CN111568703A

CN111568703A - Flexible lower limb exoskeleton robot and bionic control method

Info

Publication number: CN111568703A
Application number: CN202010419065.5A
Authority: CN
Inventors: 陈勇; 马文彬; 刘航宇; 朱正阳
Original assignee: Dalian Jiaotong University
Current assignee: Dalian Jiaotong University
Priority date: 2020-05-18
Filing date: 2020-05-18
Publication date: 2020-08-25

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, relates to the technical field of wearable intelligent equipment, and particularly relates to a flexible lower limb exoskeleton robot and a bionic control method.

Background

The aging of the population in China is more and more severe, and by 5 months in 2020, the aged of 65 years and over accounts for 10.83% of the total population in China. The sudden cerebral apoplexy, Parkinson's disease and Alzheimer's disease are common diseases and frequently encountered diseases of the old, about 200 million of newly-ill patients are caused every year, 80 percent of the patients can cause lower limb hemiplegia, so that the muscles of the lower limbs are weak, the patients can not provide enough force to finish walking, the exercise capacity is lost to different degrees, the old with relatively low hemiplegia can exercise by virtue of a wheelchair, the old with serious hemiplegia needs to be bedridden all the year around, complications such as bedsore, muscular atrophy, venous thrombosis, urinary system infection, osteoporosis and the like are caused frequently, the patients can endure the pain which the old can not experience all the year around in the aspect of physical and mental performance, and huge burden is brought to families and society.

The lower limb exoskeleton robot is worn on the legs of the old and serves as an exoskeleton of the old wearer, helps the old to stand and walk again, promotes blood circulation, prevents muscular atrophy, reduces complications, can recover the movement ability and the living ability of the old, and returns to the society again.

The existing lower limb exoskeleton robot generally adopts a rigid body structure, is heavy when being worn, causes stiff gait, limits the flexibility and the ingenuity of the movement of a wearer, easily causes serious pose deviation, reduces the comfort of the wearer and increases the walking fatigue of the wearer. Most lower limb exoskeleton robots move according to preset action sequences and gait tracks, are suitable for structured simple terrains, rarely incorporate dynamic walking characteristics of wearers, and are difficult to coordinate motion stability and environmental adaptability of the wearers and the lower limb exoskeleton robots during movement of unstructured complex terrains, so that practical application of the lower limb exoskeleton robots is restricted.

Through the natural evolution of hundreds of millions of years, the human body has excellent motion characteristics, can walk on unknown and unstructured complex terrains, can coordinate limbs to generate stable motion, can quickly and accurately change gait modes for changing the motion terrains, has strong flexibility, coordination, stability and adaptability for human motion, and provides a rich and reasonable bionic source for the lower limb exoskeleton robot.

Aiming at the problems in the prior art, a novel flexible lower limb exoskeleton robot and a bionic control method are researched and designed, so that the problems in the prior art are very necessary to be overcome.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the flexible lower limb exoskeleton robot and the bionic control method by utilizing the bionic design principle according to the motion characteristics of a human body, so that the weight of the flexible lower limb exoskeleton robot can be reduced, the load of a wearer is reduced, the motion limit of a rigid structure on the wearer is broken through, the comfort of the wearer is increased, the action integration of the flexible lower limb exoskeleton robot and the wearer is realized, and the motion flexibility, the action elegance, the gait stability and the environment adaptability of the flexible lower limb exoskeleton robot are improved.

The technical means adopted by the invention are as follows:

a flexible lower extremity exoskeleton robot comprising: the intelligent sports pants comprise a back wearing device, a waistband, two sets of walking devices, a knee joint traction rope, an intelligent sports pants hip joint traction rope and a motion sensing device;

furthermore, the waistband is of an arc-shaped 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 is arranged at the waist part of the intelligent sports pants;

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

further, the back-worn device includes: a back box and shoulder straps; the front part of the back box is provided with two shoulder belts which are used for carrying on the back of a wearer; a driving device and a control system are arranged in the back box;

furthermore, the intelligent sports pants are made of spandex materials with certain elasticity;

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

furthermore, the number of the knee joint traction ropes is two, 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; a knee joint traction rope protective sleeve is sleeved outside the knee joint traction rope, the upper end of the knee joint traction rope protective sleeve is arranged on the back box, and the lower part of the knee joint traction rope protective sleeve is arranged on the shank wearing device;

furthermore, the number of the hip joint traction ropes is two, 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; the external part of the hip joint traction rope is sleeved with a hip joint traction rope protective sleeve, the upper end of the hip joint traction rope protective sleeve is arranged on the back box, and the lower part of the hip joint traction rope protective sleeve is arranged on the waistband.

Further, the back box includes: the device comprises 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 arranged in the back box shell in parallel; the driving device is connected with the control system and is arranged on the upper flat plate and the lower flat plate;

further, the control system includes: the Bluetooth mobile phone comprises a battery, a controller and a Bluetooth receiving module; the battery, the controller and the Bluetooth receiving module are mutually connected and arranged on the lower flat plate;

further, the driving device includes: a right leg knee joint motor, a right leg hip joint motor, a left leg knee joint motor and a left leg hip joint motor; the right leg knee joint motor and the right leg hip joint motor are arranged on the upper flat plate side by side and are respectively connected with the upper ends 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 arranged at the bottom of the back box shell side by side and are respectively connected with the other two knee joint traction ropes and the other two 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 a left-right reverse direction.

