CN117224367A - Lower limb exoskeleton rehabilitation training system based on sensor mapping - Google Patents
Lower limb exoskeleton rehabilitation training system based on sensor mapping Download PDFInfo
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- CN117224367A CN117224367A CN202311189930.1A CN202311189930A CN117224367A CN 117224367 A CN117224367 A CN 117224367A CN 202311189930 A CN202311189930 A CN 202311189930A CN 117224367 A CN117224367 A CN 117224367A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 143
- 238000012549 training Methods 0.000 title claims abstract description 126
- 238000013507 mapping Methods 0.000 title claims abstract description 20
- 230000005021 gait Effects 0.000 claims abstract description 91
- 238000000034 method Methods 0.000 claims description 28
- 210000000629 knee joint Anatomy 0.000 claims description 20
- 210000000689 upper leg Anatomy 0.000 claims description 18
- 210000004394 hip joint Anatomy 0.000 claims description 13
- 230000009916 joint effect Effects 0.000 claims description 12
- 244000309466 calf Species 0.000 claims description 9
- 230000004064 dysfunction Effects 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 3
- 210000004197 pelvis Anatomy 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 4
- 210000002414 leg Anatomy 0.000 description 9
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 239000013585 weight reducing agent Substances 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
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Abstract
The invention discloses a lower limb exoskeleton rehabilitation training system based on sensor mapping, and belongs to the technical field of rehabilitation medical treatment. The system at least comprises a sensor group, a controller module and a lower limb exoskeleton. The sensor group is fixed on the lower limb of a normal person, acquires the angle signals of the joints of the lower limb when the normal person walks, and sends the angle signals to the controller module in real time; the controller module generates gait training tracks suitable for walking of patients and drives the lower limb exoskeleton to follow the steps of normal people for rehabilitation training. The system can map the gait track of a normal person to lower limb exoskeleton equipment, so that the gait track of a patient during training is closer to the normal person, the walking posture is more standard and natural, and the training efficiency and effect are improved; the system can also set different training coefficients according to the joint movement range of the patient, and correct gait training tracks of the lower limb exoskeleton so as to adapt to the requirements of different patients or different rehabilitation stages of the same patient.
Description
Technical field:
the invention belongs to the technical field of rehabilitation medical treatment, and particularly relates to a lower limb exoskeleton rehabilitation training system realized in a mapping mode, which is used for lower limb rehabilitation training of patients with lower limb dysfunction.
Technical background:
the lower limb exoskeleton is a mechanical device worn on the outer side of the lower limb of a human body, and can assist or enhance the movement of the lower limb of the human body through components such as a sensor, a controller, an actuator and the like. The lower limb exoskeleton is widely applied to the field of rehabilitation training, and helps patients with lower limb dyskinesia caused by nerve or spinal cord injury to recover walking ability. However, the existing lower limb exoskeleton has the problems of low safety, low patient movement autonomy, nonstandard walking training actions and the like.
The invention discloses a lower limb rehabilitation training exoskeleton robot, which drives the exoskeleton to move by inputting training parameters, and a patient trains according to the set training parameters, so that the robot is passive rehabilitation training, has a single gait training track and is difficult to adapt to different rehabilitation training requirements. The invention discloses an exoskeleton robot and a detection method for detecting human body movement intention, wherein the movement intention of a wearer such as walking, going upstairs, going downstairs, sitting down and the like is detected by using a plantar pressure strain gauge, an encoder, a force sensor and a capacitance sensor, and the movement mode of the lower limb exoskeleton next step is determined according to the movement intention of the wearer.
The invention comprises the following steps:
aiming at the defects of low safety, low patient movement autonomy, nonstandard walking training actions and the like of the lower limb exoskeleton in the lower limb exoskeleton rehabilitation training system, the invention designs a lower limb exoskeleton rehabilitation training system based on sensor mapping, the system acquires joint angle data of a normal person during walking through a sensor group, and maps gait data of the normal person to the lower limb exoskeleton, so that the gait of the patient in rehabilitation training is more similar to the normal person, and the walking gesture is more standard and natural, thereby improving the rehabilitation training effect; the rehabilitation therapist before training can set different training coefficients according to the joint movement range of the patient, and multiplies the training coefficients by the reference gait track generated by the controller module to correct the gait training track of the lower limb exoskeleton, so that the lower limb exoskeleton can adapt to the requirements of different patients or different rehabilitation stages of the same patient.
