CN100548256C - Wheel chair type robot for walking training of paraplegia patient - Google Patents

Wheel chair type robot for walking training of paraplegia patient Download PDF

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Publication number
CN100548256C
CN100548256C CN 200610155047 CN200610155047A CN100548256C CN 100548256 C CN100548256 C CN 100548256C CN 200610155047 CN200610155047 CN 200610155047 CN 200610155047 A CN200610155047 A CN 200610155047A CN 100548256 C CN100548256 C CN 100548256C
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wheelchair
end
system
training
fixed
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CN 200610155047
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Chinese (zh)
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CN1973805A (en )
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杰 张
欣 张
张佳帆
杨灿军
昱 耿
邓美英
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浙江大学
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Abstract

本发明公开的轮椅式截瘫患者行走训练机器人包括轮椅系统、下肢外骨骼系统、阻尼支撑系统和控制器。 Wheelchair formula paraplegics walking training disclosure of the present invention comprises a wheelchair robot system, lower extremity exoskeleton system, damping support system, and a controller. 该机器人以柔性下肢外骨骼系统作为病人康复训练的行走支具,根据病人的情况,通过调整对外骨骼系统上各个关节电机的控制,可实现主动步态、被动力控制步态、被动阻尼可调步态以及平衡训练等训练功能。 The lower extremity exoskeleton of a flexible robot system as a patient walking rehabilitation braces, according to the patient's condition, by controlling the motor of each joint adjustment exoskeleton system, can achieve active gait, the gait is power control, adjustable passive damper gait and balance training, training function. 本发明的轮椅式截瘫患者行走训练机器人可满足患者坐姿和站立两种训练状态,适用截瘫患者的不同康复阶段下肢康复训练以及实现行走的功能。 Wheelchair formula of the invention the robot walking training paraplegic patient sitting and standing can satisfy two kinds of training state for lower limb rehabilitation training of paraplegic patients in different stages of rehabilitation and walking function implemented.

Description

一种轮椅式截瘫患者行走训练机器人 Style type of wheelchair for paraplegics walking training robot

技术领域 FIELD

本发明涉及一种轮椅式截瘫患者行走训练机器人,属于康复医疗器械领域。 The present invention relates to a wheelchair type robot walking training of paraplegic patients, a medical instrument field of rehabilitation. 适用截瘫患者的不同康复阶段下肢康复训练以及实现行走的功能。 Lower limb rehabilitation training and achieve functional walking paraplegics apply different recovery stages. 背景技术 Background technique

随着现代社会中的交通、工伤事故的增加,自然灾害的突发以及社会的老龄化,截瘫病人已逐步成为现代社会的一种常见群体,这类患者除了药物治疗或者手术治疗外,科学的康复训练对于患肢运动功能改善非常重要。 With modern society traffic accidents increased outside, natural disasters and emergencies aging society, paraplegic patients has gradually become a common group of modern society, these patients in addition to medical treatment or surgery, science rehabilitation is very important for limb motor function. 现有的轮椅主要由大轮子、小轮子、推手架、靠背、坐垫和扶手组成,这种轮椅只有代 Existing wheelchair mainly by the large wheels, small wheels, push the palm rest, backrest, seat and armrests composition, this generation of only wheelchair

步功能。 Step function. 对于截瘫病人目前通常由医生、PT师、0T师手把手牵拉特定肌群,应用起立床逐渐进行站立训练。 For paraplegic patients usually present hands pulled particular muscles by a doctor, PT division, 0T division, bed gradual application stand standing training. 这种被动式的康复训练,工作强度大,且无法满足更多病人的需求。 This passive rehabilitation, work intensity, and can not meet the needs of more patients. 训练效果与医疗师的技术熟练程度密切相关,很难准确到位地针对不同病人保持康复训练动作的一致性。 Training effect is closely related to the skill of the therapist, it is difficult to accurately place to maintain consistency of rehabilitation exercises for different patients. 另外目前大多数通用的截瘫病人行走支具只能辅助病人作一些简单的行走训练,而无法根据病人不同阶段的情况,实施有针对性的康复训练。 Also the most common of paraplegic patients to walk brace can assist patients to make some simple walking training, but can not under the circumstances of patients at different stages of the implementation of targeted rehabilitation. 缺少一种能够把康复训练以及日常助行结合起来的康复训练助行器。 The lack of a way to rehabilitation and daily walker combine the rehabilitation walker. 发明内容 SUMMARY