Furthermore, 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 with the controller and the Bluetooth receiving module through data lines to carry out data transmission.

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

furthermore, the hip joint network structure 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; the lower end is arranged at the upper end of the back part of the thigh bandage;

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

furthermore, the waistband fixing rings are respectively arranged at the left side and the right side of the front part of the waistband;

furthermore, the thigh fixing rings are arranged at the front parts of the thigh positions of the two trouser legs of the intelligent sports pants;

further, the hip joint net structure is arranged at the rear part of the hip position of the intelligent sports pants; two thigh bandages are installed at intelligence sports pants thigh outside both sides.

Further, the lower leg wearing device includes: a lower leg upper fixing ring, a lower leg lower fixing ring, a sole bandage, a lower leg upper bandage, a knee joint net structure and a lower leg bandage;

furthermore, the knee joint net structure is formed by cross weaving of a plurality of elastic belts; the upper end of the shank is provided with a shank upper binding band, and the lower end of the shank upper binding band is provided with a shank lower binding band;

furthermore, the upper binding band and the lower binding band of the lower leg are of an arc-shaped belt-shaped structure with certain elasticity, and the arc of the upper binding band and the lower binding band is the same as the arc of the lower leg of a wearer;

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

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

Further, the motion sensor device includes: 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.

Further, the front sensing device in intelligence sports pants inboard includes: a right leg chip device, a left leg hip joint inertial sensor, a left leg chip device, a left leg lateral myoelectric sensor, a left leg knee joint inertial sensor, a left leg medial myoelectric sensor, a right leg hip joint inertial sensor, a right leg lateral myoelectric sensor, a right leg knee joint inertial sensor, a right leg medial myoelectric sensor;

furthermore, the left leg hip joint inertial sensor is a flexible patch, is pasted on the inner layer of the intelligent sports pants and corresponds to the position of the left leg hip joint of the wearer;

furthermore, the left leg chip device is embedded in the inner layer of the intelligent sports pants and corresponds to the position of the left thigh of the wearer;

furthermore, the left leg lateral electromyography sensor is a flexible patch, is pasted on the inner layer of the intelligent sports pants and corresponds to the position of quadriceps muscle of the left leg lateral thigh of a wearer;

furthermore, the left leg and knee joint inertial sensor is a flexible patch, is adhered to the inner layer of the intelligent sports pants and corresponds to the position of the left leg and knee joint of the wearer;

furthermore, the left leg medial electromyography sensor is a flexible patch, is pasted on the inner layer of the intelligent sports pants and corresponds to the position of quadriceps muscle of the left leg medial thigh of a wearer;

furthermore, a left leg hip joint inertial sensor, a left leg lateral electromyographic sensor, a left leg knee joint inertial sensor and a left leg medial electromyographic sensor are connected with the left leg chip device through data lines for data transmission; the left leg chip device and the Bluetooth receiving module perform data transmission through Bluetooth signals;

furthermore, the right leg hip joint inertial sensor is a flexible patch, is pasted on the inner layer of the intelligent sports pants and corresponds to the position of the right leg hip joint of the wearer;

furthermore, the right leg chip device is embedded in the inner layer of the intelligent sports pants and corresponds to the position of the right thigh of the wearer;

furthermore, the right leg lateral electromyography sensor is a flexible patch, is pasted on the inner layer of the intelligent sports pants and corresponds to the position of quadriceps muscle of the right leg lateral thigh of a wearer;

furthermore, the right leg and knee joint inertial sensor is a flexible patch, is adhered to the inner layer of the intelligent sports pants and corresponds to the position of the right leg and knee joint of the wearer;

furthermore, the right leg medial electromyography sensor is a flexible patch, is pasted on the inner layer of the intelligent sports pants and corresponds to the position of quadriceps muscle of the right leg medial thigh of the wearer;

further, a right leg hip joint inertial sensor, a right leg lateral electromyographic sensor, a right leg knee joint inertial sensor and a right leg medial electromyographic sensor are connected with the right leg chip device through data lines for data transmission; and the right leg chip device and the Bluetooth receiving module perform data transmission through Bluetooth signals.

Further, intelligence sports pants inboard back sensing device includes: a right gluteus electric sensor, a right leg posterior electric sensor, a left gluteus electric sensor and a left leg posterior electric sensor;

furthermore, the right gluteus electromyography sensor is a flexible patch and is adhered to the inner layer of the intelligent sports pants and corresponds to the position of the gluteus maximus of the right leg of the wearer;

furthermore, the right leg posterior side electromyography sensor is a flexible patch, is pasted on the inner layer of the intelligent sports pants and corresponds to the position of the popliteal muscle of the right leg of the wearer;

further, the right gluteus electromyography and the right leg back electromyography are connected with the right leg chip device through data lines for data transmission;

furthermore, the left gluteus maximus electric sensor is a flexible patch and is adhered to the inner layer of the intelligent sports pants and corresponds to the position of the gluteus maximus of the left leg of the wearer;

furthermore, the left leg posterior side electromyography sensor is a flexible patch, is pasted on the inner layer of the intelligent sports pants and corresponds to the position of the popliteal muscle of the left leg of the wearer;

furthermore, the left gluteus electromyography and the left leg posterior electromyography are connected with the left leg chip device through data lines for data transmission.

