CN101972196A - Lower-limb motion recovery machine with multiple body positions - Google Patents
Lower-limb motion recovery machine with multiple body positions Download PDFInfo
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- CN101972196A CN101972196A CN 201010534493 CN201010534493A CN101972196A CN 101972196 A CN101972196 A CN 101972196A CN 201010534493 CN201010534493 CN 201010534493 CN 201010534493 A CN201010534493 A CN 201010534493A CN 101972196 A CN101972196 A CN 101972196A
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Abstract
本发明公开一种多体位下肢运动康复机，髋部电动直线推杆(29)的两端分别与髋部杆(18)的末端和大腿上杆(22)铰接，髋部电动直线推杆(29)带动髋关节运动；膝部电动直线推杆(30)的两端分别与大腿下杆(24)和小腿上杆(27)铰接，膝部电动直线推杆(30)带动膝关节运动；踝部电动直线推杆(31)的两端分别与小腿下杆(29)和足部杆(21)的前端铰接，踝部电动直线推杆(31)带动踝关节运动。与现有技术相比，本发明提供的多体位下肢运动康复机的外层关节辅助运动外骨骼可以模拟人的下肢的行走运动，从而带动患者的下肢进行行走运动，从而使患者改善或者逐步恢复和准确掌握步行运动技能。
The invention discloses a multi-position lower limb exercise rehabilitation machine. The two ends of a hip electric linear push rod (29) are respectively hinged with the end of a hip rod (18) and a thigh upper rod (22), and the hip electric linear push rod ( 29) drive the hip joint movement; the two ends of the knee electric linear actuator (30) are respectively hinged with the thigh lower rod (24) and the calf upper rod (27), and the knee electric linear actuator (30) drives the knee joint movement; The two ends of the ankle electric linear push rod (31) are respectively hinged with the front ends of the calf lower rod (29) and the foot rod (21), and the ankle electric linear push rod (31) drives the ankle joint to move. Compared with the prior art, the outer joint-assisted exoskeleton of the multi-position lower limb exercise rehabilitation machine provided by the present invention can simulate the walking movement of the lower limbs of a human being, thereby driving the patient's lower limbs to perform walking movements, so that the patient can improve or gradually recover and accurate walking skills.
Description
Technical field
The present invention relates to the rehabilitation medical instrument field, exactly be meant a kind of many positions lower extremity movement rehabilitation machine.
Background technology
At present, along with the aging of modern society, cardiovascular patient such as apoplexy, hemiplegia and lower limb muscles atrophy, spinal cord injury patient have progressively become a kind of common colony of modern society.The patient often can't recover because leaving over dysfunction in various degree and the accurate walking movement technical ability of grasping.The most basic purpose of rehabilitation is to make the patient to grasp the motor skill of daily life again.Motor skill is a kind of ability of grasping and finish effectively specific actions in the human motion, has comprised the cerebral cortex adjusting harmony between different muscle groups down.According to conditioned reflex theory, it is the compound movement trained reflex that action of muscle connects an action.Its formation will be experienced the process that muscular sensation is not clear, break up, consolidate stable and automatization.The formation and development of patient moving technical ability also will be subjected to many influences as factors such as recovery training method, rehabilitation training intensity, technical movements standard, learning goals and initiatives in this process.Studies have shown that, can make patient's brain motor function plasticity reach optimization, shorten the time of patient moving functional rehabilitation by the training of rehabilitation exercise effectively.
Summary of the invention
At above-mentioned defective, the technical problem that the present invention solves is to provide a kind of many positions lower extremity movement rehabilitation machine, drives the patient's of lower limb disorder lower extremity movement by machine, thereby the patient is improved or progressively recovery and the accurate walking movement technical ability of grasping.
