CN100548256C - A kind of wheel chair type robot for walking training of paraplegia patient - Google Patents

A kind of wheel chair type robot for walking training of paraplegia patient Download PDF

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Publication number
CN100548256C
CN100548256C CNB2006101550470A CN200610155047A CN100548256C CN 100548256 C CN100548256 C CN 100548256C CN B2006101550470 A CNB2006101550470 A CN B2006101550470A CN 200610155047 A CN200610155047 A CN 200610155047A CN 100548256 C CN100548256 C CN 100548256C
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CN
China
Prior art keywords
bar
hinged
training
patient
wheelchair
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CNB2006101550470A
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Chinese (zh)
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CN1973805A (en
Inventor
杨灿军
张�杰
邓美英
张佳帆
张欣
耿昱
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浙江大学
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Priority to CNB2006101550470A priority Critical patent/CN100548256C/en
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Publication of CN100548256C publication Critical patent/CN100548256C/en

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Abstract

Wheel chair type robot for walking training of paraplegia patient disclosed by the invention comprises wheelchair system, lower limb exoskeleton system, damping support system and controller.This robot is with the walking brace of flexible lower limb exoskeleton system as the patients ' recovery training, situation according to patient, by adjusting control, can realize the active gait, be controlled training functions such as gait, the adjustable gait of passive damping and balance training by power each joint motor on the exoskeleton system.Wheel chair type robot for walking training of paraplegia patient of the present invention can satisfy patient in sitting and the two kinds of physical training conditions of standing, and is suitable for the different rehabilitation stage lower limb rehabilitation trainings of paralytic patient and the function that realizes walking.

Description

A kind of wheel chair type robot for walking training of paraplegia patient

Technical field

The present invention relates to a kind of wheel chair type robot for walking training of paraplegia patient, belong to the rehabilitation medical instrument field.Be suitable for the different rehabilitation stage lower limb rehabilitation trainings of paralytic patient and the function that realizes walking.

Background technology

Increase along with the traffic in the modern society, industrial accident, the aging of the burst of natural disaster and society, paralyses patient progressively becomes a kind of common colony of modern society, this class patient is except Drug therapy or operative treatment, and the rehabilitation training of science improves extremely important for suffering from the limb motor function.Existing wheelchair mainly is made up of larger wheels, small wheels, pushing hands frame, backrest, medicated cushion and handrail, this wheelchair function of only riding instead of walk., use standing bed and carry out standing exercise gradually at present usually by doctor, PT teacher, the specific muscle group of OT teacher's teach-by-doing tractive for paralyses patient.The rehabilitation training of this passive type, working strength is big, and can't satisfy more patients' demand.Training effect and medical teacher's skills involved in the labour are closely related, keep the concordance of rehabilitation training action at different patients with being difficult to accurately put in place.At present most of in addition general paralyses patient walking braces can only assist patient to do some simple walking training, and can't implement rehabilitation training targetedly according to the situation of patient's different phase.Lack a kind of rehabilitation training walking aid that rehabilitation training and daily walk help can be combined.

Summary of the invention

The purpose of this invention is to provide a kind of wheel chair type robot for walking training of paraplegia patient.

Wheel chair type paraplegia robot for walking training of the present invention comprises having larger wheels, the wheelchair system of small wheels, pushing hands frame, backrest, medicated cushion and handrail, it is characterized in that also comprising lower limb exoskeleton system, damping support system and controller;

Lower limb exoskeleton system: comprise the hip bar, thigh bar and shank bar, the end of hip bar and the backrest of wheelchair system connect firmly, the hinged formation hip joint of the other end of hip bar and thigh bar, the hinged formation knee joint of thigh bar and shank bar, the end of shank bar is fixed with footboard, the two ends of first ball-screw are hinged with the upper end of the end of hip bar and thigh bar respectively, the rotating shaft of first motor links to each other by the nut of synchronous pulley with first ball-screw, the two ends of second ball-screw are hinged with the upper end of thigh bar and shank bar respectively, the rotating shaft of second motor links to each other by the nut of synchronous pulley with second ball-screw, on thigh bar, be fixed with first thigh support, be fixed with second thigh support on the shank bar;

Damping support system: comprise parallelogram connecting rod, antivibrator and linear actuator, the vertical edge and the backrest of parallelogram connecting rod are fixed, another vertical edge and vertical rack are fixed, wheel is installed in the lower end of support, one end of antivibrator and the last rod hinge connection of parallelogram connecting rod, the other end and the support of antivibrator are hinged, and an end of linear actuator and the medicated cushion of wheelchair system are hinged, the other end and underframe are hinged, and underframe and support connect firmly and be integral;

Controller is installed on the handrail of wheelchair;

When standing ambulation training, keep the balance of health in order to ensure the patient, usually can be at the fixing lifting rope frame of the backrest of wheelchair.

Wheel chair type robot for walking training of paraplegia patient of the present invention, the linear actuator below the adjustment seat cushion can switch between " sit, stand " two physical training conditions.