In order to achieve the above purpose, the main technical scheme of the invention is as follows:
a lower limb exoskeleton rehabilitation training system based on sensor mapping at least comprises a sensor group, a controller module and a lower limb exoskeleton. The sensor group at least comprises 2 sensors which are fixed on the lower limbs of a normal person and are used for collecting the angle values of the joints of the lower limbs of the normal person when the normal person walks and sending the angle values to the controller module in real time; the sensor group can be any sensor for measuring angles, such as an angle sensor, an inertial sensor, a gyroscope and the like; the joint angle value may be a hip joint angle value, a knee joint angle value, an ankle joint angle value, or the like.
The lower limb exoskeleton at least comprises a driving motor mechanical structure, and is worn on a patient and used for assisting the patient in rehabilitation training; the driving motor of the lower limb exoskeleton drives the lower limb exoskeleton to move along with a normal person; the mechanical structure forms a body of the lower limb exoskeleton, is connected with each driving motor and provides support for walking of a patient wearing the lower limb exoskeleton.
The lower limb exoskeleton further comprises a power supply assembly, wherein the power supply assembly comprises an emergency stop button and a limit switch, and the emergency stop button is used for realizing emergency braking by pressing the emergency stop button when a patient needs to emergently close the lower limb exoskeleton; the limit switch is used for automatically disconnecting a circuit to protect the safety of a patient when the rotation angle of the motor exceeds a preset maximum rotation angle, and the power supply assembly provides power for the driving assembly.
The mechanical structure of low limbs ectoskeleton comprises foot wearing piece, shank support piece, thigh support piece and waist wearing piece at least, shank support piece and thigh support piece's length can be adjusted according to patient's height and leg length.
The controller module at least comprises an input interface, an output interface and a gait track generator, wherein the input interface of the controller module is electrically connected with the sensor group and is used for receiving angle signals acquired by the sensor group; the gait track generator firstly plans a reference gait track f (t) according to the received angle signals, corrects the reference gait track f (t) according to the joint activity degree of a patient to obtain a gait training track q (t) suitable for walking of the patient, and calculates a motion signal driving the lower limb exoskeleton to act from the gait training track q (t); the output interface of the controller module is electrically connected with the driving motor of the lower limb exoskeleton and is used for outputting the motion signal to the driving motor of the lower limb exoskeleton so that the lower limb exoskeleton moves according to the gait training track q (t) generated by the gait track generator.
The controller module may further include a gait track adjuster through which the trained gait parameters are preset according to the walking ability and rehabilitation status of the patient: the gait track adjuster adjusts the movement track of the lower limb exoskeleton according to preset gait parameters during training.
The specific process for generating the gait track of the lower limb exoskeleton by the gait track generator of the controller module is as follows: firstly, a rehabilitation therapist measures the joint activity degree of a patient, and the joint activity degree of the patient is compared with the joint activity degree of a normal person to obtain a training coefficient a (a is more than 0 and less than or equal to 1); then, a gait track generator of the controller module fits discrete angle data acquired by the sensor group by using a least square method according to the hip joint angle value and the knee joint angle value of the lower limb of the normal person acquired by the sensor group to obtain a reference gait track f (t); multiplying the reference gait track f (t) with the training coefficient a to obtain a gait training track q (t) suitable for walking of a patient; finally, a gait track generator of the controller module calculates a motion signal for driving the lower limb exoskeleton to act according to the gait training track q (t), and outputs the motion signal to a driving motor of the lower limb exoskeleton through an output interface so as to drive the lower limb exoskeleton to move according to the gait training track q (t);
the training process of the lower limb exoskeleton rehabilitation training system at least comprises the following steps:
step one: setting a training coefficient a (a is more than 0 and less than or equal to 1) according to the joint activity degree of a patient by a rehabilitation therapist;
step two: fixing the sensor group on the lower limb of a normal person;
step three: a normal person wearing the sensor group keeps standing still, and the sensor group is calibrated;
step four: adjusting the lengths of a lower leg support and a thigh support of the lower limb exoskeleton according to the thigh length and the calf length of the patient, and putting on the lower limb exoskeleton by the patient;
step five: starting an exoskeleton, enabling a normal person to walk, and enabling a patient to walk along with the normal person under the driving action of the exoskeleton; in the lower limb rehabilitation training process, gait training parameters of the lower limb exoskeleton can be adjusted according to walking ability and physical condition of a patient, and the training parameters at least comprise: walking speed, step length, step width, step height and the like to adapt to training requirements of different patients;
the system maps the motion state of a normal person to lower limb exoskeleton equipment so that a patient wearing the exoskeleton can follow the step motion of the normal person; with the assistance of the exoskeleton, the patient can perform rehabilitation training according to the gait mode of a normal person, so that the patient with lower limb dysfunction is helped to gradually recover walking ability.
