose, the controllers 1-8 of the flexible lower limb exoskeleton robot move to The left leg hip motor 1-6 sends a signal, the left leg hip motor 1-6 is reversed, and then the controller 1-8 sends a signal to the left leg knee motor 1-5, and the left leg knee motor 1-5 is reversed , relying on the stretching movement of the wearer's left leg to restore the length of the left hip joint traction rope 14 and the left leg knee joint traction rope 8, contract the left leg hip joint mesh structure 5 and the left leg knee joint mesh structure 18, Provide the hip joint torque and knee joint torque required by the wearer's left leg to assist the wearer's left leg to land;

Step 4: The wearer swings the right leg forward, and passes the EMG sensor 26 on the outer side of the right leg, the EMG sensor 28 on the inner side of the right leg, the EMG sensor 29 on the right glute, and the EMG sensor on the back of the right leg installed on the flexible lower limb exoskeleton robot. 30. Collect the EMG signal of the wearer's right leg. After signal conditioning and digital-to-analog conversion, the EMG data is transmitted to the somatosensory chip 16-3 through the data cable, and data calculation is performed to obtain the quadriceps muscle on the outer side of the wearer's right leg, The muscle force of the medial quadriceps femoris, gluteus maximus and hamstring muscle, the muscle force data is transmitted to the main control chip 16-5 through the data cable, and the right leg hip joint inertial sensor 25, installed on the flexible lower limb exoskeleton robot The inertial sensor 27 of the right leg knee joint collects the rotation angle signal of the wearer's right leg. After signal conditioning and digital-to-analog conversion, the rotation angle data is transmitted to the motion chip 16-2 through the data line, and the motion generation and motion inverse solution are performed to obtain the wearer The angular velocity and acceleration of the hip joint and knee joint of the right leg are used to calculate the three-dimensional pose of the wearer's right leg, and the pose data is transmitted to the main control chip 16-5 through the data cable. -6 sends a signal to the bluetooth receiving module 1-9 of the back box, the bluetooth receiving module 1-9 sends a signal to the controller 1-8 for data operation, the controller 1-8 sends a signal to the right leg hip motor 1-2, The right leg hip joint motor 1-2 rotates forward, wraps the right hip joint traction rope 14, stretches the right leg hip joint mesh structure 5, and provides the right hip joint torque required by the wearer, and then the controller 1, 8 Send a signal to the knee motor 1-1 of the right leg, the motor 1-1 of the knee joint of the right leg rotates forward, wrap the knee joint traction rope 8 of the right leg, stretch the knee joint mesh structure 18 of the right leg, and provide the wearer with The required moment of the knee joint of the right leg to assist the wearer's right leg off the ground;

Step 5: Compare the pose data and muscle force data of the wearer's right leg with the corresponding preset thresholds. When the hip joint of the wearer's right leg reaches the limit pose, the controllers 1-8 of the flexible lower limb exoskeleton robot move to The right leg hip motor 1-2 sends a signal, the right leg hip motor 1-2 is reversed, and then the controller 1-8 sends a signal to the right leg knee motor 1-1, and the right leg knee motor 1-1 is reversed , relying on the stretching motion of the wearer's right leg to restore the length of the right hip joint traction rope 14 and the right knee joint traction rope 8, contract the hip joint mesh structure 5 of the right leg and the knee joint mesh structure of the right leg 18. Provide the hip joint torque and knee joint torque required by the wearer's right leg, assist the wearer's right leg to land on the ground, and complete a gait cycle.

Step 6: Determine whether to end the movement. If it is necessary to end the movement, the flexible lower limb exoskeleton robot and the wearer stop the movement. Otherwise, go back to the step and repeat the steps 1 to 5 in turn.