Further, left leg chip assembly is the same with right leg chip assembly structure, all includes: the mobile phone comprises an upper shell, a motion chip, a motion sensing chip, a lithium battery, a main control chip, a Bluetooth transmitting module, a circuit board and a lower shell;

furthermore, the motion chip, the motion sensing chip, the main control chip and the Bluetooth transmitting module are arranged on the circuit board; the motion chip, the motion sensing chip and the main control chip are connected with the Bluetooth transmitting module through a data line of the circuit board to perform data transmission;

furthermore, the lithium battery is arranged on the clamping groove in the lower shell to supply power for the circuit board;

further, the circuit board is on the upper strata, and the lithium cell is in the lower floor, encapsulates in the shell through epitheca and inferior valve.

Further, the bionic control method of the flexible lower limb exoskeleton robot is characterized by comprising the following steps:

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, a left leg inner side myoelectric sensor, a left gluteus electrical sensor and a left leg rear side myoelectric sensor which are arranged on the flexible lower limb exoskeleton robot, myoelectric data are transmitted to a somatosensory chip through a data line after signal conditioning and digital-to-analog conversion, data operation is carried out, muscle force of a left leg outer side quadriceps, an inner side quadriceps, gluteus maximus and popliteal cord muscle of the wearer is obtained, corner signals are collected in real time through a left leg hip joint inertial sensor and a left leg knee joint inertial sensor which are arranged on the flexible lower limb exoskeleton robot, corner data are transmitted to a motion chip through the data line after signal conditioning and digital-to-analog conversion, action generation and motion inverse solution are carried out, and angular velocity and acceleration of a left leg hip joint and a knee joint of the, solving the three-dimensional pose of the left leg of the wearer;

step two: the motion chip and the motion sensing chip transmit pose data and myoelectric data to the main control chip through a data line, the main control chip sends signals to a Bluetooth receiving module of the back box through a Bluetooth transmitting module, the Bluetooth receiving module sends signals to the controller for data operation, the controller sends signals to a left leg hip joint motor, the left leg hip joint motor rotates forwards, a left hip joint traction rope is wound, a hip joint net structure of a left leg is stretched, left leg hip joint torque required by a wearer is provided, then the controller sends signals to the left leg knee joint motor, the left leg knee joint motor rotates forwards, a knee joint traction rope of the left leg is wound, a knee joint net structure of the left leg is stretched, left leg knee joint torque required by the wearer is provided, and the left leg of the wearer is assisted 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 thresholds, when the hip joint of the left leg of the wearer reaches a limit pose, sending a signal to a hip joint motor of the left leg by a controller of the flexible lower limb exoskeleton robot, reversing the hip joint motor of the left leg, then sending a signal to a knee joint motor of the left leg by the controller, reversing the motor of the knee joint of the left leg, recovering the lengths of a hip joint traction rope and a left leg knee joint traction rope on the left side by means of the stretching movement of the left leg of the wearer, contracting a hip joint reticular structure of the left leg and a knee joint reticular structure of the left leg, providing hip joint torque and knee joint torque required by the left leg of the wearer, and assisting the left leg of the wearer to land;

step four: a wearer swings a right leg forwards, myoelectric signals of the right leg of the wearer are collected through a right leg lateral myoelectric sensor, a right leg medial myoelectric sensor, a right gluteus electric sensor and a right leg back lateral myoelectric sensor which are arranged on a flexible lower limb exoskeleton robot, myoelectric data are transmitted to a body sensing chip through a data line for data operation, muscle force of the lateral quadriceps of the right leg of the wearer, the medial quadriceps of the right leg, the gluteus maximus and the hamstring muscle is obtained through signal conditioning and digital-to-analog conversion, the muscle force data are transmitted to a main control chip through the data line, a corner signal of the right leg of the wearer is collected through a right leg hip joint inertial sensor and a right leg knee joint inertial sensor which are arranged on the flexible lower limb exoskeleton robot, the corner data are transmitted to a motion chip through the data line for action generation and motion reaction, acquiring angular velocities and accelerations of hip joints and knee joints of the right leg of a wearer, calculating a three-dimensional pose of the right leg of the wearer, transmitting pose data to a main control chip through a data line, sending a signal to a Bluetooth receiving module of a back box by the main control chip through a Bluetooth transmitting module, sending a signal to a controller by the Bluetooth receiving module for data operation, sending a signal to a right leg hip joint motor by the controller, positively rotating the right leg hip joint motor, winding a hip joint traction rope on the right side, stretching a hip joint mesh structure of the right leg, providing right leg hip joint torque required by the wearer, then sending a signal to the right leg knee joint motor by the controller, positively rotating the right leg hip joint motor, winding a knee joint traction rope on the right leg, stretching a knee joint mesh structure 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 of the right leg by a controller of the flexible lower limb exoskeleton robot, reversing the hip joint motor of the right leg, then sending a signal to a knee joint motor of the right leg by the controller, reversing the motor of the knee joint of the right leg, recovering the lengths of a hip joint traction rope on the right side and a knee joint traction rope on the right leg by means of the stretching movement of the right leg of the wearer, contracting the hip joint reticular structure of the right leg and the knee joint reticular structure of the right leg, providing hip joint torque and knee joint torque required by the right leg of the wearer, assisting the right leg of the wearer to land, and 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.

