CN114797007B - Wearable underwater exoskeleton robot for rehabilitation and using method thereof - Google Patents
Wearable underwater exoskeleton robot for rehabilitation and using method thereof Download PDFInfo
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/25—Bioelectric electrodes therefor
- A61B5/251—Means for maintaining electrode contact with the body
- A61B5/256—Wearable electrodes, e.g. having straps or bands
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/25—Bioelectric electrodes therefor
- A61B5/279—Bioelectric electrodes therefor specially adapted for particular uses
- A61B5/296—Bioelectric electrodes therefor specially adapted for particular uses for electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
- A61B5/397—Analysis of electromyograms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
- A61B2505/09—Rehabilitation or training
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
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Abstract
The invention provides a wearable underwater exoskeleton robot for rehabilitation and a use method thereof, belonging to the technical field of artificial intelligence, wherein the wearable underwater exoskeleton robot comprises a basic device, and the basic device is provided with a sensing mechanism, a control mechanism, a driving mechanism and an executing mechanism; the sensing mechanism is in electrical signal connection with the control mechanism, the control mechanism receives and processes the motion data sent by the sensing mechanism and sends the motion data to the driving mechanism, the control mechanism is in electrical signal connection with the driving mechanism, the driving mechanism is in electrical signal connection with the executing mechanism, and the driving mechanism drives the executing mechanism to move; the basic device comprises a waist fastener and leg fasteners, and the waist fastener and the lower limb fasteners are respectively attached to the human body; the execution mechanism comprises a waist exoskeleton, a leg exoskeleton and an underwater propeller, wherein the waist exoskeleton is arranged on the waist fastening piece, the leg exoskeleton is arranged on the leg fastening piece, and the underwater propeller advances towards the advancing direction of a human body. The invention is beneficial to rehabilitation training of patients and improves the rehabilitation efficiency of the patients.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a wearable underwater exoskeleton robot for rehabilitation and a use method thereof.
Background
The rehabilitation physiotherapy is also called rehabilitation physical therapy, and is a comprehensive treatment mode integrating exercise therapy, operation therapy, speech therapy, physical therapy, acupuncture, cupping and massage. Exercise therapy is a special therapy which prevents, improves and restores dysfunction and hypofunction of the body of a patient by passive exercise therapy, active exercise therapy and resistance and exercise therapy.
Patients often have dysfunctions in which one or more parts cannot move autonomously, and thus underwater rehabilitation is rarely visible when the patients are subjected to exercise therapy, particularly passive physical rehabilitation, and the aquatic environment has a wide rehabilitation potential, ranging from treating acute injury to maintaining health in the face of chronic diseases. Definition of rehabilitation in water: the method is a special physical treatment operation method for treating diseases or helping organism regain function by taking water as a treatment medium, wherein the aquatic rehabilitation treatment is mainly carried out by using aquatic physical exercise therapy, and the aquatic physical exercise therapy mainly comprises the following steps: balance training, strength and stability training, cardiovascular regulation, swimming optimization, joint range of motion or flexibility training. Hydrotherapy is a very useful tool in rehabilitation kits because of its broad therapeutic safety and clinical applicability, but it is still an underutilized approach.
The existing underwater rehabilitation mode is generally walking rehabilitation with lower underwater protection, and has a general effect of helping patients to recover. According to the technical search, the Chinese patent publication No. CN111297634A discloses a bucket gate type wet lower limb rehabilitation training device, which comprises a base, wherein a water tank is arranged on the base, a circulating water pump is arranged on the water tank and connected to a controller, a circulating water spray port is arranged on the rear wall of the water tank, a bucket-shaped water storage cabin gate is arranged at the front end of the water tank, the bucket-shaped sealing cabin gate comprises a left arc gate frame and a right arc gate frame, a bucket gate is rotatably arranged in the arc gate frame, a U-shaped opening is formed in the peripheral surface of the bucket gate, an arc gate is hermetically hinged on the U-shaped opening, a circular rotary rail is arranged below the bucket gate, an outer ring of the circular rotary rail is fixedly arranged, the bucket gate is fixedly connected with an inner ring, a central shaft is fixedly connected with the lower part of the bucket gate, a rotary driving device is matched with the central shaft, and a drain pump is arranged in the rehabilitation training device. The patent technology has the above-mentioned related problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a wearable underwater exoskeleton robot for rehabilitation and a using method thereof.