Example 1

As shown in Figure 8, the flexible lower limb exoskeleton robot of the present invention and the wearer move on a plane terrain:

a) The flexible lower limb exoskeleton robot and the wearer are in a standing state on a flat terrain. The wearer swings his left leg forward. The EMG sensor and the EMG sensor on the back of the left leg collect the EMG signal of the wearer's left leg. After signal conditioning and digital-to-analog conversion, the EMG data is transmitted to the somatosensory chip through the data line, and the data is calculated to obtain the left side of the wearer. The muscle strength of the lateral quadriceps, medial quadriceps, gluteus maximus and hamstrings of the leg, and the muscle strength data is transmitted to the main control chip through the data cable;

b) The left leg hip joint inertial sensor and the left leg knee joint inertial sensor installed on the flexible lower limb exoskeleton robot are used to collect the rotation angle signal of the wearer's left leg. After signal conditioning and digital-to-analog conversion, the rotation angle data is transmitted to the The motion chip performs motion generation and motion inverse solution, obtains the angular velocity and acceleration of the wearer's left leg hip and knee joints, solves the three-dimensional pose of the wearer's left leg, and transmits the pose data to the main control chip through the data line. The main control chip sends a signal to the bluetooth receiving module of the back box through the bluetooth transmitting module, and the bluetooth receiving module sends a signal to the controller to perform data calculation. The leg hip joint traction rope stretches the left leg hip joint mesh structure to provide the left leg hip joint torque required by the wearer, and then the controller sends a signal to the left leg knee joint motor, and the left leg knee joint motor rotates forward, wrapping the left leg joint motor. The leg knee joint traction rope stretches the mesh structure of the left knee joint to provide the left knee joint torque required by the wearer and assist the wearer to leave the left leg off the ground;

c) Compare the pose data and muscle force data of the wearer's left leg with the preset threshold of the plane terrain. When the hip joint of the wearer's left leg reaches the maximum flexion posture, the controller of the flexible lower limb exoskeleton robot moves to the hip of the left leg. The joint motor sends a signal, the left leg hip motor reverses, and then the controller sends a signal to the left knee motor, the left knee motor reverses, and relies on the wearer's left leg extension to restore the left leg hip traction rope and The length of the traction rope of the left knee joint, shrinks the left leg hip joint mesh structure and the left leg knee joint mesh structure, provides the hip joint torque and knee joint torque required by the wearer's left leg, and assists the wearer's left leg to land;

d) The wearer swings the right leg forward, and collects the wearer's EMG sensor installed on the outer right leg EMG sensor, inner right leg EMG sensor, right glute EMG sensor, and right back leg EMG sensor installed on the flexible lower limb exoskeleton robot. The EMG signal of the right leg, after signal conditioning and digital-to-analog conversion, transmits the EMG data to the somatosensory chip through the data cable, performs data calculation, and obtains the outer quadriceps femoris, inner quadriceps femoris, and gluteus maximus of the wearer's right leg. The muscle force of the muscles and hamstrings is transmitted to the main control chip through the data cable, and the right leg hip joint inertial sensor and right knee knee joint inertial sensor installed on the flexible lower limb exoskeleton robot are used to collect the wearer's right leg. After signal conditioning and digital-to-analog conversion, the rotation angle data is transmitted to the motion chip through the data line, and the motion generation and motion inverse solution are performed to obtain the angular velocity and acceleration of the wearer's right leg hip and knee joints, and calculate the wearer's The three-dimensional pose of the right leg transmits the pose data to the main control chip through the data line. The main control chip sends a signal to the bluetooth receiving module of the back box through the bluetooth transmitting module, and the bluetooth receiving module sends a signal to the controller to perform data calculation and control. The device sends a signal to the right leg hip motor, the right leg hip motor rotates forward, winds the right leg hip joint traction rope, stretches the right leg hip joint mesh structure, provides the right leg hip joint torque required by the wearer, and then controls The device sends a signal to the right leg knee motor, the right leg knee motor rotates forward, wraps the right leg knee joint traction rope, stretches the right leg knee joint mesh structure, provides the right knee joint torque required by the wearer, and assists in wearing the right leg off the ground;

e) Compare the pose data and muscle force data of the wearer's right leg with the preset threshold of the plane terrain. When the hip joint of the wearer's right leg reaches the maximum flexion posture, the controller of the flexible lower limb exoskeleton robot will move the hip of the right leg. The joint motor sends a signal, the right leg hip motor reverses, and then the controller sends a signal to the right knee motor, the right knee motor reverses, and relies on the wearer's right leg extension to restore the right leg hip traction rope and The length of the traction rope of the knee joint of the right leg, contract the mesh structure of the hip joint of the right leg and the mesh structure of the knee joint of the right leg, provide the hip joint moment and knee joint moment required by the wearer's right leg, assist the wearer's right leg to land, complete a gait cycle.