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

1. the flexible lower limb exoskeleton robot has the characteristics of compact structure, simplicity in operation, convenience in assembly and disassembly and easiness in carrying, can reduce the load of a wearer, breaks through the movement limitation of a rigid structure on the wearer, and improves the movement flexibility and the action elegance.

2. According to the flexible lower limb exoskeleton robot, the waistband, the thigh binding band, the shank binding band and the intelligent sports pants can be adjusted, so that wearers with different heights and fat and thin bodies can be satisfied, and the comfort of the wearers is improved.

3. According to the bionic control method, the body feeling chip is used for acquiring the muscle force of the leg of the wearer, the motion chip is used for resolving the three-dimensional pose of the leg of the wearer, the motion posture of the flexible lower limb exoskeleton robot can be adjusted rapidly, the balance and stability are maintained, the adjustment accuracy is improved, the action integration of the flexible lower limb exoskeleton robot and the wearer is realized, the human-computer compatibility characteristic is enhanced, and the gait stability and the environmental adaptability are improved.

In conclusion, the technical scheme of the invention solves the problems that the rigid body structure in the prior art is heavy to wear, so that the gait is stiff, the movement flexibility and the movement ingenuity of a wearer are limited, serious pose deviation is easy to cause, the comfort of the wearer is reduced, the walking fatigue of the wearer is increased, the movement stability and the environmental adaptability of the wearer and the lower limb exoskeleton robot are difficult to coordinate, the practical application of the lower limb exoskeleton robot is restricted, and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic diagram of the flexible lower extremity exoskeleton robot of the present invention;

FIG. 2 is a schematic diagram of the structure of the right leg chip apparatus of the present invention;

FIG. 3 is a schematic structural view of the back box of the present invention;

FIG. 4 is a schematic structural view of the inside front of the intelligent sports pants of the present invention;

FIG. 5 is a schematic view of the structure of the inner back of the intelligent sports pants of the present invention;

FIG. 6 is a control schematic of the present invention;

FIG. 7 is a flow chart of a biomimetic control method of the present invention;

FIG. 8 is a schematic representation of the movement of the planar 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. a back box 2, a hip joint traction rope protective sleeve 3, a knee joint traction rope protective sleeve 4, a waistband 5, a hip joint mesh structure 6, a thigh bandage 7, a calf upper fixing ring 8, a knee joint traction rope 9, a calf lower fixing ring 10, a sole bandage 11, a shoulder strap 12, a waistband fixing ring 13, intelligent sports pants 14, a hip joint traction rope 15, a thigh fixing ring 16, a right leg chip device 17, a calf upper bandage 18, a knee joint mesh structure 19, a calf lower bandage 20, a left leg hip joint inertial sensor 21, a left leg chip device 22, a left leg lateral myoelectric sensor 23, a left leg knee joint inertial sensor 24, a left leg medial myoelectric sensor 25, a right leg hip joint inertial sensor 26, a right leg lateral myoelectric sensor 27, a right leg knee joint inertial sensor 28, a right leg medial myoelectric sensor 29, a right gluteus electric sensor 30, a right leg posterior myoelectric sensor 31, a left leg posterior myoelectric sensor, A left gluteus electrical sensor 32, a left leg posterior side electrical sensor;

1-1 right leg knee joint motor 1-2 right leg hip joint motor 1-3 back box shell 1-4 battery 1-5 left leg knee joint motor 1-6 left leg hip joint motor 1-7 upper layer panel 1-8 controller 1-9 bluetooth receiving module 1-10 lower layer panel;

16-1 upper shell 16-2 motion chip 16-3 body feeling chip 16-4 lithium battery 16-5 main control chip 16-6 bluetooth emission module 16-7 circuit board 16-8 lower shell.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, 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 drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

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 present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the 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 a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1, the present invention provides a 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 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 the driving device in the back box 1, and the lower end of each knee joint traction rope 8 is respectively connected with the two sets of shank wearing devices; the 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 3 is arranged on the shank wearing device;

the number of the hip joint traction ropes 14 is two, 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.

As shown in fig. 3, the back box 1 includes: 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: 1-4 of battery, 1-8 of controller and 1-9 of bluetooth receiving module; 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 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 another two knee joint traction ropes 8 and a hip joint traction rope 14;

the right leg knee joint motor 1-1 and the right leg hip joint motor 1-2 are reversely assembled with the left leg knee joint motor 1-5 and the left leg hip joint motor 1-6 left and right.

