CN-116763607-B - Single lower limb exoskeleton device and system

CN116763607BCN 116763607 BCN116763607 BCN 116763607BCN-116763607-B

Abstract

The invention provides a single-lower-limb exoskeleton device and a single-lower-limb exoskeleton system, which comprise a healthy side camera, a sick side camera and a main control device, wherein the healthy side camera is used for collecting a motion track of a healthy side of a patient, obtaining healthy side step data based on the motion track and sending the healthy side step data to the main control device, the sick side camera is used for collecting a motion track of a sick side of the patient, obtaining sick side step data based on the motion track and sending the sick side step data to the main control device, and the main control device is used for comparing the healthy side step data with the sick side step data and correcting the sick side step data based on a comparison result. The invention improves learning accuracy of the affected side.

Inventors

LI LUYA
Yu Linggang
WANG JIANHUI
YANG SEN

Assignees

安杰莱科技(杭州)有限公司

Dates

Publication Date: 20260505
Application Date: 20230627

Claims (8)

1. The single lower limb exoskeleton device is characterized by comprising a healthy side camera, a sick side camera and a main control device; The health side camera is used for collecting the motion trail of the health side of a patient, obtaining health side step data based on the motion trail and sending the health side step data to the main control equipment; The patient side camera is used for collecting a movement track of a patient side of a patient, obtaining patient side step data based on the movement track, and sending the patient side step data to the main control equipment; the main control equipment is used for comparing the health side step data with the affected side step data and correcting the affected side step data based on a comparison result; The health side camera comprises an external health side camera and an internal health side camera, wherein the external health side camera is arranged on a rehabilitation straight line track of a health side of a patient, the internal health side camera is arranged on a health side exoskeleton, the external health side camera is used for acquiring a first health side motion track when the patient takes a step and acquiring first health side state data based on the first health side motion track, and the internal health side camera is used for acquiring a second health side motion track when the patient takes a step and acquiring second health side state data based on the second health side motion track; The main control equipment is further used for acquiring height data and leg length data of a patient, determining a maximum walking interval of the healthy side of the patient based on the height data and the leg length data, comparing the first healthy side walking state data with the maximum walking interval, removing the first healthy side walking state data exceeding the maximum walking interval, performing smoothing processing on the first healthy side walking state data in the continuous multiple largest walking intervals to obtain a first normal walking interval of the patient, comparing the second healthy side walking state data with the first normal walking interval of the patient, removing the second healthy side walking state data exceeding the first normal walking interval of the patient, and performing smoothing processing on the second healthy side walking state data in the continuous multiple normal walking intervals of the first patient to obtain a healthy side walking state.
2. The single lower limb exoskeleton device of claim 1, wherein the patient side cameras comprise an external patient side camera and an internal patient side camera, the external patient side camera is arranged on a rehabilitation straight line track of the patient side, and the internal patient side camera is arranged on the patient side exoskeleton; The external patient side camera is used for acquiring a first patient side movement track when a patient takes a patient side step and obtaining first patient side step data based on the first patient side movement track; The built-in patient side camera is used for acquiring a second patient side movement track when the patient takes a step on the patient side, and obtaining second patient side state data based on the second patient side movement track.
3. The single lower limb exoskeleton device of claim 2 wherein the master control apparatus comprises a data processing unit and a motor drive unit; the data processing unit is used for fitting the first healthy side step data and the second healthy side step data to obtain healthy side steps, and generating the movement gait of the patient suffering side based on the healthy side steps; The motor driving unit is used for driving the patient suffering side to take a step based on the movement gait.
4. The single lower extremity exoskeleton device of claim 3 wherein said data processing unit is further configured to fit said first patient side gait data and said second patient side gait data to obtain a patient side gait.
5. The single lower extremity exoskeleton device of claim 2 wherein said master control apparatus is further configured to compare said first patient side gait data with said maximum swing interval and remove said first patient side gait data exceeding said maximum swing interval; smoothing a plurality of continuous first patient side gait data in the maximum swing interval to obtain a second patient normal gait interval; Comparing the second patient side gait data with the second patient normal gait interval and removing the second patient side gait data that exceeds the second patient normal gait interval; Smoothing a plurality of continuous second patient side gait data in the second patient normal gait interval to obtain a patient side gait.
6. The single lower extremity exoskeleton device of claim 5 wherein said master control apparatus further includes a trend analysis unit for performing gait analysis on said healthy side gait of said affected side gait.
7. The single lower extremity exoskeleton device of claim 2 further comprising a wireless transmission unit configured to receive first health side gait data sent by said external health side camera and first patient side gait data sent by said external patient side camera.
8. A single lower extremity exoskeleton system comprising the single lower extremity exoskeleton apparatus of any one of claims 1 to 7, and further comprising a mobile terminal device connected to the single lower extremity exoskeleton apparatus.