In order to solve above technical problem, many positions lower extremity movement rehabilitation machine provided by the invention comprises sick bed mechanism and outer joint assistant movement exoskeleton, and described outer joint assistant movement exoskeleton is installed in the described sick bed mechanism;
Described outer joint assistant movement exoskeleton comprises ectoskeleton lower limb (16), (17) that the left and right sides is identical, and described ectoskeleton lower limb (16), (17) are followed in series to form by hip bar (18), thigh bar (19), shank bar (20) and foot bar (21);
Described hip bar (18) and the hinged formation hip joint of described thigh bar (19), described thigh bar (19) and the hinged formation knee joint of described shank bar (20), described shank bar (20) and the hinged formation ankle joint of described foot bar (21);
Described thigh bar (19) is composed in series by thigh upper boom (22), the long governor motion of bar (23), thigh lower beam (24), the long governor motion of described bar (23) two ends are fixing with described thigh upper boom (22) and described thigh lower beam (24) respectively, and the long governor motion of described bar (23) comprises telescopic slide guide rail (25) and rail length clamping screw (26);
Described shank bar (19) is composed in series by shank upper boom (27), the long governor motion of bar (23), shank lower beam (29), the long governor motion of bar (23) two ends are fixing with shank upper boom (27) and shank lower beam (28) respectively, and the long governor motion of described bar (23) comprises telescopic slide guide rail (25) and rail length clamping screw (26);
The two ends of hip electric linear push rod (29) are hinged with the end and the described thigh upper boom (22) of described hip bar (18) respectively, the two ends of knee electric linear push rod (30) are hinged with described thigh lower beam (24) and described shank upper boom (27) respectively, and the two ends of ankle electric linear push rod (31) are hinged with the front end of shank lower beam (29) and foot bar (21) respectively;
Described sick bed mechanism comprises base (1), medical treadmill (2), upright push rod (3), upright bedstead (4), described medical treadmill (2) places under the described base (1), the two ends of described upright push rod (3) are hinged with described base (1) and described upright bedstead (4) by hinge (6) and hinge (7) respectively, be used for the upright angular adjustment of upright sick bed, there is back tilting table plate (5) front portion of described upright bedstead (4).
Preferably, the side of hip joint, knee joint and the ankle joint of described outer joint assistant movement exoskeleton is separately installed with angular transducer (38).
Preferably, described many positions lower extremity movement rehabilitation machine also comprises internal layer joint motions data monitoring ectoskeleton, and described internal layer joint motions data monitoring ectoskeleton is fixed on one's body the patient;
Described internal layer joint motions data monitoring ectoskeleton comprises bar (12) and internal layer ectoskeleton foot bar (13) before bar (11) behind bar (10) before bar (9) behind internal layer ectoskeleton hip bar (8), the internal layer ectoskeleton thigh, the internal layer ectoskeleton thigh, the internal layer ectoskeleton shank, the internal layer ectoskeleton shank;
The hinged formation internal layer of bar (9) ectoskeleton hip joint behind described internal layer ectoskeleton hip bar (8) and the described internal layer ectoskeleton thigh, the hinged formation internal layer of bar (11) ectoskeleton knee joint behind bar (10) and the described internal layer ectoskeleton shank before the described internal layer ectoskeleton thigh, bar (12) and the hinged formation internal layer of described internal layer ectoskeleton foot bar (13) exoskeleton ankle joint before the described internal layer ectoskeleton shank;
Behind described internal layer ectoskeleton hip bar (8), described internal layer ectoskeleton thigh, on bar (11), the preceding bar (12) of described internal layer ectoskeleton shank and the described internal layer ectoskeleton foot bar (13) bundled piece (14) is installed all behind bar (10), the described internal layer ectoskeleton shank before bar (9), the described internal layer ectoskeleton thigh.
Preferably, the side of described internal layer ectoskeleton hip joint, described internal layer ectoskeleton knee joint and described internal layer exoskeleton ankle joint is separately installed with angular transducer (15).
Preferably, described bundled piece (14) is the nylon bandage.
Preferably, described many positions lower extremity movement rehabilitation machine also comprises hip width governor motion (32), described hip width governor motion (32) comprises regulates leading screw (33), regulate the left side of leading screw (33), right adjusting nut (34), (35), regulating handle (36) and support (37), described support (37) is fixing with described upright bedstead (4), the two ends of described adjusting leading screw (33) respectively by bearings on described support (37), the left side of described adjusting leading screw (33), right adjusting nut (34), (35) respectively with described left and right sides ectoskeleton lower limb (16), (17) connect described regulating handle (36) and coaxial the fixedlying connected of described adjusting leading screw (33).