The invention provides a wearable underwater exoskeleton robot for rehabilitation, which comprises a basic device, wherein the basic device is provided with a sensing mechanism, a control mechanism, a driving mechanism, a waterproof mechanism and an actuating mechanism for assisting a human body in movement;
the sensing mechanism is electrically connected with the control mechanism, the control mechanism is used for receiving and processing the motion data sent by the sensing mechanism and sending the motion data to the driving mechanism, the control mechanism is electrically connected with the driving mechanism, the driving mechanism is electrically connected with the executing mechanism, and the driving mechanism drives the executing mechanism to move;
the foundation device comprises a waist fastener and a leg fastener, wherein the waist fastener and the leg fastener are respectively attached to a human body; the execution mechanism comprises a waist exoskeleton, a leg exoskeleton and an underwater propeller, wherein the waist exoskeleton is arranged on the waist fastening piece, the leg exoskeleton is arranged on the leg fastening piece, and the underwater propeller advances towards the advancing direction of a human body.
In some embodiments, the sensing mechanism includes a myoelectric sensor, a physiological detector and a wireless transmitter, the myoelectric sensor is used for collecting myoelectric signals to detect the motion state of a human body, the physiological detector is used for detecting the physical index condition of the human body when the human body moves underwater, the myoelectric sensor is provided with a plurality of myoelectric sensors, a plurality of myoelectric sensors are respectively arranged on the lower leg and the thigh of the human body, the physiological detector is arranged at the chest of the human body, the wireless transmitter is provided with a plurality of wireless transmitters, and the wireless transmitter corresponds to a plurality of myoelectric sensors and the physiological detector respectively.
In some embodiments, the leg fastening member includes a left leg fastening member and a right leg fastening member, the myoelectric sensor includes a thigh sensor and a shank sensor, the thigh sensor is disposed at a thigh of a human body, the thigh sensor is provided with two, the thigh sensor is disposed above the left leg fastening member and the right leg fastening member, the shank sensor is disposed at a shank of the human body, the shank sensor is provided with two, and the shank sensor is disposed below the left leg fastening member and the right leg fastening member.
In some embodiments, the control mechanism is disposed on the waist fastener, the control mechanism includes a microprocessor and a wireless receiver, the microprocessor is in electrical signal connection with the wireless receiver, the wireless receiver is used for receiving information sent by the wireless transmitter, the microprocessor is used for processing motion information acquired by the myoelectric sensor and the physiological detector, and the microprocessor correspondingly controls the execution mechanism to work according to the motion information and rehabilitation status of the patient.
In some embodiments, the base device is further provided with a storage mechanism, the storage mechanism comprises a memory, the memory is used for sorting and storing different rehabilitation schemes of the patient in different rehabilitation stages, and the memory is electrically connected with the microprocessor.
In some embodiments, the underwater propeller is provided with a propeller driving motor and a propeller storage battery in a connecting way, and the underwater propeller is arranged on the back of a human body.
In some embodiments, the driving mechanism includes a driver that receives the command from the control mechanism and controls the operation of the actuator.
In some embodiments, a battery pack is provided on the waist fastener, the battery pack providing electrical power to the overall power system of the exoskeleton robot.
In some embodiments, the waterproof mechanism includes a waterproof housing disposed on the waist fastener, and the waterproof housing protects the control mechanism, the drive mechanism, and the battery pack arrangement.