本发明的目的是提供一种轮椅式截瘫患者行走训练机器人。 Object of the present invention is to provide a wheelchair type robot walking training of paraplegic patients. 本发明的轮椅式截瘫行走训练机器人包括具有大轮子、小轮子、推手架、 Wheelchair formula of the invention comprises a robot walking training paraplegic big wheels, small wheels, push scaffolding,

靠背、坐垫和扶手的轮椅系统、其特征是还包括下肢外骨骼系统、阻尼支撑系 Backrest, and armrests wheelchair cushion system, which is characterized in further comprising a lower extremity exoskeleton system, based damping support

统和控制器; And the system controller;

下肢外骨骼系统:包括髋部杆、大腿杆和小腿杆,髋部杆的末端与轮椅系统的靠背固联,髋部杆的另一端与大腿杆铰接构成髋关节,大腿杆与小腿杆铰接构成膝关节,小腿杆的末端固定有踏脚板,第一滚珠丝杠的两端分别与髋部杆的末端及大腿杆的上端铰接,第一电机的转轴通过同步带轮与第一滚珠丝杠的螺母相连,第二滚珠丝杠的两端分别与大腿杆及小腿杆的上端铰接,第二电机的转轴通过同步带轮与第二滚珠丝杠的螺母相连,在大腿杆上固定有第一腿部支撑,小腿杆上固定有第二腿部支撑; Lower extremity exoskeleton system: includes a hip stem, thigh bar and a calf bar, the back end of the wheelchair system hip portion of the rod is fixedly connected, the other end of the thigh bar hinge hip stem constituting hip, thigh bar and leg lever hinged configuration end of the knee, lower leg rod fixed footplate, upper ends of the first hinged end of the ball screw, respectively hip and thigh bar rod, a first spindle motor by a timing belt wheel of the first ball screw a nut connected to ends of the second ball screw rod respectively hinged with the upper end of the thigh and calf bars, a second shaft connected to the second motor through a ball screw nut timing belt pulleys, the first leg is fixed to the thigh bar a support portion, the lower leg supporting rod is fixed to a second leg portion;

阻尼支撑系统:包括平行四边形连接杆、阻尼器和直线驱动器,平行四边 Damping system support: a parallelogram connecting rod, and a linear damper actuator, a parallelogram

形连接杆的一条竖直边与座椅靠背固定,另一条竖直边与竖直支架固定,支架的下端安装轮子,阻尼器的一端与平行四边形连接杆的上连杆铰接,阻尼器的另一端与支架铰接,直线驱动器的一端与轮椅系统的坐垫铰接,另一端与底架 Shaped connecting rod and a vertical side fixed to the seat back, the other vertical side bracket with the vertical, the lower end of the wheel mounting bracket, one end of the damper parallelogram connecting rods articulated on the connecting rod, the other damper One end of the hinge bracket, seat cushion articulation end of the linear drive system and the wheelchair, the other end of the chassis

铰接,底架与支架固联成一体; 控制器安装在轮椅的扶手上; Hinge, bracket fixedly connected with the chassis integral; and a controller mounted on the armrest of the wheelchair;

为了确保患者在站立步行训练时保持身体的平衡,通常可在轮椅的靠背固定吊绳架。 In order to ensure that the patient's body to maintain balance when standing gait training, usually in a fixed frame wheelchair sling back.