If you continue to walk, repeat the above process; if you no longer walk, the flexible lower limb exoskeleton robot and the wearer stop moving.

Example 2

As shown in Fig. 9, the flexible lower limb exoskeleton robot of the present invention moves with the wearer on the step terrain:

a) The flexible lower limb exoskeleton robot and the wearer are in a standing state on a step terrain, the wearer lifts the left leg forward, and the outer left leg EMG sensor, the inner left leg EMG sensor, the left leg EMG sensor installed on the flexible lower limb exoskeleton robot, the left leg The gluteal EMG sensor and the EMG sensor on the back of the left leg collect the EMG signal of the wearer's left leg. After signal conditioning and digital-to-analog conversion, the EMG data is transmitted to the somatosensory chip through the data line, and the data is calculated to obtain the wearer's EMG data. The muscle strength of the lateral quadriceps femoris, medial quadriceps femoris, gluteus maximus and hamstrings of the left leg is transmitted to the main control chip through the data cable;

b) The left leg hip joint inertial sensor and the left leg knee joint inertial sensor installed on the flexible lower limb exoskeleton robot are used to collect the rotation angle signal of the wearer's left leg. After signal conditioning and digital-to-analog conversion, the rotation angle data is transmitted to the The motion chip performs motion generation and motion inverse solution, obtains the angular velocity and acceleration of the wearer's left leg hip and knee joints, solves the three-dimensional pose of the wearer's left leg, and transmits the pose data to the main control chip through the data line. The main control chip sends a signal to the bluetooth receiving module of the back box through the bluetooth transmitting module, and the bluetooth receiving module sends a signal to the controller to perform data calculation. The leg hip joint traction rope stretches the left leg hip joint mesh structure to provide the left leg hip joint torque required by the wearer, and then the controller sends a signal to the left leg knee joint motor, and the left leg knee joint motor rotates forward, wrapping the left leg joint motor. The leg knee joint traction rope stretches the mesh structure of the left knee joint, provides the wearer's required moment of the left knee joint, and assists the wearer to lift the left leg;

c) Compare the pose data and muscle force data of the wearer's left leg with the preset threshold of the step terrain. When the hip joint of the wearer's left leg reaches the maximum flexion posture, the controller of the flexible lower limb exoskeleton robot moves to the hip of the left leg. The joint motor sends a signal, the left leg hip motor reverses, and then the controller sends a signal to the left knee motor, the left knee motor reverses, and relies on the wearer's left leg extension to restore the left leg hip traction rope and The length of the traction rope of the knee joint of the left leg, contract the mesh structure of the hip joint of the left leg and the mesh structure of the knee joint of the left leg, provide the hip joint torque and knee joint torque required by the wearer's left leg, and assist the wearer's left leg to land on the ground and step on the ground. on the first step;

d) The wearer lifts the right leg forward, and collects the EMG sensor on the outer right leg, the inner right leg EMG, the right glute EMG, and the right back EMG sensor installed on the flexible lower limb exoskeleton robot. The EMG signal of the wearer's right leg, after signal conditioning and digital-to-analog conversion, transmits the EMG data to the somatosensory chip through the data line, performs data calculation, and obtains the outer quadriceps femoris, inner quadriceps femoris, and hip of the wearer's right leg. The muscle force of the major muscle and hamstring muscle is transmitted to the main control chip through the data cable, and the right leg hip joint inertial sensor and right knee knee joint inertial sensor installed on the flexible lower limb exoskeleton robot are used to collect the data of the wearer's right The angle signal of the leg, after signal conditioning and digital-to-analog conversion, transmits the angle data to the motion chip through the data line, performs motion generation and motion inverse solution, obtains the angular velocity and acceleration of the wearer's right hip joint and knee joint, and solves the wearer's right leg. The three-dimensional posture of the right leg of the user is transmitted to the main control chip through the data cable. The main control chip sends a signal to the Bluetooth receiving module of the back box through the Bluetooth transmitting module, and the Bluetooth receiving module sends a signal to the controller to perform data operation. The controller sends a signal to the right-leg hip motor, the right-leg hip motor rotates forward, winds the right-leg hip-joint traction rope, stretches the right-leg hip-joint mesh structure, and provides the right-leg hip joint torque required by the wearer, and then The controller sends a signal to the knee motor of the right leg, the motor of the knee joint of the right leg rotates forward, winds the traction rope of the knee joint of the right leg, stretches the mesh structure of the knee joint of the right leg, and provides the right knee joint torque required by the wearer. The wearer's right leg is raised;