The invention also provides a use method of the wearable underwater exoskeleton robot for rehabilitation, which comprises the following steps that step 1, the myoelectric sensors in the sensing mechanism respectively detect the motion states of two thighs and two calves of a patient, and the physiological detectors in the sensing mechanism detect the physiological indexes of the patient;
and 4, respectively driving the exoskeleton attached to the human body and the small propeller to work by the driving mechanism, and assisting a patient in underwater rehabilitation training.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the sensing mechanism is arranged, the sensing mechanism detects the motion state and the physiological index condition of the patient, and the control mechanism analyzes and processes the information detected by the sensing mechanism, so that the execution module is controlled to work and assist the patient in rehabilitation training, thereby reducing the energy consumption of the patient and being beneficial to improving the training time of the patient in underwater rehabilitation;
2. the invention is provided with the control mechanism, the storage mechanism and the sensing mechanism, the control mechanism gives out different rehabilitation schemes of patients in different rehabilitation stages through the information transmitted by the storage mechanism and the sensing mechanism, and the control executing mechanism gives out real-time effective assistance, thereby being more beneficial to rehabilitation training of the patients and improving the rehabilitation efficiency of the patients.
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Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic front view of a wearable underwater exoskeleton robot for rehabilitation according to the present invention;
FIG. 2 is a schematic side view of a wearable underwater exoskeleton robot for rehabilitation according to the present invention;
FIG. 3 is an enlarged view of a portion of the waist of the wearable underwater exoskeleton robot for rehabilitation according to the present invention;
FIG. 4 is a schematic system diagram of a wearable underwater exoskeleton robot for rehabilitation according to the present invention;
reference numerals:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Fig. 1 is a front view schematic diagram of a wearable underwater exoskeleton robot for rehabilitation, fig. 2 is a side view schematic diagram of the wearable underwater exoskeleton robot for rehabilitation, the wearable underwater exoskeleton robot for rehabilitation comprises a base device 1, and a sensing mechanism, a control mechanism, a driving mechanism, a waterproof mechanism and an executing mechanism for assisting a human body in movement are arranged on the base device 1.
As shown in fig. 4, the system schematic diagram of the wearable underwater exoskeleton robot for rehabilitation is shown, the sensing mechanism is electrically connected with the control mechanism, the control mechanism is used for receiving and processing the motion data sent by the sensing mechanism and delivering the motion data to the driving mechanism, the control mechanism is electrically connected with the driving mechanism, the driving mechanism is electrically connected with the actuating mechanism, and the actuating mechanism is driven by the driving mechanism to move.
The basic device 1 comprises a waist fastener 12 and leg fasteners 11, wherein the waist fastener 12 and the leg fasteners are respectively attached to a human body; the actuator comprises a waist exoskeleton, a leg exoskeleton and an underwater propeller 8, wherein the waist exoskeleton is arranged on a waist fastener 12, the leg exoskeleton is arranged on a leg fastener 11, and the underwater propeller 8 advances towards the advancing direction of a human body.
The sensing mechanism comprises a myoelectric sensor 4, a physiological detector 6 and a wireless transmitter 3, wherein the myoelectric sensor 4 is used for collecting myoelectric signals to detect the motion state of a human body, the physiological detector is used for detecting the physical index condition of the human body when the human body moves underwater, the myoelectric sensor 4 is provided with a plurality of myoelectric sensors, the plurality of myoelectric sensors 4 are respectively arranged on the lower leg and the thigh of the human body, the physiological detector 6 is arranged at the chest of the human body, the wireless transmitter 3 is provided with a plurality of the wireless transmitters 3 respectively corresponding to the plurality of the myoelectric sensors 4 and the physiological detector 6.
The leg fastening member 11 includes a left leg fastening member 2 and a right leg fastening member 5, the myoelectric sensor 4 includes a thigh sensor 13 and a shank sensor 14, the thigh sensor 13 is disposed at the thigh of the human body, the thigh sensor 13 is provided with two, the two thigh sensors 13 are disposed above the left leg fastening member 2 and the right leg fastening member 5, the shank sensor 14 is disposed at the shank of the human body, the shank sensor 14 is provided with two, and the two shank sensors 14 are disposed below the left leg fastening member 2 and the right leg fastening member 5, respectively.