本发明的轮椅式截瘫患者行走训练机器人,通过调节座椅坐垫下面的直线驱动器,可以在"坐、立"两个训练状态之间切换。 Wheelchair formula invention paraplegic robot walking training, the booster cushion of the seat by adjusting a linear drive, can "sit, stand" switching between two training status. 本发明的有益效果在于: Advantageous effects of the present invention:

本发明的轮椅式截瘫患者行走训练机器人以柔性下肢外骨骼系统作为病人康复训练的行走支具,根据病人的情况,通过调整对外骨骼系统上各个关节电机的控制,可实现主动步态、被动力控制步态、被动阻尼可调步态以及平衡训练等训练功能,达到帮助截瘫患者行走的目的。 Wheelchair present invention of formula walking training of paraplegic patients outer flexible lower extremity exoskeleton robot system as a patient walking rehabilitation braces, according to the patient's condition, by controlling the motor of each joint adjustment exoskeleton system, can achieve active gait, the power control gait, the passive damping adjustable gait and balance training, training function, to help patients with paraplegia to walk purposes. 由于轮椅式截瘫患者行走训练机器人有坐姿训练和步行训练两种训练方式,因此可以帮助处于不同康复阶段的截瘫患者进行康复训练以及实现行走的功能。 Since paraplegic wheelchair type walking training robot sitting there training and gait training two training methods, it can help the rehabilitation of paraplegic patients at different stages of rehabilitation and the realization of walking function. 附图说明 BRIEF DESCRIPTION

图1是轮椅式截瘫患者行走训练机器人结构示意图,(图示为用于坐姿训练状态); Figure 1 is a schematic view of the wheelchair of formula paraplegic patients robot walking training structure (not shown seated for the training state);

图2是下肢外骨骼系统的结构示意图; FIG 2 is a schematic view of the lower extremity exoskeleton system;

图3是平行四边形机构图; FIG 3 is a parallelogram mechanism of FIG;

图4是轮椅式截瘫患者行走训练机器人为用于站姿训练状态示意图; FIG 4 is a wheelchair for formula paraplegic patients schematic stance training state robot walking training;

图5是轮椅式截瘫患者行走训练机器人配上跑步机的训练示意图。 FIG 5 is a wheelchair type robot walking training paraplegic schematic treadmill training coupled. 具体实施方式 detailed description

以下结合附图说明本发明。 The present invention is described in conjunction with the following drawings.

参见图l,图2,图3,轮椅式截瘫行走训练机器人包括具有大轮子10、小轮子13、推手架5、靠背7、坐垫11和扶手8的轮椅系统、下肢外骨骼系统、 阻尼支撑系统和控制器。 Referring to FIG. L, FIG. 2, FIG. 3, the wheelchair-type paraplegic walking training robot including 10, small wheels 13, pushing the palm rest 5, backrest 7, wheelchair system cushion 11 and the handrail 8, the lower extremity exoskeleton system, the damping support system with big wheels and controller.

下肢外骨骼系统:包括髋部杆15、大腿杆20和小腿杆23,髋部杆的末端与轮椅系统的靠背7固联,髋部杆15的另一端与大腿杆20铰接构成髋关节, 大腿杆20与小腿杆23铰接构成膝关节,小腿杆的末端固定有踏脚板24,第一滚珠丝杠19的两端分别与髋部杆15的末端及大腿杆的上端铰接,第一电机16 的转轴通过同步带轮与第一滚珠丝杠19的螺母相连,第二滚珠丝杠22的两端分别与大腿杆20及小腿杆的上端铰接,第二电机21的转轴通过同步带轮与第 Lower extremity exoskeleton system: includes a hip stem 15, thigh bar 20 and calf bar 23, the back end of the wheelchair system hip portion of the rod 7 is fixedly connected, the other end 15 of the hip stem and thigh bar 20 hinged configuration hip, thigh bar 20 and calf bar 23 constituting the knee articulation, the end of the rod is fixed to the lower leg foot plate 24, both ends of the ball screws 19 are first hinged end and an upper end of the thigh bar 15 and the hip stem, a first motor 16 shaft is connected via a first toothed belt wheel nut of the ball screw 19, ball screws 22 respectively at both ends of the second hinge 20 and the upper end of the lower leg and thigh bar rod, a second motor shaft 21 through the timing belt pulleys and the second

二滚珠丝杠22的螺母相连,在大腿杆上固定有第一腿部支撑17,小腿杆上固定有第二腿部支撑18。 Two ball screw nut 22 is connected to the rod in the thigh support 17 has a first leg portion, the leg support rod 18 is fixed to the second leg.