Description

Single lower limb exoskeleton device and system Technical Field The invention relates to the technical field of rehabilitation robots, in particular to a single lower limb exoskeleton device and a system. Background The single lower limb exoskeleton is an exoskeleton robot for rehabilitation training of patients, and the patients can perform rehabilitation training on the affected side after wearing the single lower limb exoskeleton. At present, the existing technical scheme of the single-lower-limb exoskeleton comprises the steps of collecting motion data of a healthy side lower limb through a healthy side sensor, sending the motion data of the healthy side to a main controller, and restoring gait data of the healthy side at a patient side through an algorithm of the main controller to achieve the purpose of learning the healthy side of the patient side. However, the existing method needs to collect data through a sensor and has a certain limitation, so that learning accuracy of the affected side is low. Disclosure of Invention Accordingly, the present invention is directed to a single lower limb exoskeleton device and system for improving learning accuracy of a patient side. In order to achieve the above object, the technical scheme adopted by the embodiment of the invention is as follows: The embodiment of the invention provides a single-limb exoskeleton device, which comprises a healthy side camera, a sick side camera and a main control device, wherein the healthy side camera is used for collecting a motion track of a healthy side of a patient, obtaining healthy side step data based on the motion track and sending the healthy side step data to the main control device, the sick side camera is used for collecting a motion track of a sick side of the patient, obtaining sick side step data based on the motion track and sending the sick side step data to the main control device, and the main control device is used for comparing the healthy side step data with the sick side step data and correcting the sick side step data based on a comparison result. In one embodiment, the health side camera comprises an external health side camera and an internal health side camera, wherein the external health side camera is arranged on a rehabilitation straight line track of a health side of a patient, the internal health side camera is arranged on a health side exoskeleton, the external health side camera is used for collecting a first health side motion track when the patient takes a step and obtaining first health side state data based on the first health side motion track, and the internal health side camera is used for collecting a second health side motion track when the patient takes a step and obtaining second health side state data based on the second health side motion track. In one embodiment, the patient side camera comprises an external patient side camera and an internal patient side camera, wherein the external patient side camera is arranged on a rehabilitation straight line track of a patient side, the internal patient side camera is arranged on a patient side exoskeleton, the external patient side camera is used for acquiring a first patient side movement track when the patient takes a step and acquiring first patient side movement state data based on the first patient side movement track, and the internal patient side camera is used for acquiring a second patient side movement track when the patient takes a step and acquiring second patient side movement state data based on the second patient side movement track. In one embodiment, the main control device comprises a data processing unit and a motor driving unit, wherein the data processing unit is used for fitting the first health side step data and the second health side step data to obtain health side steps and generating the movement gait of the patient suffering side based on the health side steps, and the motor driving unit is used for driving the patient suffering side to take a step based on the movement gait. In one embodiment, the data processing unit is further configured to fit the first patient side step data and the second patient side step data to obtain a patient side step. In one embodiment, the master control device is further configured to obtain height data and leg length data of the patient, determine a maximum swing interval for the patient's swing based on the height data and leg length data, compare the first swing interval with the maximum swing interval, remove first swing interval data exceeding the maximum swing interval, smooth the first swing interval data of the consecutive plurality of swing intervals to obtain a first patient's normal swing interval, compare the second swing interval data with the first patient's normal swing interval, remove second swing interval data exceeding the first patient's normal swing interval, and smooth the second swing interval data of the consecutive plurality of swing intervals to obtain a