The method for adjusting gait training parameters of the exoskeleton of the lower limb in the fifth step of the rehabilitation training process at least comprises an active adjusting method and a passive adjusting method; the active adjustment method is that a normal person wearing the sensor group actively adjusts gait parameters such as pace, step length, step width, step height and the like of the normal person, so that the gait track of the lower limb exoskeleton is adapted to the walking capacity of the patient; the passive adjustment method is to adjust the gait track of the lower limb exoskeleton by using a gait track adjuster of the controller module so as to meet the training requirements of different patients.
The lower limb exoskeleton rehabilitation training system has two modes of off-line and on-line: the off-line mode needs to use a sensor to collect joint angle signals when a normal person walks before rehabilitation training, and the joint angle signals are stored in a controller module, and the controller module generates gait training tracks according to the stored joint angle signals during rehabilitation training so as to drive the lower limb exoskeleton to move according to the generated gait tracks; in an on-line mode, the sensor acquires joint angle signals of a normal person in real time when the normal person walks, and the joint angle signals are mapped to a driving motor of the exoskeleton of the lower limb after being processed by the controller.
The lower limb exoskeleton rehabilitation training system based on the sensor mapping can be additionally provided with a weight reduction module, a patient is assisted to perform lower limb rehabilitation training through equipment such as a head rail, a crutch and the like, and the weight reduction module can be flexibly used according to walking ability and rehabilitation conditions of the patient in the training process. After the patient recovers to a certain degree, the dependence on the weight-reducing equipment is gradually reduced, the patient can be encouraged to get rid of external assistance, and walking training is performed by depending on the muscle strength and balance capacity of the patient, so that the difficulty and effect of training are improved.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention collects the angle signals of the lower limb joints when a normal person walks to drive the lower limb exoskeleton to walk along with the normal person, and helps a patient to perform rehabilitation training.
2. According to the invention, different training coefficients can be set according to the joint activity degree of the patient, so that the gait training track of the lower limb exoskeleton is corrected, the gait training track can adapt to the rehabilitation training requirements of different patients or different rehabilitation stages of the same patient, and meanwhile, the safety of the patient in the training process is ensured.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a lower limb exoskeleton rehabilitation training system based on sensor mapping;
FIG. 2 is a sensor signal map of the lower extremity exoskeleton rehabilitation training system;
FIG. 3 is a schematic diagram of the overall structure of a lower extremity exoskeleton rehabilitation training system with an additional weight-reducing device;
fig. 4 is a graph of knee joint angle mapping for a single gait cycle.
Wherein, 1-sensor group; 11-a sensor S1; 12-sensor S2; 13-sensor S3; 14-a sensor S4; 2-lower extremity exoskeleton; 21-left hip joint driving motor L1; 22-left knee joint driving motor L2; 23-right hip joint driving motor R1; 24-right knee joint driving motor R2; a 3-controller module; 4-weight-reducing slings; 5-day rail.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples.
Example 1:
the invention discloses a lower limb exoskeleton rehabilitation training system based on sensor mapping, which is shown in fig. 1, and at least comprises a sensor group, a controller module and a lower limb exoskeleton.
The sensor group is fixed on the lower limb of a normal person, is used for collecting hip joint angle values and knee joint angle values of the lower limb when the normal person walks and sending the hip joint angle values and the knee joint angle values to the controller module in real time, and can be any angle measuring sensor such as an angle sensor, an inertial sensor, a gyroscope and the like;
as shown in fig. 1, the sensors are fixed on the left leg or the right leg of a normal person, in this embodiment, the number of the sensors is 2, the sensors S1 and S2 are respectively fixed on the front side of the left thigh and the front side of the left calf of the normal person, and the joint angle data of a single leg of the normal person is respectively mapped to the left leg and the right leg of the exoskeleton of the lower limb by setting a time delay stepping time T; in other embodiments, sensors S1 and S2 may be fixed to the front side of the right thigh and the front side of the right calf of a normal person.
The lower limb exoskeleton comprises a driving motor and a mechanical structure, and the driving motor of the lower limb exoskeleton drives the lower limb exoskeleton to move along with a normal person; the mechanical structure forms a body of the lower limb exoskeleton, is connected with each driving motor and provides support for the walking of a patient wearing the lower limb exoskeleton.