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.

As shown in fig. 1, the thigh wearing device includes: 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 part of the intelligent sports pants 13; two thigh straps 6 are installed on the outer both sides of the thigh of intelligent sports pants 13.

As shown in fig. 1, the lower leg wearing device includes: 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 lower 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 structure is the same as the arc of the lower leg of a wearer;

the upper calf bandage 17, the lower calf bandage 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 a band-shaped fabric with certain elasticity, two ends of the band-shaped fabric are respectively arranged at the outer side and the inner side of the lower part bandage 19 of the lower leg, and the sole bandage 10 is sleeved on the foot of a wearer.

As shown in fig. 4 and 5, the motion sensor device includes: 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.

As shown in fig. 4, the intelligent sports pants inner side front sensing device 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 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 on 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 the wearer;

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

the left leg and knee joint inertial sensor 23 is a flexible patch, is adhered 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 adhered to 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 the 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 the left leg chip device 21 through data lines for data transmission; the left leg chip 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 and is adhered to the inner layer of the intelligent sports pants 13 and corresponds to the position of the right leg hip joint of the wearer;

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

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

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

the right leg medial electromyographic sensor 28 is a flexible patch, is adhered to 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 the 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 perform data transmission through Bluetooth signals.

As shown in fig. 5, the intelligent sports pants inner back sensing device includes: a right gluteus medius electric sensor 29, a right leg posterior side myoelectric sensor 30, a left gluteus medius electric sensor 31, a left leg posterior side myoelectric sensor 32;

the right gluteus maximus electric sensor 29 is a flexible patch and is adhered 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 adhered to the inner layer of the intelligent sports pants 13 and corresponds to the position of the popliteal muscle of the right leg of the wearer;

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

the left gluteus maximus electric sensor 31 is a flexible patch and is adhered to the inner layer of the intelligent sports pants 13 and corresponds to the position of the gluteus maximus of the left leg of the wearer;

the left leg posterior side electromyographic sensor 32 is a flexible patch, is adhered to the inner layer of the intelligent sports pants 13 and corresponds to the position of the popliteal muscle of the left leg of the wearer;

the left gluteus electromyography sensor 31 and the left leg posterior electromyography sensor 32 are connected with the left leg chip device 21 through data lines for data transmission.

As shown in fig. 2, the left leg chipset 21 and the right leg chipset 16 are identical in structure and each include: the mobile phone 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 for 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 circuit board is encapsulated in the shell through an upper shell 16-1 and a lower shell 16-8.

As shown in fig. 1 to 9, a bionic control method of a flexible lower limb exoskeleton robot is characterized by comprising the following steps:

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 a data line after signal conditioning and digital-analog conversion for data operation, muscle force of a left leg outer side quadriceps, an inner side quadriceps, gluteus maximus and popliteal cord muscle of the wearer is obtained, a corner signal is 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 the data line for action generation and motion counteraction, acquiring the angular velocity and acceleration of hip joints and knee joints of the left leg of the wearer, and solving the three-dimensional pose of the left leg of the wearer;

step two: the motion chip 16-2 and the body feeling chip 16-3 transmit the pose data and the myoelectric data to the main control chip 16-5 through the data line, the main control chip 16-5 sends signals to the Bluetooth receiving module 1-9 of the back box through the Bluetooth transmitting module 16-6, the Bluetooth receiving module 1-9 sends signals to the controller 1-8 for data operation, the controller 1-8 sends signals to the hip joint motor 1-6 of the left leg, the hip joint motor 1-6 of the left leg rotates forwards, the hip joint traction rope 14 of the left leg is wound, the hip joint reticular structure 5 of the left leg is stretched to provide the moment of the hip joint of the left leg required by the wearer, then the controller 1-8 sends signals to the hip joint motor 1-5 of the left leg, the knee joint motor 1-5 of the left leg rotates forwards, the knee joint traction rope 8 of the left leg is wound forwards, stretching the knee joint network 18 of the left leg to provide the left leg knee joint torque required by the wearer to assist the wearer in lifting the left leg off the ground;

step three: comparing the pose data and muscle force data of the left leg of the wearer with corresponding preset thresholds, when the hip joint of the left leg of the wearer reaches a limit pose, sending a signal to a hip joint motor 1-6 of the left leg by a controller 1-8 of the flexible lower limb exoskeleton robot, reversely rotating the hip joint motor 1-6 of the left leg, then sending a signal to a knee joint motor 1-5 of the left leg by the controller 1-8, reversely rotating the knee joint motor 1-5 of the left leg, recovering the lengths of a hip joint traction rope 14 and a left leg knee joint traction rope 8 of the left leg by means of the stretching movement of the left leg of the wearer, contracting the hip joint reticular structure 5 and the left leg knee joint reticular structure 18 of the left leg, providing hip joint torque and knee joint torque required by the left leg of the wearer, and assisting the left leg of the wearer in landing;