阻尼支撑系统:包括平行四边形连接杆l、阻尼器2和直线驱动器14,平 Damping support system include: a connecting rod parallelogram L, the damper 2 and the linear actuator 14, the flat

行四边形连接杆1的一条竖直边与座椅靠背7固定,另一条竖直边与竖直支架3 固定,支架3的下端安装轮子4,阻尼器2的一端与平行四边形连接杆1的上连杆铰接,阻尼器的另一端与支架3铰接,直线驱动器14的一端与轮椅系统的坐垫11铰接,另一端与底架12铰接,底架12与支架3固联成一体。 Parallelogram connecting rod 1 is fixed to a vertical side of the seat back 7, the other sides of the vertical upright support 3 is fixed to the lower end of the mounting bracket 3 wheel 4, one end of the damper 2 and the parallel quadrilateral on the connecting rod 1 articulated link, the other end of the damper hinge and the bracket 3, the linear actuator 11 is hinged at one end to the wheelchair seat system 14, and the other end is hinged to the chassis 12, the chassis 12 is fixedly connected with the bracket 3 integrally.

控制器9安装在轮椅的扶手上。 The controller 9 is mounted on the armrest of the wheelchair.

图示实例中,在轮椅的靠背7上固定有吊绳架6。 In the illustrated example, the wheelchair backrest 7 is fixed to frame 6 slings.

在平常时,此轮椅系统像一般轮椅一样,患者可以坐在轮椅上行动自如。 When normal, this wheelchair system as general as wheelchairs, wheelchair patients can move freely. 在截瘫患者初期训练阶段,可以采用坐姿进行训练,患者坐在轮椅上由下肢外骨骼系统带动患者小腿进行摆动。 In the early stages of training paraplegics, sitting can be used to train the patient in a wheelchair driven by lower extremity exoskeleton system in patients with leg swing. 随着康复训练的深入,患者如果想进行站立姿势的步态训练,他可以通过扶手上的控制器9来控制固定于坐垫架下面的直线驱动器,来使轮椅处于直立状态(参见图4),于是患者就可以进行站立状态下的步行训练。 With the development of rehabilitation, the patient want gait training if standing posture, he can control the frame below the seat cushion fixed to the linear actuator by the controller 9 on the handrail, to the wheelchair in its upright position (see FIG. 4), so patients can be walking training under the standing state. 吊绳架用于悬吊患者,确保患者在站立步行训练时保持身体的平衡。 Sling rack for suspending the patient to ensure the patient's body to maintain balance when standing gait training. 由于在站立步行训练时,患者身体会随着步态的交替而上下波动,阻尼器可以起到缓冲的作用,同时也可以起到部分支撑身体的作用。 Since standing walking training, the patient's body as the gait will alternately fluctuate, the damper may function as a buffer, but also may serve as part of the support body.

推手架5用于在轮椅状态时,其它人推轮椅前行。 When push hands stand for 5 in a wheelchair state, others Pre wheelchair. 站立状态步行时,机器人相当于助行器,帮助截瘫病人,残疾人在地面上步行移动。 Standing state walking robot equivalent of a walker to help paraplegic patients, the disabled walk along the ground. 实现训练器和助行器的结合。 Realize the combination of trainer and walker.

控制器9安装在轮椅的扶手上,可以方便地控制电机速度,电机力矩大小以及训练姿态的切换。 The controller 9 mounted on the armrest of the wheelchair, can easily control the switching speed of the motor, the motor torque and the size of the training gesture.

当患者在家中进行康复训练时,为适应家中狭小的空间也可如图5所示, 将跑步机25放在轮椅式截瘫行走训练机器人下面。 When the rehabilitation of patients at home, the home to accommodate a small space may be 5, 25 on the treadmill walking training robot wheelchair paraplegic formula below.