e) Compare the pose data and muscle force data of the wearer's right leg with the preset threshold of the step terrain. When the hip joint of the wearer's right leg reaches the maximum flexion posture, the controller of the flexible lower limb exoskeleton robot will move the hip of the right leg. The joint motor sends a signal, the right leg hip motor reverses, and then the controller sends a signal to the right knee motor, the right knee motor reverses, and relies on the wearer's right leg extension to restore the right leg hip traction rope and The length of the traction rope of the knee joint of the right leg, contract the mesh structure of the hip joint of the right leg and the mesh structure of the knee joint of the right leg, provide the hip joint torque and knee joint torque required by the wearer's right leg, assist the wearer's right leg to land on the ground, step on on the second step;

f) The wearer lifts the left leg forward, and collects the EMG sensor on the outer side of the left leg, the inner left leg EMG sensor, the left glute EMG sensor, and the EMG sensor on the back of the left leg installed on the flexible lower limb exoskeleton robot. The EMG signal of the wearer's left leg, after signal conditioning and digital-to-analog conversion, transmits the EMG data to the somatosensory chip through the data cable, performs data calculation, and obtains the outer quadriceps, inner quadriceps, buttocks of the wearer's left leg. The muscle force of the major muscle and hamstring muscle is transmitted to the main control chip through the data cable, and the left leg hip joint inertial sensor and the left leg knee joint inertial sensor installed on the flexible lower limb exoskeleton robot are used to collect the data of the wearer's left The angle signal of the leg, after signal conditioning and digital-to-analog conversion, transmits the angle data to the motion chip through the data line, performs motion generation and motion inverse solution, obtains the angular velocity and acceleration of the wearer's left hip joint and knee joint, and solves the wearer's left leg. The three-dimensional pose of the left leg of the user is transmitted to the main control chip through the data line. The main control chip sends a signal to the Bluetooth receiving module of the back box through the Bluetooth transmitting module, and the Bluetooth receiving module sends a signal to the controller to perform data operations. The controller sends a signal to the left leg hip motor, the left leg hip motor rotates forward, winds the left leg hip joint traction rope, stretches the left leg hip joint mesh structure, provides the left leg hip joint torque required by the wearer, and then The controller sends a signal to the left knee motor, the left knee motor rotates forward, winds the left knee knee traction rope, stretches the left knee knee mesh structure, provides the left knee knee torque required by the wearer, and assists The wearer's left leg is raised;

g) Compare the pose data and muscle force data of the wearer's left leg with the preset threshold of the step terrain. When the hip joint of the wearer's left leg reaches the minimum flexion posture, the controller of the flexible lower limb exoskeleton robot moves to the hip of the left leg. The joint motor sends a signal, the left leg hip motor reverses, and then the controller sends a signal to the left knee motor, the left knee motor reverses, and relies on the wearer's left leg extension to restore the left leg hip traction rope and The length of the traction rope of the left knee joint, contract the mesh structure of the left hip joint and the mesh structure of the left knee joint, provide the hip joint torque and knee joint torque required by the wearer's left leg, and assist the wearer's left leg to land on the ground. Go up the second step and complete a gait cycle.

If you continue to walk, repeat the above process; if you no longer walk, the flexible lower limb exoskeleton robot and the wearer stop moving.

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: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (9)

1. A flexible lower extremity exoskeleton robot, said flexible lower extremity exoskeleton robot comprising: the device comprises a back wearing device, a waistband (4), two sets of walking devices, a knee joint traction rope (8), intelligent sports pants (13), a hip joint traction rope (14) and a motion sensing device;

the waistband (4) is of an arc belt-shaped structure with certain elasticity, and the arc of the waistband is the same as the radian of the waist of a wearer; the waistband (4) is arranged at the waist part of the intelligent sports pants (13);

the two sets of walking devices are respectively arranged on the two trouser legs of the intelligent sports trousers (13) and are connected with the waistband (4); each set of walking device comprises a set of thigh wearing device and a set of shank wearing device;