Compared with prior art, many positions lower extremity movement rehabilitation machine provided by the invention, hip bar (18) and the hinged formation hip joint of thigh bar (19), thigh bar (19) and the hinged formation knee joint of shank bar (20), shank bar (20) and the hinged formation ankle joint of foot bar (21), hip joint, knee joint and ankle joint can be done curvature movement; The long governor motion of bar (23) of thigh bar (19) and the long governor motion of bar (23) of shank bar (19) can be fit to the thigh length and the shank length of different heights so that the length of thigh bar (19) and shank bar (19) can be regulated; The two ends of hip electric linear push rod (29) are hinged with the end and the thigh upper boom (22) of hip bar (18) respectively, and hip electric linear push rod (29) drives the hip joint motion; The two ends of knee electric linear push rod (30) are hinged with thigh lower beam (24) and shank upper boom (27) respectively, and knee electric linear push rod (30) drives motion of knee joint; The two ends of ankle electric linear push rod (31) are hinged with the front end of shank lower beam (29) and foot bar (21) respectively, and ankle electric linear push rod (31) drives ankle motion.Outer joint assistant movement exoskeleton can the anthropomorphic dummy the walking movement of lower limb, thereby the lower limb that drive the patient carry out walking movement, thereby the patient is improved or progressively recover and accurately grasp walking movement technical ability.
Description of drawings
The structural representation of Fig. 1 during for the level of many positions lower extremity movement rehabilitation machine among the present invention;
The structural representation of Fig. 2 during for many positions lower extremity movement rehabilitation machine among the present invention upright;
Fig. 3 is the principle assumption diagram of sick bed mechanism among the present invention;
Fig. 4 is the principle assumption diagram of ectomesoderm of the present invention joint assistant movement exoskeleton;
Fig. 5 is the principle assumption diagram of the long governor motion of king-rod of the present invention;
Fig. 6 is the principle assumption diagram of internal layer ectoskeleton hip joint among the present invention;
Fig. 7 is the principle assumption diagram of internal layer ectoskeleton knee joint among the present invention;
Fig. 8 is the principle assumption diagram of internal layer exoskeleton ankle joint among the present invention;
Fig. 9 is the theory structure sketch map of hip width governor motion among the present invention.
The specific embodiment
For those skilled in the art can understand technical scheme provided by the present invention better, set forth below in conjunction with specific embodiment.
See also Fig. 1-Fig. 9, the structural representation of Fig. 1 during for the level of many positions lower extremity movement rehabilitation machine among the present invention; The structural representation of Fig. 2 during for many positions lower extremity movement rehabilitation machine among the present invention upright; Fig. 3 is the principle assumption diagram of sick bed mechanism among the present invention; Fig. 4 is the principle assumption diagram of ectomesoderm of the present invention joint assistant movement exoskeleton; Fig. 5 is the principle assumption diagram of the long governor motion of king-rod of the present invention; Fig. 6 is the principle assumption diagram of internal layer ectoskeleton hip joint among the present invention; Fig. 7 is the principle assumption diagram of internal layer ectoskeleton knee joint among the present invention; Fig. 8 is the principle assumption diagram of internal layer exoskeleton ankle joint among the present invention; Fig. 9 is the structural representation of hip width governor motion among the present invention.
Because the structural representation more complicated of many positions lower extremity movement rehabilitation machine, therefore, the accompanying drawing of the sick bed mechanism of the embodiment of the invention, outer joint assistant movement exoskeleton, the long governor motion of bar, internal layer ectoskeleton hip joint, internal layer ectoskeleton knee joint and internal layer exoskeleton ankle joint is a principle assumption diagram, more its structure can be represented clear.