step four: the wearer swings the right leg forwards, collects the electromyographic signals of the right leg of the wearer through a right leg external side electromyographic sensor 26, a right leg internal side electromyographic sensor 28, a right gluteus medius electric sensor 29 and a right leg rear side electromyographic sensor 30 which are arranged on the flexible lower limb exoskeleton robot, carries out signal conditioning and digital-to-analog conversion, transmits the electromyographic data to the body sensing chip 16-3 through a data line, carries out data operation, obtains the muscle force of the quadriceps muscle, the internal quadriceps muscle, the gluteus maximus and the popliteal rope muscle of the right leg of the wearer, transmits the muscle force data to the main control chip 16-5 through the data line, collects the corner signals of the right leg of the wearer through a right leg hip joint inertial sensor 25 and a right leg knee joint inertial sensor 27 which are arranged on the flexible lower limb exoskeleton robot, carries out signal conditioning and digital-to-analog conversion, and transmits the corner data to the motion chip, performing action generation and inverse motion solution, acquiring angular velocities and accelerations of hip joints and knee joints of the right leg of the wearer, calculating the three-dimensional pose of the right leg of the wearer, transmitting pose data to a main control chip 16-5 through a data line, transmitting a signal to a Bluetooth receiving module 1-9 of a back box by the main control chip 16-5 through a Bluetooth transmitting module 16-6, transmitting a signal to a controller 1-8 by the Bluetooth receiving module 1-9, performing data operation, transmitting a signal to a hip joint motor 1-2 of the right leg by the controller 1-8, positively rotating the hip joint motor 1-2 of the right leg, winding a hip joint traction rope 14 on the right side, stretching a hip joint mesh structure 5 of the right leg, providing the moment of the hip joint of the right leg required by the wearer, and then transmitting a signal to the hip joint motor 1-1 of the right leg through the controllers 1-1, the knee joint traction rope 8 of the right leg is wound to stretch the knee joint net structure 18 of the right leg, so that the right leg knee joint torque required by the wearer is provided, and the right leg of the wearer is assisted 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 means of 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 torque and knee joint torque required by the right leg of the wearer, assisting the right leg of the wearer in landing, and completing a gait cycle.

Example 1

As shown in fig. 8, the flexible lower extremity exoskeleton robot of the present invention moves with the wearer in a planar terrain:

a) the flexible lower limb exoskeleton robot and a wearer are in a standing state of a plane terrain, the wearer swings a left leg forwards, electromyographic signals of the left leg of the wearer are collected through a left leg outer side electromyographic sensor, a left leg inner side electromyographic sensor, a left gluteus electromyographic sensor and a left leg rear side electromyographic sensor which are installed on the flexible lower limb exoskeleton robot, the electromyographic signals are subjected to signal conditioning and digital-analog conversion, electromyographic data are transmitted to a body sensing chip through data lines, data operation is carried out, muscle force of the left leg outer side quadriceps, the inner side quadriceps, the gluteus maximus and the popliteal muscles of the wearer is obtained, and the muscle force data are transmitted to a main control chip through the data lines;

b) the left leg hip joint inertial sensor and the left leg knee joint inertial sensor which are arranged on the flexible lower limb exoskeleton robot are used for collecting a corner signal of the left leg of a wearer, the corner signal is processed by signal conditioning and digital-to-analog conversion, corner data is transmitted to a motion chip through a data line to perform motion generation and inverse solution of motion, the angular velocities and the accelerations of the hip joint and the knee joint of the left leg of the wearer are obtained, the three-dimensional pose of the left leg of the wearer is calculated, the pose data is transmitted to a main control chip through the data line, the main control chip sends a signal to a Bluetooth receiving module of a back box through a Bluetooth transmitting module, the Bluetooth receiving module sends a signal to a controller to perform data operation, the controller sends a signal to a left leg hip joint motor, the left leg hip joint motor rotates forwards, a left leg hip joint traction rope is wound, a left leg hip joint reticular structure is stretched, and the left leg hip joint torque, then the controller sends a signal to the left leg and knee joint motor, the left leg and knee joint motor rotates forwards to wind the left leg and knee joint traction rope and stretch the left leg and knee joint mesh structure to provide the left leg and knee joint torque required by the wearer and assist the wearer in lifting the left leg off the ground;

c) comparing pose data and muscle force data of a left leg of a wearer with a preset threshold value of a plane terrain, when a hip joint of the left leg of the wearer reaches a maximum flexion pose, a controller of the flexible lower limb exoskeleton robot sends a signal to a hip joint motor of the left leg, the hip joint motor of the left leg rotates reversely, then the controller sends a signal to a knee joint motor of the left leg, the knee joint motor of the left leg rotates reversely, the lengths of a hip joint traction rope of the left leg and a knee joint traction rope of the left leg are recovered by means of extension movement of the left leg of the wearer, a hip joint reticular structure and a knee joint reticular structure of the left leg are contracted, hip joint torque and knee joint torque required by the left leg of the wearer are provided, and landing of the left leg of the wearer is assisted;