the back-wearing device comprises: a back box (1) and shoulder straps (11); the front part of the back box (1) is provided with two shoulder belts (11), and the back of a wearer is carried by the shoulder belts (11); a driving device and a control system are arranged in the back box (1);

the intelligent sports pants (13) are made of spandex materials with certain elasticity;

the motion sensing device is arranged on the intelligent sports pants (13) and is connected with a control system in the back wearing device;

the upper end of each knee joint traction rope (8) is connected with a driving device in the back box (1), and the lower end of each knee joint traction rope (8) is respectively connected with two sets of shank wearing devices; a knee joint traction rope protective sleeve (3) is sleeved outside the knee joint traction rope (8), the upper end of the knee joint traction rope protective sleeve (3) is arranged on the back box (1), and the lower part of the knee joint traction rope protective sleeve is arranged on the shank wearing device;

the upper end of each hip joint traction rope (14) is connected with a driving device in the back box (1), and the lower end of each hip joint traction rope is respectively connected with two sets of thigh wearing devices; the external part of the hip joint traction rope (14) is sleeved with a hip joint traction rope protective sleeve (2), the upper end of the hip joint traction rope protective sleeve (2) is arranged on the back box (1), and the lower part is arranged on the waistband (4).

2. The flexible lower extremity exoskeleton robot according to claim 1, wherein said back box (1) comprises: the back box shell (1-3), the upper flat plate (1-7), the lower flat plate (1-10) driving device and the control system; the upper flat plate (1-7) and the lower flat plate (1-10) are arranged in the back box shell (1-3) in parallel; the driving device is connected with the control system and is arranged on the upper flat plate (1-7) and the lower flat plate (1-10);

the control system comprises: the device comprises a battery (1-4), a controller (1-8) and a Bluetooth receiving module (1-9); the battery (1-4), the controller (1-8) and the Bluetooth receiving module (1-9) are mutually connected and are arranged on the lower flat plate (1-10);

the driving device comprises: a right leg knee joint motor (1-1), a right leg hip joint motor (1-2), a left leg knee joint motor (1-5) and a left leg hip joint motor (1-6); the right leg knee joint motor (1-1) and the right leg hip joint motor (1-2) are arranged on the upper layer flat plate (1-7) side by side and are respectively connected with the upper ends of a knee joint traction rope (8) and a hip joint traction rope (14); the left leg knee joint motor (1-5) and the left leg hip joint motor (1-6) are arranged at the bottom of the back box shell (1-3) side by side and are respectively connected with the other two knee joint traction ropes (8) and the hip joint traction rope (14);

the right leg knee joint motor (1-1) and the right leg hip joint motor (1-2) are assembled with the left leg knee joint motor (1-5) and the left leg hip joint motor (1-6) in a left-right reverse direction.

The right leg knee joint motor (1-1), the right leg hip joint motor (1-2), the left leg knee joint motor (1-5) and the left leg hip joint motor (1-6) are connected with the controller (1-8) and the Bluetooth receiving module (1-9) through data lines for data transmission.

3. The flexible lower extremity exoskeleton robot of claim 1 wherein said thigh-worn device comprises: a hip joint network structure (5), a thigh bandage (6), a waistband fixing ring (12) and a thigh fixing ring (15);

the hip joint network structure (5) is a net structure formed by weaving a plurality of elastic belts, and the upper end of the hip joint network structure is arranged at the lower end of the back waist of the waistband (4); the lower end is arranged at the upper end of the back part of the thigh bandage (6);

the two thigh straps (6) are of arc-shaped belt structures with certain elasticity, and the arc shape of the two thigh straps is the same as the radian of the thigh of a wearer;

the waistband fixing rings (12) are respectively arranged at the left side and the right side of the front part of the waistband (4);

the thigh fixing rings (15) are arranged at the front parts of the thigh positions of two trouser legs of the intelligent sports trousers (13);

the hip joint reticular structure (5) is arranged at the rear part of the hip position of the intelligent sports pants (13); two thigh straps (6) are arranged at two sides of the outer thigh of the intelligent sports pants (13).