As shown in fig. 3, which is a partial enlarged view of the waist of the wearable underwater exoskeleton robot for rehabilitation, the control mechanism is arranged on the waist fastener 12, the control mechanism comprises a microprocessor 15 and a wireless receiver 16, the microprocessor 15 is electrically connected with the wireless receiver 16, the wireless receiver 16 is used for receiving information sent by the wireless transmitter 3, and the wireless receiver 16 and the wireless transmitter 3 adopt a one-to-many working mode. The microprocessor 15 is used for processing the motion information acquired by the myoelectric sensor 4 and the physiological detector, and the microprocessor 15 judges the rehabilitation condition of the patient according to the motion information and the storage mechanism and correspondingly controls the execution mechanism to work.
The base device 1 is also provided with a storage mechanism, the storage mechanism comprises a memory 17, the memory 17 is used for sorting and storing different rehabilitation schemes of a patient in different rehabilitation stages, the memory 17 is electrically connected with the microprocessor 15, and the memory 17 is called by the microprocessor 15 at any time. The underwater propeller 8 is connected with a propeller driving motor 9 and a propeller storage battery 10, and the underwater propeller 8 is arranged on the back of a human body. The driving mechanism comprises a driver 19, and the driver 19 receives the instruction of the control mechanism and controls the operation of the executing mechanism. The waist fastener 12 is provided with a battery pack 18, and the battery pack 18 provides electrical power to the overall power system of the exoskeleton robot. The waterproof mechanism includes a waterproof housing 20, the waterproof housing 20 is provided on the waist fastener 12, and the waterproof housing 20 protects the control mechanism, the driving mechanism, and the battery pack 18 from burning out the inflow water.
The method for using the wearable underwater exoskeleton robot for rehabilitation comprises the following steps that step 1, a myoelectric sensor 4 in a sensing mechanism detects the motion states of two thighs and two calves of a patient respectively, and a physiological detector in the sensing mechanism detects the physiological index of the patient;
and 4, respectively driving the exoskeleton attached to the human body and the small propeller to work by the driving mechanism, and assisting a patient in underwater rehabilitation training.
In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application. In addition to implementing the systems, apparatus, and various modules thereof provided by this invention in pure computer readable program code, the same program can be implemented entirely by logic programming method steps such that the systems, apparatus, and various modules thereof provided by this invention are embodied in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system, the apparatus, and the respective modules thereof provided by the present invention may be regarded as one hardware component, and the modules included therein for implementing various programs may also be regarded as structures within the hardware component; modules for implementing various functions may also be regarded as being either software programs for implementing the methods or structures within hardware components.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (8)
1. The wearable underwater exoskeleton robot for rehabilitation is characterized by comprising a base device (1), wherein the base device (1) is provided with a sensing mechanism, a control mechanism, a driving mechanism, a waterproof mechanism and an executing mechanism for assisting a human body in movement;
the sensing mechanism is electrically connected with the control mechanism, the control mechanism is used for receiving and processing the motion data sent by the sensing mechanism and sending the motion data to the driving mechanism, the control mechanism is electrically connected with the driving mechanism, the driving mechanism is electrically connected with the executing mechanism, and the driving mechanism drives the executing mechanism to move;
the foundation device (1) comprises a waist fastener (12) and leg fasteners (11), wherein the waist fastener (12) and the leg fasteners (11) are respectively attached to a human body; the execution mechanism comprises a waist exoskeleton, a leg exoskeleton and an underwater propeller (8), wherein the waist exoskeleton is arranged on the waist fastener (12), the leg exoskeleton is arranged on the leg fastener (11), and the underwater propeller (8) advances towards the advancing direction of a human body;
the sensing mechanism comprises a myoelectric sensor (4), a physiological detector (6) and a wireless transmitter (3), wherein the myoelectric sensor (4) is used for collecting myoelectric signals to detect the motion state of a human body, the physiological detector (6) is used for detecting the physical index condition of the human body when the human body moves underwater, the myoelectric sensor (4) is provided with a plurality of sensors, the myoelectric sensors (4) are respectively arranged on the lower leg and the thigh of the human body, the physiological detector (6) is arranged at the chest of the human body, the wireless transmitter (3) is provided with a plurality of sensors, and the wireless transmitter (3) is respectively arranged corresponding to the myoelectric sensors (4) and the physiological detector (6);
the waist fastener is characterized in that the control mechanism is arranged on the waist fastener (12) and comprises a microprocessor (15) and a wireless receiver (16), the microprocessor (15) is electrically connected with the wireless receiver (16), the wireless receiver (16) is used for receiving information sent by the wireless transmitter (3), the microprocessor (15) is used for processing motion information acquired by the myoelectric sensor (4) and the physiological detector (6), and the microprocessor (15) is used for controlling the execution mechanism to work according to the motion information and the rehabilitation condition of a patient.