As shown in fig. 1, the lower limb exoskeleton is worn on a patient and used for assisting the patient in rehabilitation training, in this fourteen cases, the lower limb exoskeleton includes 4 driving motors, which are respectively: left hip joint driving motor L1, left knee joint driving motor L2, right hip joint driving motor R1, and right knee joint driving motor R2.
The mechanical structure of the lower limb exoskeleton consists of a foot wearing part, a lower leg supporting part, a thigh supporting part and a waist wearing part, and the lengths of the lower leg supporting part and the thigh supporting part can be adjusted according to the height and the leg length of a patient.
The lower limb exoskeleton further comprises a power supply assembly for providing power for the driving assembly, wherein the power supply assembly comprises an emergency stop button and a limit switch, and the emergency stop switch is used for realizing emergency braking by pressing the emergency stop switch when a patient needs to emergently close the lower limb exoskeleton; the limit switch is used for automatically disconnecting the circuit when the rotation angle of the motor exceeds a preset maximum rotation angle so as to protect the safety of patients.
As shown in fig. 2 and fig. 4, the controller module comprises an input interface, an output interface and a gait track generator, wherein the input interface of the controller module is electrically connected with the sensor group and is used for receiving angle signals acquired by the sensor group; the gait track generator firstly plans a reference gait track f (t) according to the received angle signal, corrects the reference gait track f (t) according to the joint activity degree of a patient to obtain a gait training track q (t) suitable for walking of the patient, and calculates a motion signal driving the action of the lower limb exoskeleton from the gait training track q (t); the output interface of the controller module is electrically connected with the driving motor of the lower limb exoskeleton and is used for outputting the motion signal to the driving motor of the lower limb exoskeleton so that the lower limb exoskeleton moves according to the gait training track q (t) generated by the gait track generator.
As shown in figure 4, after the sensor group collects angle discrete data of a normal knee joint, the controller module generates a knee joint reference gait track curve f (t) according to the discrete data, and multiplies the reference gait track f (t) by a training coefficient a (0 < a is less than or equal to 1) to obtain an actual gait training track q (t) suitable for the left knee joint of a patient, the calculation method of the training coefficient is that the joint activity of the patient is compared with the joint activity of a normal person, and the controller module controls a driving motor at the knee joint position of the exoskeleton of the lower limb according to the actual training track q (t) of the left knee joint to rotate so that the movement state of the knee joint of the exoskeleton of the lower limb is consistent with that of the normal person.
Fig. 4 shows a mapping relationship between the angle value of the knee joint of the normal person acquired by the sensor group and the actual joint angle curve output by the controller module in a single gait cycle, and the angle mapping relationship of the hip joint corresponding to the angle value is the same as the mapping relationship.
In this embodiment, the training process of the lower limb exoskeleton rehabilitation training following system is as follows: firstly, a rehabilitation therapist sets a training coefficient a (a is more than 0 and less than or equal to 1) according to the joint activity degree of a patient; binding the sensors to the front sides of thighs and the front sides of calves of normal people in sequence, and calibrating the sensor group; the lengths of a lower leg supporting piece and a thigh supporting piece of the lower limb exoskeleton are adjusted according to the thigh length and the lower leg length of a patient, the lower limb exoskeleton is assisted to be worn by the patient, and if the patient needs assistance of the head rail and the weight-reducing hanging strip, the weight-reducing hanging strip connected with the head rail is also required to be assisted to be worn by the patient; finally, starting the exoskeleton, enabling a normal person to walk, and enabling the patient to walk along with the normal person under the driving action of the exoskeleton; in the rehabilitation training process, a normal person can actively adjust the walking speed, the step length, the step width, the step height and the like of the normal person according to the walking capacity and the physical condition of the patient so as to adapt to different patients.
In this embodiment, the method for adjusting gait training parameters of the exoskeleton of the lower limb during rehabilitation training includes active adjustment and passive adjustment: the active adjustment method is that a normal person wearing the sensor group autonomously adjusts gait parameters such as pace, step length, step width, step height and the like, so that the gait track of the lower limb exoskeleton is adapted to the walking capacity of the patient; the passive adjustment method is to adjust the gait track of the lower limb exoskeleton by using a gait track adjuster of the controller module so as to meet the training requirements of different patients.