4. The flexible lower extremity exoskeleton robot of claim 1 wherein said lower leg donning means comprises: a lower leg upper fixing ring (7), a lower leg lower fixing ring (9), a sole bandage (10), a lower leg upper bandage (17), a knee joint net structure (18) and a lower leg bandage (19);

the knee joint reticular structure (18) is formed by interweaving a plurality of elastic belts; the upper end is provided with a lower leg upper binding band (17), and the lower end is provided with a lower leg lower binding band (19);

the upper part bandage (17) and the lower part bandage (19) of the lower leg are of an arc belt-shaped structure with certain elasticity, and the arc of the arc is the same as the arc of the lower leg of a wearer;

the upper part of the lower leg binding band (17), the lower part of the lower leg binding band (19) and the knee joint net structure (18) are arranged on the outer side of the intelligent sports pants (13), and the knee joint net structure (18) is positioned at the front knee joint position of the intelligent sports pants (13);

the sole bandage (10) is made of band-shaped fabric with certain elasticity, two ends of the sole bandage are respectively arranged at the outer side and the inner side of the lower part bandage (19) of the lower part of the shank, and the sole bandage (10) is sleeved on the foot of a wearer.

5. The flexible lower extremity exoskeleton robot of claim 1 wherein said motion sensor means comprises: the front sensing device on the inner side of the intelligent sports pants and the back sensing device on the inner side of the intelligent sports pants are respectively arranged on the front and the back of the inner side of the intelligent sports pants.

6. The flexible lower extremity exoskeleton robot of claim 5 wherein said intelligent training pant inner front sensing device comprises: a right leg chip device (16), a left leg hip joint inertial sensor (20), a left leg chip device (21), a left leg lateral myoelectric sensor (22), a left leg knee joint inertial sensor (23), a left leg medial myoelectric sensor (24), a right leg hip joint inertial sensor (25), a right leg lateral myoelectric sensor (26), a right leg knee joint inertial sensor (27) and a right leg medial myoelectric sensor (28);

the left leg hip joint inertial sensor (20) is a flexible patch, is stuck to the inner layer of the intelligent sports pants (13) and corresponds to the position of the left leg hip joint of a wearer;

the left leg chip device (21) is embedded in the inner layer of the intelligent sports pants (13) and corresponds to the position of the left thigh of a wearer;

the left leg lateral electromyographic sensor (22) is a flexible patch, is stuck to the inner layer of the intelligent sports pants (13) and corresponds to the position of quadriceps muscle of the left leg lateral thigh of a wearer;

the left leg and knee joint inertial sensor (23) is a flexible patch, is stuck to the inner layer of the intelligent sports pants (13) and corresponds to the position of the left leg and knee joint of a wearer;

the left leg medial electromyographic sensor (24) is a flexible patch, is pasted on the inner layer of the intelligent sports pants (13), and corresponds to the position of the quadriceps muscle of the left leg medial thigh of a wearer;

the left leg hip joint inertial sensor (20), the left leg lateral electromyographic sensor (22), the left leg knee joint inertial sensor (23) and the left leg medial electromyographic sensor (24) are connected with a left leg chip device (21) through data lines for data transmission; the left leg chip device (21) and the Bluetooth receiving module (1-9) perform data transmission through Bluetooth signals;

the right leg hip joint inertial sensor (25) is a flexible patch, is stuck to the inner layer of the intelligent sports pants (13) and corresponds to the position of the right leg hip joint of a wearer;

the right leg chip device (16) is embedded in the inner layer of the intelligent sports pants (13) and corresponds to the right thigh position of a wearer;

the right leg lateral electromyographic sensor (26) is a flexible patch, is pasted on the inner layer of the intelligent sports pants (13), and corresponds to the position of quadriceps muscle of the right leg lateral thigh of a wearer;

the right leg and knee joint inertial sensor (27) is a flexible patch, is stuck to the inner layer of the intelligent sports pants (13) and corresponds to the position of the right leg and knee joint of a wearer;

the right leg medial electromyographic sensor (28) is a flexible patch, is pasted on the inner layer of the intelligent sports pants (13), and corresponds to the position of the quadriceps muscle of the right leg medial thigh of a wearer;

the right leg hip joint inertial sensor (25), the right leg lateral electromyographic sensor (26), the right leg knee joint inertial sensor (27) and the right leg medial electromyographic sensor (28) are connected with the right leg chip device (16) through data lines for data transmission; the right leg chip device (16) and the Bluetooth receiving modules (1-9) carry out data transmission through Bluetooth signals.