d) a wearer swings a right leg forwards, myoelectric signals of the right leg of the wearer are collected through a right leg lateral myoelectric sensor, a right leg medial myoelectric sensor, a right gluteus electric sensor and a right leg back lateral myoelectric sensor which are arranged on a flexible lower limb exoskeleton robot, myoelectric data are transmitted to a body sensing chip through a data line for data operation, muscle force of the lateral quadriceps of the right leg of the wearer, the medial quadriceps of the right leg, the gluteus maximus and the hamstring muscle is obtained through signal conditioning and digital-to-analog conversion, the muscle force data are transmitted to a main control chip through the data line, a corner signal of the right leg of the wearer is collected through a right leg hip joint inertial sensor and a right leg knee joint inertial sensor which are arranged on the flexible lower limb exoskeleton robot, the corner data are transmitted to a motion chip through the data line for action generation and motion reaction, acquiring angular velocities and accelerations of hip joints and knee joints of the right leg of a wearer, calculating a three-dimensional pose of the right leg of the wearer, transmitting pose data to a main control chip through a data line, sending a signal to a Bluetooth receiving module of a back box by the main control chip through a Bluetooth transmitting module, sending a signal to a controller by the Bluetooth receiving module for data operation, sending a signal to a right leg hip joint motor by the controller, positively rotating the right leg hip joint motor, winding a right leg hip joint traction rope, stretching a right leg hip joint mesh structure, providing right leg hip joint torque required by the wearer, and then sending a signal to the right leg knee joint motor by the controller, positively rotating the right leg hip joint motor, winding the right leg hip joint traction rope, stretching the right leg knee joint mesh structure, providing right leg knee joint torque required by the wearer, and assisting the right leg of the wearer to lift off the ground;

e) comparing the pose data and muscle force data of the right leg of the wearer with a preset threshold value of a plane terrain, when the hip joint of the right leg of the wearer reaches the maximum flexion pose, sending a signal to a hip joint motor of the right leg by a controller of the flexible lower limb exoskeleton robot, reversing the hip joint motor of the right leg, then sending a signal to a knee joint motor of the right leg by the controller, reversing the motor of the knee joint of the right leg, recovering the lengths of a hip joint traction rope and a knee joint traction rope of the right leg by means of extension movement of the right leg of the wearer, contracting the mesh structure of the hip joint of the right leg and the mesh structure of the knee joint of the right leg, providing the moment of the hip joint and the moment of the knee joint required by the right leg of the wearer, assisting the right leg of the wearer to land, and completing.

If the user continues to walk, repeating the process; and if the user does not walk any more, the flexible lower limb exoskeleton robot and the wearer stop moving.

Example 2

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

a) the flexible lower limb exoskeleton robot and a wearer are in a standing state of a step terrain, the wearer lifts a left leg forwards, electromyographic signals of the left leg of the wearer are collected through a left leg outer side electromyographic sensor, a left leg inner side electromyographic sensor, a left gluteus electromyographic sensor and a left leg rear side electromyographic sensor which are arranged on the flexible lower limb exoskeleton robot, the electromyographic signals are subjected to signal conditioning and digital-analog conversion, electromyographic data are transmitted to a body sensing chip through data lines, data operation is carried out, muscle force of the left leg outer side quadriceps, the inner side quadriceps, the gluteus maximus and the popliteal cord muscle of the wearer is obtained, and muscle force data are transmitted to a main control chip through the data lines;

b) the left leg hip joint inertial sensor and the left leg knee joint inertial sensor which are arranged on the flexible lower limb exoskeleton robot are used for collecting a corner signal of the left leg of a wearer, the corner signal is processed by signal conditioning and digital-to-analog conversion, corner data is transmitted to a motion chip through a data line to perform motion generation and inverse solution of motion, the angular velocities and the accelerations of the hip joint and the knee joint of the left leg of the wearer are obtained, the three-dimensional pose of the left leg of the wearer is calculated, the pose data is transmitted to a main control chip through the data line, the main control chip sends a signal to a Bluetooth receiving module of a back box through a Bluetooth transmitting module, the Bluetooth receiving module sends a signal to a controller to perform data operation, the controller sends a signal to a left leg hip joint motor, the left leg hip joint motor rotates forwards, a left leg hip joint traction rope is wound, a left leg hip joint reticular structure is stretched, and the left leg hip joint torque, then the controller sends a signal to the left leg and knee joint motor, the left leg and knee joint motor rotates forwards to wind the left leg and knee joint traction rope and stretch the left leg and knee joint mesh structure to provide the left leg and knee joint torque required by the wearer and assist the left leg of the wearer to lift;

c) comparing pose data and muscle force data of a left leg of a wearer with a preset threshold value of step terrain, when a hip joint of the left leg of the wearer reaches a maximum flexion pose, sending a signal to a hip joint motor of the left leg by a controller of the flexible lower limb exoskeleton robot, reversing the hip joint motor of the left leg, then sending a signal to a knee joint motor of the left leg by the controller, reversing the motor of the knee joint of the left leg, recovering the lengths of a hip joint traction rope of the left leg and a hip joint traction rope of the left leg by means of extension movement of the left leg of the wearer, contracting a mesh structure of the hip joint of the left leg and a mesh structure of the knee joint of the left leg, providing hip joint torque and knee joint torque required by the left leg of the wearer, assisting the left leg of the wearer to land, and stepping on a first step;