Beneficial effect of the present invention is:

Wheel chair type robot for walking training of paraplegia patient of the present invention is with the walking brace of flexible lower limb exoskeleton system as the patients ' recovery training, situation according to patient, by adjusting control to each joint motor on the exoskeleton system, can realize the active gait, be controlled training functions such as gait, the adjustable gait of passive damping and balance training by power, reach the purpose that helps the paralytic patient walking.Because wheel chair type robot for walking training of paraplegia patient has sitting posture training and two kinds of training methods of ambulation training, therefore can help to be in the function that the paralytic patient in different rehabilitation stages carries out rehabilitation training and realizes walking.

Description of drawings

Fig. 1 is the wheel chair type robot for walking training of paraplegia patient structural representation, (be illustrated as and be used for the sitting posture physical training condition);

Fig. 2 is the structural representation of lower limb exoskeleton system;

Fig. 3 is parallel-crank mechanism figure;

Fig. 4 is that wheel chair type robot for walking training of paraplegia patient is for being used for stance physical training condition sketch map;

Fig. 5 is the training sketch map that wheel chair type robot for walking training of paraplegia patient is mixed treadmill.

The specific embodiment

Below in conjunction with description of drawings the present invention.

Referring to Fig. 1, Fig. 2, Fig. 3, wheel chair type paraplegia robot for walking training comprise have larger wheels 10, wheelchair system, lower limb exoskeleton system, damping support system and the controller of small wheels 13, pushing hands frame 5, backrest 7, medicated cushion 11 and handrail 8.

Lower limb exoskeleton system: comprise hip bar 15, thigh bar 20 and shank bar 23, the end of hip bar and the backrest of wheelchair system 7 connect firmly, the other end of hip bar 15 and thigh bar 20 hinged formation hip joints, thigh bar 20 and shank bar 23 hinged formation knee joints, the end of shank bar is fixed with footboard 24, the two ends of first ball-screw 19 are hinged with the upper end of the end of hip bar 15 and thigh bar respectively, the rotating shaft of first motor 16 links to each other by the nut of synchronous pulley with first ball-screw 19, the two ends of second ball-screw 22 are hinged with the upper end of thigh bar 20 and shank bar respectively, the rotating shaft of second motor 21 links to each other by the nut of synchronous pulley with second ball-screw 22, on thigh bar, be fixed with first thigh support 17, be fixed with second thigh support 18 on the shank bar.

Damping support system: comprise parallelogram connecting rod 1, antivibrator 2 and linear actuator 14, vertical edge of parallelogram connecting rod 1 and backrest 7 are fixing, another vertical edge and vertical rack 3 are fixing, wheel 4 is installed in the lower end of support 3, one end of antivibrator 2 and the last rod hinge connection of parallelogram connecting rod 1, the other end of antivibrator and support 3 are hinged, one end of linear actuator 14 and the medicated cushion 11 of wheelchair system are hinged, the other end and underframe 12 are hinged, and underframe 12 connects firmly with support 3 and is integral.

Controller 9 is installed on the handrail of wheelchair.

In the illustrated example, on the backrest 7 of wheelchair, be fixed with lifting rope frame 6.

When usual, this wheelchair system is the same as wheelchair, and the patient can be sitting in freedom of movement on the wheelchair.In the training stage at paralytic patient initial stage, can adopt sitting posture to train, the patient is sitting on the wheelchair and is swung by lower limb exoskeleton system drive patient shank.Along with going deep into of rehabilitation training, if the patient wants to carry out the gait training of stance, he can control the linear actuator that is fixed in below the medicated cushion frame by the controller on the handrail 9, the patient make wheelchair be in erectility (referring to Fig. 4), so just can carry out the ambulation training under the standing state.The lifting rope frame is used to suspend in midair the patient, guarantees that the patient keeps the balance of health when standing ambulation training.Because when standing ambulation training, patient body can be along with the fluctuation alternately and up and down of gait, antivibrator can play buffered effect, also can play the effect of part body support simultaneously.

Pushing hands frame 5 is used for when the wheelchair state, and other people's push boat chair moves ahead.During the standing state walking, robot is equivalent to walking aid, helps paralyses patient, and people with disability's walking on the ground moves.Realize the combination of training aids and walking aid.

Controller 9 is installed on the handrail of wheelchair, can control motor speed easily, the switching of motor torque size and training attitude.

When the patient carries out rehabilitation training at home, also can be as shown in Figure 5 for adapting in the family narrow space, treadmill 25 is placed on below the wheel chair type paraplegia robot for walking training.