7. The flexible lower extremity exoskeleton robot of claim 5 wherein said intelligent training pant inner back sensing device comprises: a right gluteus electric sensor (29), a right leg posterior side myoelectric sensor (30), a left gluteus electric sensor (31) and a left leg posterior side myoelectric sensor (32);

the right gluteus electromyograph (29) is a flexible patch, is stuck to the inner layer of the intelligent sports pants (13) and corresponds to the position of the gluteus maximus of the right leg of the wearer;

the right leg posterior side electromyographic sensor (30) is a flexible patch, is pasted on the inner layer of the intelligent sports pants (13) and corresponds to the position of the popliteal muscle of the right leg of a wearer;

the right gluteus electromyography (29) and the right leg posterior electromyography (30) are connected with a right leg chip device (16) through data lines for data transmission;

the left gluteus electromyograph (31) is a flexible patch, is stuck to the inner layer of the intelligent sports pants (13) and corresponds to the position of the gluteus maximus of the left leg of a wearer;

the left leg back side electromyographic sensor (32) is a flexible patch, is pasted on the inner layer of the intelligent sports pants (13) and corresponds to the position of the popliteal muscle of the left leg of a wearer;

the left gluteus electromyography sensor (31) and the left leg back electromyography sensor (32) are connected with the left leg chip device (21) through data lines to carry out data transmission.

8. The flexible lower extremity exoskeleton robot of claim 7, wherein said left leg chipset (21) and said right leg chipset (16) are identical in structure and each comprise: the motion sensing device comprises an upper shell (16-1), a motion chip (16-2), a motion sensing chip (16-3), a lithium battery (16-4), a main control chip (16-5), a Bluetooth transmitting module (16-6), a circuit board (16-7) and a lower shell (16-8);

the motion chip (16-2), the motion sensing chip (16-3), the main control chip (16-5) and the Bluetooth transmitting module (16-6) are arranged on the circuit board (16-7); the motion chip (16-2), the motion sensing chip (16-3) and the main control chip (16-5) are connected with the Bluetooth transmitting module (16-6) through a data line of the circuit board (16-7) to perform data transmission;

the lithium battery (16-4) is arranged on the clamping groove in the lower shell (16-8) and supplies power to the circuit board (16-7);

the circuit board (16-7) is arranged on the upper layer, the lithium battery (16-4) is arranged on the lower layer, and the lithium battery is encapsulated in the shell through the upper shell (16-1) and the lower shell (16-8).

9. A biomimetic control method for a flexible lower extremity exoskeleton robot as claimed in any of claims 1-8, wherein the biomimetic control method comprises the steps of:

the method comprises the following steps: when a human body wears the flexible lower limb exoskeleton robot to move, a wearer swings a left leg forwards, myoelectric signals are collected in real time through a left leg outer side myoelectric sensor (22), a left leg inner side myoelectric sensor (24), a left gluteus myoelectric sensor (31) and a left leg rear side myoelectric sensor (32) which are arranged on the flexible lower limb exoskeleton robot, myoelectric data are transmitted to a body sensing chip (16-3) through data lines after signal conditioning and digital-analog conversion, data operation is carried out, muscle force of a wearer's left leg outer side quadriceps, inner side quadriceps, gluteus maximus and popliteal cord muscles is obtained, corner signals are collected in real time through a left leg hip joint inertial sensor (20) and a left leg knee joint inertial sensor (23) which are arranged on the flexible lower limb exoskeleton robot, corner data are transmitted to a motion chip (16-2) through data lines after signal conditioning and digital-analog conversion, performing action generation and inverse motion solution, acquiring the angular velocity and acceleration of hip joints and knee joints of the left leg of the wearer, and calculating the three-dimensional pose of the left leg of the wearer;

step two: the motion chip (16-2) and the motion sensing chip (16-3) transmit the pose data and the myoelectric data to the main control chip (16-5) through a data line, the main control chip (16-5) sends signals to a Bluetooth receiving module (1-9) of a back box through a Bluetooth transmitting module (16-6), the Bluetooth receiving module (1-9) sends signals to a controller (1-8) for data operation, the controller (1-8) sends signals to a left leg hip joint motor (1-6), the left leg hip joint motor (1-6) rotates forwards to wind a left hip joint traction rope (14), a hip joint mesh structure (5) of the left leg is stretched to provide the left leg hip joint torque required by a wearer, and then the controller (1-8) sends signals to the left leg knee joint motor (1-5), the left leg knee joint motor (1-5) rotates positively to wind the knee joint traction rope (8) of the left leg to stretch the knee joint reticular structure (18) of the left leg, so as to provide the left leg knee joint torque required by the wearer and assist the left leg of the wearer to lift off the ground;