2. The wearable underwater exoskeleton robot for rehabilitation as claimed in claim 1, wherein the leg fastening means (11) comprises a left leg fastening means (2) and a right leg fastening means (5), the myoelectric sensor (4) comprises a thigh sensor (13) and a shank sensor (14), the thigh sensor (13) is disposed at the thigh of the human body, the thigh sensor (13) is provided with two, the two thigh sensors (13) are disposed above the left leg fastening means (2) and the right leg fastening means (5), respectively, the shank sensor (14) is disposed at the shank of the human body, the shank sensor (14) is provided with two, and the two shank sensors (14) are disposed below the left leg fastening means (2) and the right leg fastening means (5), respectively.
3. The wearable underwater exoskeleton robot for rehabilitation according to claim 1, characterized in that a storage mechanism is further provided on the base device (1), the storage mechanism comprises a memory (17), the memory (17) is used for sorting and storing different rehabilitation schemes of the patient in different rehabilitation stages, and the memory (17) is electrically connected with the microprocessor (15).
4. The wearable underwater exoskeleton robot for rehabilitation according to claim 1, wherein the underwater propeller (8) is provided with a propeller driving motor (9) and a propeller storage battery (10) in a connecting manner, and the underwater propeller (8) is arranged on the back of a human body.
5. The wearable underwater exoskeleton robot for rehabilitation according to claim 1, wherein the driving mechanism includes a driver (19), and the driver (19) receives the instruction of the control mechanism and controls the operation of the actuator.
6. The wearable underwater exoskeleton robot for rehabilitation according to claim 1, wherein a battery pack (18) is provided on the waist fastener (12), the battery pack (18) providing power to the entire power system of the exoskeleton robot.
7. The wearable underwater exoskeleton robot for rehabilitation according to claim 6, wherein the waterproof mechanism comprises a waterproof housing (20), the waterproof housing (20) is provided on the waist fastener (12), and the waterproof housing (20) protects the control mechanism, the driving mechanism and the battery pack (18).
8. A method of using a wearable underwater exoskeleton robot for rehabilitation according to any of claims 1 to 7, wherein step 1. The myoelectric sensor (4) in the sensing mechanism detects the movement states of the two thighs and the two calves of the patient, respectively, and the physiological detector in the sensing mechanism detects the physiological index of the patient;
step 2, transmitting the detected motion state data and the detected physiological index data to the control mechanism through a plurality of wireless transmitters (3) connected with the myoelectric sensor (4) and the physiological detector, and transmitting the motion state data and the physiological index data to a microprocessor (15) in the control mechanism through a wireless receiver (16) of the control mechanism;
step 3, the microprocessor (15) receives the dynamic state data and the physiological index data, calls the data in the memory (17) for analysis and comparison to obtain the rehabilitation status of the patient, forms a rehabilitation scheme, and sends a control instruction to the driving mechanism;
and 4, respectively driving the exoskeleton attached to the human body and the small propeller to work by the driving mechanism, and assisting a patient in underwater rehabilitation training.
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| CN202210343826.2A CN114797007B (en) | 2022-04-02 | 2022-04-02 | Wearable underwater exoskeleton robot for rehabilitation and using method thereof |
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| CN202210343826.2A CN114797007B (en) | 2022-04-02 | 2022-04-02 | Wearable underwater exoskeleton robot for rehabilitation and using method thereof |
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