d) a wearer lifts the right leg forwards, electromyographic signals of the right leg of the wearer are collected through a right leg external side electromyographic sensor, a right leg internal side electromyographic sensor, a right gluteus electromyographic sensor and a right leg rear side electromyographic sensor which are arranged on the flexible lower limb exoskeleton robot, electromyographic data are transmitted to a body sensing chip through a data line for data operation, muscle force of the lateral quadriceps of the right leg of the wearer, the medial quadriceps of the right leg, the gluteus maximus and the hamstring muscle is obtained, the muscle force data are transmitted to a main control chip through the data line, a corner signal of the right leg of the wearer is collected through a right leg hip joint inertial sensor and a right leg knee joint inertial sensor which are arranged on the flexible lower limb exoskeleton robot, the corner data are transmitted to a motion chip through the data line for action generation and motion reaction, acquiring angular velocities and accelerations of hip joints and knee joints of the right leg of a wearer, calculating a three-dimensional pose of the right leg of the wearer, transmitting pose data to a main control chip through a data line, sending a signal to a Bluetooth receiving module of a back box by the main control chip through a Bluetooth transmitting module, sending a signal to a controller by the Bluetooth receiving module for data operation, sending a signal to a right leg hip joint motor by the controller, positively rotating the right leg hip joint motor, winding a right leg hip joint traction rope, stretching a right leg hip joint mesh structure, providing right leg hip joint torque required by the wearer, and then sending a signal to the right leg knee joint motor by the controller, positively rotating the right leg hip joint motor, winding the right leg hip joint traction rope, stretching the right leg knee joint mesh structure, providing right leg knee joint torque required by the wearer, and assisting the right leg of the wearer in lifting;

e) comparing pose data and muscle force data of the right leg of the wearer with a preset threshold value of step terrain, when the hip joint of the right leg of the wearer reaches the maximum flexion pose, sending a signal to a hip joint motor of the right leg by a controller of the flexible lower limb exoskeleton robot, reversing the hip joint motor of the right leg, then sending a signal to a knee joint motor of the right leg by the controller, reversing the motor of the knee joint of the right leg, recovering the lengths of a hip joint traction rope and a knee joint traction rope of the right leg by means of extension movement of the right leg of the wearer, contracting a hip joint reticular structure and a knee joint reticular structure of the right leg, providing hip joint torque and knee joint torque required by the right leg of the wearer, assisting the right leg of the wearer to land, and stepping on a second step;

f) a wearer lifts a left leg forwards, electromyographic signals of the left leg of the wearer are collected through a left leg outer side electromyographic sensor, a left leg inner side electromyographic sensor, a left gluteus electromyographic sensor and a left leg rear side electromyographic sensor which are installed on the flexible lower limb exoskeleton robot, electromyographic data are transmitted to a body sensing chip through a data line to carry out data operation, muscle force of the lateral quadriceps of the left leg of the wearer, the medial quadriceps of the left leg, the gluteus maximus and the hamstring muscle of the wearer is obtained, muscle force data are transmitted to a main control chip through the data line, a corner signal of the left leg of the wearer is collected through a left leg hip joint inertial sensor and a left leg knee joint inertial sensor which are installed on the flexible lower limb exoskeleton robot, the corner data are transmitted to a motion chip through the data line to carry out action generation and motion reaction, acquiring angular velocities and accelerations of hip joints and knee joints of a left leg of a wearer, calculating a three-dimensional pose of the left leg of the wearer, transmitting pose data to a main control chip through a data line, sending a signal to a Bluetooth receiving module of a back box by the main control chip through a Bluetooth transmitting module, sending a signal to a controller by the Bluetooth receiving module for data operation, sending a signal to a hip joint motor of the left leg by the controller, positively rotating the hip joint motor of the left leg, winding a hip joint traction rope of the left leg, stretching a hip joint mesh structure of the left leg, providing a hip joint torque of the left leg required by the wearer, and then sending a signal to the knee joint motor of the left leg by the controller, positively rotating the hip joint motor of the left leg, winding the hip joint traction rope of the left leg, stretching the knee joint mesh structure of the left leg, providing a knee joint torque of the left leg required by the wearer, and assisting;

g) comparing the pose data and muscle force data of the left leg of the wearer with a preset threshold value of step terrain, when the hip joint of the left leg of the wearer reaches the minimum flexion pose, sending a signal to a hip joint motor of the left leg by a controller of the flexible lower limb exoskeleton robot, reversing the hip joint motor of the left leg, then sending a signal to a knee joint motor of the left leg by the controller, reversing the motor of the knee joint of the left leg, recovering the lengths of a hip joint traction rope of the left leg and a knee joint traction rope of the left leg by means of extension movement of the left leg of the wearer, contracting a mesh structure of the hip joint of the left leg and the mesh structure of the knee joint of the left leg, providing hip joint torque and knee joint torque required by the left leg of the wearer, assisting the left leg of the wearer to land, stepping on a second step, and completing a gait cycle.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

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.