Single-lower-limb rehabilitation exoskeleton apparatus and control method

A single-lower-limb rehabilitation exoskeleton apparatus comprising:

• a controller;
• an intact lower-limb component and a paretic lower-limb component that are connected communicatively with the controller;
• the intact lower-limb component is configured to be attached to an intact lower-limb of a patient and the paretic lower-limb component is configured to be attached to a paretic lower-limb of the patient;
• wherein the controller is configured to collect current state data of the intact lower-limb and the paretic lower-limb through the intact lower-limb component and the paretic lower-limb component respectively;
• wherein the current state data comprises a lifting state or a supporting state, and the controller is configured to control the paretic lower-limb component according to the current state data of the intact lower-limb component;
• wherein the intact lower-limb component is configured to collect movement data of the intact lower-limb while the intact lower-limb is in the lifting state, and send the movement data to the controller;
• the controller is configured to determine gait data corresponding to the paretic lower-limb component according to the movement data of the intact lower-limb, in order to control movement of the paretic lower-limb;
• wherein the paretic lower-limb component is configured to drive the paretic lower-limb to move according to the gait data while the intact lower-limb is in the supporting state;
• the intact lower-limb component comprises a first intact pressure sensor, a second intact pressure sensor and a third intact pressure sensor located at a left front, a right front and a heel of a sole of an intact foot, respectively;
• wherein the first intact pressure sensor, the second intact pressure sensor, and the third intact pressure sensor underneath the intact foot are each configured to detect respective increasing pressures P1i, P2i, and P3i when the paretic lower-limb is in the supporting state and a palm of the intact foot is approaching the ground, and when the palm of the intact foot is positioned to contact the ground, if P1i+P2i+P3i is greater than ½ of a body weight G of the patient and approaching the whole body weight G of the patient, it is indicated to the controller that the intact lower-limb is in the supporting state, and when P1i+P2i+P3i is less than G/2, it is indicated to the controller that the intact lower-limb of the patient is in its lifting state;
• wherein the controller is initially configured to establish a standard set of the gait data, and thereafter the controller is configured to update the gait data continuously as the patient walks until it is consistent with gait characteristics of the paretic lower-limb of the patient.