Claims (2)

  1. 1.一种轮椅式截瘫患者行走训练机器人,包括具有大轮子(10)、小轮子(13)、推手架(5)、靠背(7)、坐垫(11)和扶手(8)的轮椅系统,其特征是还包括下肢外骨骼系统、阻尼支撑系统和控制器; 下肢外骨骼系统:包括髋部杆(15)、大腿杆(20)和小腿杆(23),髋部杆的末端与轮椅系统的靠背(7)固联,髋部杆(15)的另一端与大腿杆(20)铰接构成髋关节,大腿杆(20)与小腿杆(23)铰接构成膝关节,小腿杆的末端固定有踏脚板(24),第一滚珠丝杠(19)的两端分别与髋部杆(15)的末端及大腿杆的上端铰接,第一电机(16)的转轴通过同步带轮与第一滚珠丝杠(19)的螺母相连,第二滚珠丝杠(22)的一端与大腿杆(20)的上端铰接,第二滚珠丝杠(22)的另一端与小腿杆的上端铰接,第二电机(21)的转轴通过同步带轮与第二滚珠丝杠(22)的螺母相连,在大腿杆上固定有第一腿部支撑(17),小腿杆上固定有 A wheelchair type robot walking training of paraplegic patients, comprising a small wheel (13), pushing the palm rest (5), a backrest (7), the seat cushion (11) and armrests (8) of the system with a large wheelchair wheels (10), characterized in that the system further comprises a lower extremity exoskeleton, damping support system and a controller; lower extremity exoskeleton system: includes a hip stem (15), with the end of the wheelchair system thigh bar (20) and the lower leg shaft (23), the hip stem backrest (7) is fixedly connected, hip stem (15) and the other end of the thigh bar (20) constituting the articulation of the hip, thigh bar (20) and the lower leg shaft (23) constituting the hinged joint, the end of the rod is fixed to the lower leg footboard shaft (24), ends of the first ball screw (19) and the upper end of the thigh bar are articulated respectively hip stem (15), a first motor (16) by a timing belt pulleys and the first ball screw (19) is connected to a nut, the upper end of a second ball screw (22) one end of the thigh bar (20) is articulated, the second ball screw (22) is hinged the other end of the upper leg and the rod, a second motor (21) is connected via a timing belt wheel rotating shaft and the second ball screw (22) is a nut, a first leg portion is fixed to a support (17) in the thigh rod, the rod is fixed to the lower leg 二腿部支撑(18); 阻尼支撑系统:包括平行四边形连接杆(1)、阻尼器(2)和直线驱动器(14),平行四边形连接杆(1)的一条竖直边与座椅靠背(7)固定,另一条竖直边与竖直支架(3)固定,竖直支架(3)的下端安装轮子(4),阻尼器(2)的一端与平行四边形连接杆(1)的上连杆铰接,阻尼器的另一端与竖直支架(3)铰接,直线驱动器(14)的一端与轮椅系统的坐垫(11)铰接,另一端与底架(12)铰接,底架(12)与竖直支架(3)固联成一体; 控制器(9)安装在轮椅的扶手上。 Two leg supports (18); damping support system include: a connecting rod parallelogram (1), the damper (2) and the linear actuator (14), a parallelogram connecting rod (1) with a vertical side of the seat back ( 7) is fixed, the other vertical sides of the vertical support (3) is fixed, the lower end of the vertical support (3) mounted wheel (4), the damper (2) one end of a connecting rod parallelogram (1) that connect to the articulated lever, one end of the wheelchair seat system according to another end of the damper and the vertical support (3) is hinged, linear actuator (14) (11) is hinged, the other end of the chassis (12) is hinged, the chassis (12) and vertical support (3) is fixed into one; and a controller (9) is mounted on the armrest of the wheelchair.
  2. 2.根据权利要求1所述的轮椅式截瘫患者行走训练机器人,其特征是在轮椅的靠背(7)固定有吊绳架(6〉。 Wheelchair according to claim 1 of formula according robot walking training of paraplegic patients, which is characterized in the wheelchair backrest (7) fixed to the frame sling (6>.
CN 200610155047 2006-12-07 2006-12-07 Wheel chair type robot for walking training of paraplegia patient CN100548256C (en)

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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

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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
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