Many positions lower extremity movement rehabilitation machine provided by the invention comprises sick bed mechanism and outer joint assistant movement exoskeleton, and outer joint assistant movement exoskeleton is installed in the sick bed mechanism; Outer joint assistant movement exoskeleton comprises the identical ectoskeleton lower limb in the left and right sides 16,17, and ectoskeleton lower limb 16,17 are followed in series to form by hip bar 18, thigh bar 19, shank bar 20 and foot bar 21; Hip bar 18 and thigh bar 19 hinged formation hip joints, thigh bar 19 and shank bar 20 hinged formation knee joints, shank bar 20 and foot bar 21 hinged formation ankle joint; Thigh bar 19 is composed in series by thigh upper boom 22, the long governor motion 23 of bar, thigh lower beam 24, the long governor motion of bar 23 two ends are fixing with thigh upper boom 22 and thigh lower beam 24 respectively, and the long governor motion 23 of bar comprises telescopic slide guide rail 25 and rail length clamping screw 26; Shank bar 19 is composed in series by shank upper boom 27, the long governor motion 23 of bar, shank lower beam 29, the long governor motion of bar 23 two ends are fixing with shank upper boom 27 and shank lower beam 28 respectively, and the long governor motion 23 of bar comprises telescopic slide guide rail 25 and rail length clamping screw 26; The two ends of hip electric linear push rod 29 are hinged with the end and the thigh upper boom 22 of hip bar 18 respectively, the two ends of knee electric linear push rod 30 are hinged with thigh lower beam 24 and shank upper boom 27 respectively, and the two ends of ankle electric linear push rod 31 are hinged with the front end of shank lower beam 29 and foot bar 21 respectively; The side of hip joint, knee joint and the ankle joint of outer joint assistant movement exoskeleton is separately installed with angular transducer 38, by certain control algolithm, can be by control to hip electric linear push rod 29, knee electric linear push rod 30 and ankle electric linear push rod 31, realize corresponding gait, drive the patient and carry out the rehabilitation training of normal gait.
Many positions lower extremity movement rehabilitation machine provided by the invention, hip bar 18 and thigh bar 19 hinged formation hip joints, thigh bar 19 and shank bar 20 hinged formation knee joints, shank bar 20 and foot bar 21 hinged formation ankle joint, hip joint, knee joint and ankle joint can be done curvature movement; The long governor motion 23 of bar of long governor motion 23 of the bar of thigh bar 19 and shank bar 19 can be fit to the thigh length and the shank length of different heights so that the length of thigh bar 19 and shank bar 19 can be regulated; The two ends of hip electric linear push rod 29 are hinged with the end and the thigh upper boom 22 of hip bar 18 respectively, and hip electric linear push rod 29 drives the hip joint motion; The two ends of knee electric linear push rod 30 are hinged with thigh lower beam 24 and shank upper boom 27 respectively, and knee electric linear push rod 30 drives motion of knee joint; The two ends of ankle electric linear push rod 31 are hinged with the front end of shank lower beam 29 and foot bar 21 respectively, and ankle electric linear push rod 31 drives ankle motion.Outer joint assistant movement exoskeleton can the anthropomorphic dummy the walking movement of lower limb, thereby the lower limb that drive the patient carry out walking movement, thereby the patient is improved or progressively recover and accurately grasp walking movement technical ability.
Many positions lower extremity movement rehabilitation machine also comprises internal layer joint motions data monitoring ectoskeleton, and internal layer joint motions data monitoring ectoskeleton is fixed on one's body the patient; Internal layer joint motions data monitoring ectoskeleton comprises bar 12 and internal layer ectoskeleton foot bar 13 before bar 11 behind bar 10 before bar 9 behind internal layer ectoskeleton hip bar 8, the internal layer ectoskeleton thigh, the internal layer ectoskeleton thigh, the internal layer ectoskeleton shank, the internal layer ectoskeleton shank; Bar 9 hinged formation internal layer ectoskeleton hip joints behind internal layer ectoskeleton hip bar 8 and the internal layer ectoskeleton thigh, bar 11 hinged formation internal layer ectoskeleton knee joints behind bar 10 and the internal layer ectoskeleton shank before the internal layer ectoskeleton thigh, bar 12 and internal layer ectoskeleton foot bar 13 hinged formation internal layer exoskeleton ankle joints before the internal layer ectoskeleton shank; Behind internal layer ectoskeleton hip bar 8, internal layer ectoskeleton thigh, on bar 12 and the internal layer ectoskeleton foot bar 13 nylon bandage 14 is installed all before bar 11, the internal layer ectoskeleton shank behind bar 10, the internal layer ectoskeleton shank before bar 9, the internal layer ectoskeleton thigh.The side of internal layer ectoskeleton hip joint, internal layer ectoskeleton knee joint and internal layer exoskeleton ankle joint is separately installed with angular transducer.When the patient dresses internal layer joint motions data monitoring ectoskeleton when walking, angular transducer 15 can measure in real time the patient when walking the angle in each joint change.