Claims (2)

1. wheel chair type robot for walking training of paraplegia patient, comprise the wheelchair system of have larger wheels (10), small wheels (13), pushing hands frame (5), backrest (7), medicated cushion (11) and handrail (8), it is characterized in that also comprising lower limb exoskeleton system, damping support system and controller;
Lower limb exoskeleton system: comprise hip bar (15), thigh bar (20) and shank bar (23), the end of hip bar and the backrest of wheelchair system (7) connect firmly, the other end of hip bar (15) and the hinged formation hip joint of thigh bar (20), thigh bar (20) and the hinged formation knee joint of shank bar (23), the end of shank bar is fixed with footboard (24), the two ends of first ball-screw (19) are hinged with the upper end of the end of hip bar (15) and thigh bar respectively, the rotating shaft of first motor (16) links to each other by the nut of synchronous pulley with first ball-screw (19), the upper end of one end of second ball-screw (22) and thigh bar (20) is hinged, the other end of second ball-screw (22) and the upper end of shank bar are hinged, the rotating shaft of second motor (21) links to each other by the nut of synchronous pulley with second ball-screw (22), on thigh bar, be fixed with first thigh support (17), be fixed with second thigh support (18) on the shank bar;
Damping support system: comprise parallelogram connecting rod (1), antivibrator (2) and linear actuator (14), vertical edge of parallelogram connecting rod (1) and backrest (7) are fixing, another vertical edge and vertical rack (3) are fixing, wheel (4) is installed in the lower end of vertical rack (3), the last rod hinge connection of one end of antivibrator (2) and parallelogram connecting rod (1), the other end of antivibrator and vertical rack (3) are hinged, the medicated cushion (11) of one end of linear actuator (14) and wheelchair system is hinged, the other end and underframe (12) are hinged, and underframe (12) connects firmly with vertical rack (3) and is integral;
Controller (9) is installed on the handrail of wheelchair.
2. wheel chair type robot for walking training of paraplegia patient according to claim 1 is characterized in that the backrest (7) at wheelchair is fixed with lifting rope frame (6).
CNB2006101550470A 2006-12-07 2006-12-07 A kind of wheel chair type robot for walking training of paraplegia patient CN100548256C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2006101550470A CN100548256C (en) 2006-12-07 2006-12-07 A kind of wheel chair type robot for walking training of paraplegia patient

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2006101550470A CN100548256C (en) 2006-12-07 2006-12-07 A kind of wheel chair type robot for walking training of paraplegia patient

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CN1973805A CN1973805A (en) 2007-06-06
CN100548256C true CN100548256C (en) 2009-10-14

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102670125A (en) * 2012-01-06 2012-09-19 河南科技大学 Multifunctional automatic bathing machine
WO2014067015A1 (en) * 2012-11-01 2014-05-08 British Columbia Institute Of Technology Mobility system including an exoskeleton assembly releasably supported on a wheeled base

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101204347B (en) * 2007-12-06 2010-07-07 上海大学 Automatic gait correcting device in lower limb rehabilitation
KR101043207B1 (en) * 2008-10-22 2011-06-22 서강대학교산학협력단 Wheelchair Type Exoskeletal Robot for Power Assistance
CN101828995B (en) * 2010-04-19 2012-02-01 哈尔滨工程大学 Electrical walking aid wheel chair with sitting-up mechanism
CN101947177B (en) * 2010-09-03 2012-09-26 哈尔滨工程大学 Rope driving walking aid
CN101912324A (en) * 2010-09-06 2010-12-15 国家康复辅具研究中心附属康复医院 Training device for abnormal gait correction, weight loss and gait remodeling and using method thereof
CN101984946B (en) * 2010-11-13 2013-03-27 上海交通大学 Sitting exoskeleton lower limb rehabilitation robot
CN102085143B (en) * 2011-03-02 2012-11-28 上海交通大学 Riding type robot for lower limb rehabilitation
CN102687996B (en) * 2012-01-06 2014-04-16 河南科技大学 Automatic auxiliary standing device capable of adapting to body difference
CN102973370B (en) * 2012-11-14 2015-08-12 昆山库克自动化科技有限公司 Rehabilitation wheelchair
CN102973368B (en) * 2012-11-14 2015-09-30 昆山库克自动化科技有限公司 A kind of rehabilitation wheelchair
CN105342767B (en) * 2015-11-20 2017-10-27 合肥工业大学 A kind of intelligent wheel chair controlled based on mobile terminal
CN106420258B (en) * 2016-09-26 2018-08-31 昆明理工大学 One kind is help the disabled standing rehabilitation frame
CN109262594A (en) * 2018-11-19 2019-01-25 西安交通大学 A kind of assistance exoskeleton hip joint structure

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102670125A (en) * 2012-01-06 2012-09-19 河南科技大学 Multifunctional automatic bathing machine
CN102670125B (en) * 2012-01-06 2014-04-09 河南科技大学 Multifunctional automatic bathing machine
WO2014067015A1 (en) * 2012-11-01 2014-05-08 British Columbia Institute Of Technology Mobility system including an exoskeleton assembly releasably supported on a wheeled base
US9849048B2 (en) 2012-11-01 2017-12-26 British Columbia Institute Of Technology Mobility system including an exoskeleton assembly releasably supported on a wheeled base

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