Example 2:
in this embodiment, as shown in fig. 3, the number of sensors is 4, and the number is respectively: a sensor S1 fixed on the front side of the left thigh of a normal person, a sensor S2 fixed on the front side of the left calf of a normal person, a sensor S3 fixed on the front side of the right thigh of a normal person, and a sensor S4 fixed on the front side of the right calf of a normal person; at the moment, the time delay stepping time T of the left leg and the right leg of the exoskeleton is not required to be set, and angle signals acquired by the 4 sensors are respectively processed by the controller module and then are directly mapped to the 4 motors of the exoskeleton of the lower limb.
In other embodiments, the number of the sensors can be expanded to 6, and the sensors are respectively fixed at the front side of the left thigh, the front side of the left calf, the left instep, the front side of the right thigh, the front side of the right calf and the right instep of a normal person; the matched lower limb exoskeleton at least comprises 6 driving motors, namely a left hip joint driving motor, a left knee joint driving motor, a left ankle joint driving motor, a right hip joint driving motor, a right knee joint driving motor and a right ankle joint driving motor; at the moment, besides the joint angles of the hip joint and the knee joint of the two lower limbs of the normal person, the ankle joint angles of the two lower limbs of the normal person can be acquired, and the acquired angles are processed by the controller module and then mapped to 6 driving motors of the exoskeleton of the lower limbs.
Example 3:
for patients with lower limb dysfunction with weak walking ability, as shown in fig. 3, the training system further comprises a weight-reducing module, wherein the weight-reducing module at least comprises a top rail and a weight-reducing sling, and the top rail is fixed on a ceiling; the weight-reducing hanging belt consists of a hanging rope and a piece of suspender clothes, the length of the hanging rope is adjustable, one end of the hanging rope of the weight-reducing hanging belt is connected to the top rail, and the other end of the hanging rope of the weight-reducing hanging belt is connected to the suspender clothes; the suspender coat of the weight-reducing suspender is used for supporting the body of a patient and helping the patient to keep the body balance in the rehabilitation training process.
In the embodiment, the antenna rail is of an annular structure, so that different training requirements of patients can be met, and the patients wearing the lower limb exoskeleton can walk back and forth along with normal people at the straight line part of the antenna rail, so that walking capacity and balance feeling of the patients are enhanced; in the curve part of the head rail, the patient wearing the lower limb exoskeleton can train turning along with a normal person so as to exercise own balance capacity, walking coordination and flexibility.
In the embodiment, for the lower limb dysfunction patient with weak balance ability and walking ability, the patient falls down due to the fact that the patient is not suitable for the walking mode of a normal person, and training is required to be performed under the auxiliary action of the head rail and the weight-reducing hanging strip so as to ensure the safety of the patient; for the mild lower limb disorder patient with strong balance capability and certain walking capability or gradually recovering walking capability through rehabilitation training, which is suitable for the walking mode of normal people, the patient can be encouraged to get rid of external assistance, and the walking training is carried out completely by the muscle strength and balance capability of the patient, so that the training difficulty is improved to realize higher rehabilitation training effect.
Finally, the lower limb exoskeleton rehabilitation training system based on the sensor mapping is not limited to the embodiment, and can be modified or deformed variously. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense. All modifications, adaptations or equivalent changes according to the technical scheme of the present invention are intended to be covered by the scope of the claims of the present invention without departing from the spirit and scope of the technical scheme of the present invention.
Claims (7)
1. Lower limb exoskeleton rehabilitation training system based on sensor mapping, which is characterized in that: the system at least comprises a sensor group, a controller module and a lower limb exoskeleton;
the sensor group at least comprises 2 sensors which are fixed on the lower limbs of a normal person and are used for collecting the angle values of the joints of the lower limbs when the normal person walks;
the lower limb exoskeleton at least comprises a driving motor and a mechanical structure, and is worn on a patient and used for assisting the patient in rehabilitation training;
the controller module at least comprises an input interface, an output interface and a gait track generator, wherein the input interface of the controller module is electrically connected with the sensor group and is used for receiving angle signals acquired by the sensor group; the gait track generator generates a gait training track q (t) suitable for walking of a patient, and a motion signal for driving the lower limb exoskeleton to act is calculated from the gait training track q (t); the output interface of the controller module is electrically connected with the driving motor of the lower limb exoskeleton, and outputs the motion signal to the driving motor of the lower limb exoskeleton, so that the lower limb exoskeleton moves according to the gait training track q (t) generated by the gait track generator;
the lower limb exoskeleton rehabilitation training system collects lower limb joint angle signals of a normal person when the normal person walks by using the sensor group, maps the joint angle signals of the normal person to the lower limb exoskeleton for rehabilitation training after being processed by the controller module, so that a patient wearing the lower limb exoskeleton can walk along with the normal person.