step three: comparing the pose data and muscle force data of the left leg of the wearer with corresponding preset threshold values, when the hip joint of the left leg of the wearer reaches the limit pose, the controller (1-8) of the flexible lower limb exoskeleton robot sends signals to the hip joint motor (1-6) of the left leg, the hip joint motor (1-6) of the left leg rotates reversely, then the controller (1-8) sends signals to the knee joint motor (1-5) of the left leg, the knee joint motor (1-5) of the left leg rotates reversely, the lengths of the hip joint traction rope (14) and the knee joint traction rope (8) on the left side are recovered depending on the extension movement of the left leg of a wearer, the hip joint reticular structure (5) of the left leg and the knee joint reticular structure (18) of the left leg are contracted, the hip joint moment and the knee joint moment required by the left leg of the wearer are provided, and the landing of the left leg of the wearer is assisted;

step four: the wearer swings the right leg forwards, the electromyographic signals of the right leg of the wearer are collected through a right leg external side electromyographic sensor (26), a right leg internal side electromyographic sensor (28), a right gluteus medius electromyographic sensor (29) and a right leg rear side electromyographic sensor (30) which are arranged on the flexible lower limb exoskeleton robot, the electromyographic signals are subjected to signal conditioning and digital-to-analog conversion, the electromyographic data are transmitted to a body sensing chip (16-3) through a data line for data operation, the muscle force of the right leg external side quadriceps, the internal side quadriceps, the gluteus maximus and popliteal muscles of the wearer is obtained, the muscle force data are transmitted to a main control chip (16-5) through the data line, the corner signals of the right leg of the wearer are collected through a right leg hip joint inertial sensor (25) and a right leg knee joint inertial sensor (27) which are arranged on the flexible, the corner data is transmitted to a motion chip (16-2) through a data line, action generation and motion inverse solution are carried out, the angular velocity and the acceleration of the hip joint and the knee joint of the right leg of a wearer are obtained, the three-dimensional pose of the right leg of the wearer is calculated, the pose data is transmitted to a main control chip (16-5) through the data line, the main control chip (16-5) sends signals to a Bluetooth receiving module (1-9) of a back box through a Bluetooth transmitting module (16-6), the Bluetooth receiving module (1-9) sends signals to a controller (1-8) for data operation, the controller (1-8) sends signals to a right leg hip joint motor (1-2), the right leg hip joint motor (1-2) rotates forwards, a right side hip joint traction rope (14) is wound, and a right leg hip joint mesh structure (5) is stretched, providing right leg hip joint torque required by a wearer, then sending a signal to a right leg knee joint motor (1-1) by a controller (1-8), enabling the right leg knee joint motor (1-1) to rotate positively to wind a knee joint traction rope (8) of the right leg, stretching a knee joint reticular structure (18) of the right leg, providing right leg knee joint torque required by the wearer, and assisting the right leg of the wearer to lift off the ground;

step five: comparing the pose data and muscle force data of the right leg of the wearer with corresponding preset thresholds, when the hip joint of the right leg of the wearer reaches a limit pose, sending a signal to a hip joint motor (1-2) of the right leg by a controller (1-8) of the flexible lower limb exoskeleton robot, reversely rotating the hip joint motor (1-2) of the right leg, then sending a signal to a knee joint motor (1-1) of the right leg by the controller (1-8), reversely rotating the knee joint motor (1-1) of the right leg, recovering the lengths of a hip joint traction rope (14) on the right side and a knee joint traction rope (8) of the right leg by depending on the stretching movement of the right leg of the wearer, contracting a hip joint reticular structure (5) of the right leg and a knee joint reticular structure (18) of the right leg, providing hip joint moment and knee joint moment required by the right leg of the wearer, assisting the landing of the right leg of the wearer, completing a gait cycle.

Step six: and judging whether the movement is finished, if so, stopping the movement of the flexible lower limb exoskeleton robot and the wearer, and otherwise, returning to the step and repeating the steps from one step to five step in turn.

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