Single-lower-limb rehabilitation exoskeleton apparatus and control method
A single-lower-limb rehabilitation exoskeleton apparatus and control methods includes a controller, an intact lower-limb component and a paretic lower-limb component connecting communicatively with the controller. The controller is used to determine the current state of the intact lower-limb through the intact lower-limb component and the current state of the paretic lower-limb through the paretic lower-limb component. When the intact lower-limb component is in the lifting state, the movement data of the intact lower-limb is collected and sent to the controller. The controller is used to determine the corresponding gait data for the paretic lower-limb component according to the movement data of the intact lower-limb and send the gait data to the paretic lower-limb component. The paretic lower-limb component is used to drive the paretic lower-limb to move or walk according to the gait data while the intact lower-limb is in the supporting state.
1 . A single-lower-limb rehabilitation exoskeleton apparatus comprising:
a controller; an intact lower-limb component and a paretic lower-limb component that are connected communicatively with the controller;
the intact lower-limb component is configured to be attached to an intact lower-limb of a patient and the paretic lower-limb component is configured to be attached to a paretic lower-limb of the patient;
wherein the controller is configured to collect current state data of the intact lower-limb and the paretic lower-limb through the intact lower-limb component and the paretic lower-limb component respectively;
wherein the current state data comprises a lifting state or a supporting state, and the controller is configured to control the paretic lower-limb component according to the current state data of the intact lower-limb component;
wherein the intact lower-limb component is configured to collect movement data of the intact lower-limb while the intact lower-limb is in the lifting state, and send the movement data to the controller;
the controller is configured to determine gait data corresponding to the paretic lower-limb component according to the movement data of the intact lower-limb, in order to control movement of the paretic lower-limb;
wherein the paretic lower-limb component is configured to drive the paretic lower-limb to move according to the gait data while the intact lower-limb is in the supporting state;
the intact lower-limb component comprises a first intact pressure sensor, a second intact pressure sensor and a third intact pressure sensor located at a left front, a right front and a heel of a sole of an intact foot, respectively;
wherein the first intact pressure sensor, the second intact pressure sensor, and the third intact pressure sensor underneath the intact foot are each configured to detect respective increasing pressures P 1 i , P 2 i , and P 3 i when the paretic lower-limb is in the supporting state and a palm of the intact foot is approaching the ground, and when the palm of the intact foot is positioned to contact the ground, if P 1 i +P 2 i +P 3 i is greater than ½ of a body weight G of the patient and approaching the whole body weight G of the patient, it is indicated to the controller that the intact lower-limb is in the supporting state, and when P 1 i +P 2 i +P 3 i is less than G/2, it is indicated to the controller that the intact lower-limb of the patient is in its lifting state;
wherein the controller is initially configured to establish a standard set of the gait data, and thereafter the controller is configured to update the gait data continuously as the patient walks until it is consistent with gait characteristics of the paretic lower-limb of the patient.
2 . The apparatus according to claim 1 , wherein the movement data comprises one or more of an angle value of an ankle joint, an angle value of a knee joint, and an angle value of a hip joint on an intact side and a plantar pressure value on the intact side.
3 . The apparatus according to claim 1 , wherein the gait data comprises one or more of walking step length, walking step height, walking step frequency, paretic ankle angle value, paretic knee angle value, paretic hip angle value and plantar pressure value on an intact side.
4 . The apparatus according to claim 1 , wherein the intact lower-limb component comprises one or more of an ankle joint sensor, a knee joint sensor and a hip joint sensor; the ankle joint sensor is configured to collect an angle value of an intact ankle joint of the patient; the knee joint sensor is configured to collect an angle value of an intact knee joint of the patient; the hip joint sensor is configured to collect an angle value of an intact hip joint of the patient.
5 . The apparatus according to claim 1 , wherein the movement data further comprises an intact plantar pressure value;
the intact lower-limb component further comprises one or more pressure sensors, each of the first intact pressure sensor, the second intact pressure sensor, and the third intact pressure sensor one or more pressure sensors is configured to collect the intact plantar pressure value;
the controller is configured to determine the current state data of the intact lower-limb according to the intact plantar pressure value.
6 . The apparatus according to claim 1 , wherein the paretic lower-limb component further comprises one or more pressure sensors on a paretic side, each of the one or more pressure sensors on the paretic side is configured to collect a plantar pressure value on the paretic side of the patient;
the controller is configured to determine the current state data of the paretic lower-limb according to the paretic plantar pressure value of the paretic side.
7 . The apparatus according to claim 1 , wherein the paretic lower-limb component comprises one or more joint drive motors for a paretic ankle joint, a paretic knee joint and a paretic hip joint; the one or more joint drive motors are configured to control the movement of a corresponding joint of the paretic lower-limb according to joint angle values based on the gait data.
8 . The apparatus according to claim 7 , wherein the paretic lower-limb component further comprises a plurality of joint power supplies supply and a plurality of joint power buttons respectively connected with each of the one or more joint drive motors;
each joint power supply is configured to supply power to a respective one of the one or more joint drive motors on a paretic side;
each joint power button is configured to change on and off states of its respective joint power supply based on an operational need.
9 . The apparatus according to claim 1 , wherein each of the intact lower-limb component and the paretic lower-limb components includes a fixing unit;
the fixing unit in the intact lower-limb component is configured to attach the intact lower-limb component to the intact lower-limb of the patient.
10 . The apparatus according to claim 1 , wherein the apparatus further comprises a storage unit for storing the current state data sent out by the intact lower-limb component.
11 . The apparatus according to claim 1 , wherein the apparatus further comprises a display component, and the display component comprises a liquid crystal touch screen, a power indicator and an operation indicator;
the liquid crystal touch screen is configured to display the movement data and the gait data;
the power indicator is configured to indicate power consumption of a joint power supply;
the operation indicator is configured to indicate an operation status of the single-lower-limb rehabilitation exoskeleton apparatus.
12 . The apparatus according to claim 5 , wherein the paretic lower-limb component also further comprises one or more pressure sensors on a paretic side, each of the one or more pressure sensors is configured to collect a planter plantar pressure value on the paretic side of the patient;
the controller is configured to determine the current state data of the paretic lower-limb according to the paretic plantar pressure of the paretic side.
13 . The apparatus according to claim1 , wherein a fixing unit in the paretic lower-limb component is configured to attach the paretic lower-limb component to the paretic lower-limb of the patient.