2. A lower extremity exoskeleton rehabilitation training system based on sensor mapping as set forth in claim 1, wherein: the sensor group is usually fixed on a single-side lower limb of a normal person, and the fixed positions can be the front side of a thigh, the front side of a shank, the instep, the pelvis and the like.
3. A lower extremity exoskeleton rehabilitation training system based on sensor mapping as set forth in claim 1, wherein: the gait track generator of the controller module firstly plans a reference gait track f (t) according to the received angle signals, then corrects the reference gait track f (t) according to the joint activity degree of a patient to obtain a gait training track q (t) suitable for walking of the patient, and calculates a motion signal for driving the lower limb exoskeleton to act from the gait training track q (t).
4. A lower extremity exoskeleton rehabilitation training system based on sensor mapping as set forth in claim 1, wherein: the controller module of the controller module may further include a gait track adjuster through which the gait parameters of the training are preset according to the walking ability and the rehabilitation status of the patient: pace, step size, step width, step height, etc.; and during the training of the patient, the motion trail of the lower limb exoskeleton is adjusted according to gait parameters preset by the gait trail adjuster.
5. A lower extremity exoskeleton rehabilitation training system based on sensor mapping as set forth in claim 1, wherein: the specific process of the gait track generator of the controller module for generating the gait training track suitable for the patient to walk is as follows:
5.1, a rehabilitation therapist measures the joint movement degree of a patient and compares the joint movement degree of the patient with the joint movement degree of a normal person to obtain a training coefficient a (a is more than 0 and less than or equal to 1);
5.2, the gait track generator of the controller module fits the discrete angle data acquired by the sensor group by using a least square method according to the hip joint angle value and the knee joint angle value of the lower limb of the normal person acquired by the sensor group to acquire a reference gait track f (t);
5.3 the gait track generator of the controller module multiplies the reference gait track f (t) with a training coefficient a to obtain a gait training track q (t) suitable for patient walking;
and 5.4, according to the gait training track q (t), a gait track generator of the controller module calculates a motion signal for driving the lower limb exoskeleton to act, and outputs the motion signal to a driving motor of the lower limb exoskeleton through an output interface so as to drive the lower limb exoskeleton to move according to the gait training track q (t).
6. The lower extremity exoskeleton rehabilitation training system based on the sensor map of claim 1, further characterized in that the training process of the system comprises the steps of:
step one: setting a training coefficient a (a is more than 0 and less than or equal to 1) according to the joint activity degree of a patient by a rehabilitation therapist;
step two: fixing the sensor group on the lower limb of a normal person;
step three: a normal person wearing the sensor group keeps standing still, and the sensor group is calibrated;
step four: adjusting the lengths of a lower leg support and a thigh support of the lower limb exoskeleton according to the thigh length and the calf length of the patient, and putting on the lower limb exoskeleton by the patient;
step five: starting an exoskeleton, enabling a normal person to walk, and enabling a patient to walk along with the normal person under the driving action of the exoskeleton; in the lower limb rehabilitation training process, gait training parameters of the lower limb exoskeleton can be adjusted according to walking ability and physical condition of a patient, and the training parameters at least comprise: walking speed, step length, step width, step height and the like to adapt to training requirements of different patients;
the system maps the motion state of a normal person to lower limb exoskeleton equipment so that a patient wearing the exoskeleton can follow the step motion of the normal person; with the assistance of the exoskeleton, the patient can perform rehabilitation training according to the gait mode of a normal person, so that the patient with lower limb dysfunction is helped to gradually recover walking ability.
7. The sensor mapping-based lower extremity exoskeleton rehabilitation training system of claim 6, wherein: the method for adjusting gait training parameters of the exoskeleton of the lower limb in the fifth step of the rehabilitation training process at least comprises an active adjusting method and a passive adjusting method; the active adjustment method is that a normal person wearing the sensor group actively adjusts gait parameters such as pace, step length, step width, step height and the like of the normal person, so that the gait track of the lower limb exoskeleton is adapted to the walking capacity of the patient; the passive adjustment method is to adjust the gait track of the lower limb exoskeleton by using a gait track adjuster of the controller module so as to meet the training requirements of different patients.
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