Sick bed mechanism comprises base 1, medical treadmill 2, upright push rod 3, upright bedstead 4, medical treadmill 2 places under the base 1, the two ends of upright push rod 3 are hinged with base 1 and upright bedstead 4 by hinge 6 and hinge 7 respectively, be used for the upright angular adjustment of upright sick bed, there is back tilting table plate 5 front portion of upright bedstead 4.Upright bedstead 4 can be regulated becomes level and vertical state, motion in the time of can allowing the patient lie low, and motion is used in different patients respectively in the time of also can allowing the patient vertical.
Many positions lower extremity movement rehabilitation machine also comprises hip width governor motion 32, hip width governor motion 32 comprises regulates leading screw 33, regulate the left side of leading screw 33, right adjusting nut 34,35, regulating handle 36 and support 37, support 37 is fixed with upright bedstead 4, the two ends of regulating leading screw 33 respectively by bearings on support 37, regulate the left side of leading screw 33, right adjusting nut 34,35 respectively with left and right sides ectoskeleton lower limb 16,17 connect, regulating handle 36 and regulate leading screw 33 coaxial fixedlying connected can adapt to different fat or thin patients' needs by hip width governor motion 32.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined herein General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (6)
1. the machine of position lower extremity movement rehabilitation more than a kind is characterized in that, comprises sick bed mechanism and outer joint assistant movement exoskeleton, and described outer joint assistant movement exoskeleton is installed in the described sick bed mechanism;
Described outer joint assistant movement exoskeleton comprises ectoskeleton lower limb (16), (17) that the left and right sides is identical, and described ectoskeleton lower limb (16), (17) are followed in series to form by hip bar (18), thigh bar (19), shank bar (20) and foot bar (21);
Described hip bar (18) and the hinged formation hip joint of described thigh bar (19), described thigh bar (19) and the hinged formation knee joint of described shank bar (20), described shank bar (20) and the hinged formation ankle joint of described foot bar (21);
Described thigh bar (19) is composed in series by thigh upper boom (22), the long governor motion of bar (23), thigh lower beam (24), the long governor motion of described bar (23) two ends are fixing with described thigh upper boom (22) and described thigh lower beam (24) respectively, and the long governor motion of described bar (23) comprises telescopic slide guide rail (25) and rail length clamping screw (26);
Described shank bar (19) is composed in series by shank upper boom (27), the long governor motion of bar (23), shank lower beam (29), the long governor motion of bar (23) two ends are fixing with shank upper boom (27) and shank lower beam (28) respectively, and the long governor motion of described bar (23) comprises telescopic slide guide rail (25) and rail length clamping screw (26);
The two ends of hip electric linear push rod (29) are hinged with the end and the described thigh upper boom (22) of described hip bar (18) respectively, the two ends of knee electric linear push rod (30) are hinged with described thigh lower beam (24) and described shank upper boom (27) respectively, and the two ends of ankle electric linear push rod (31) are hinged with the front end of shank lower beam (29) and foot bar (21) respectively;
Described sick bed mechanism comprises base (1), medical treadmill (2), upright push rod (3), upright bedstead (4), described medical treadmill (2) places under the described base (1), the two ends of described upright push rod (3) are hinged with described base (1) and described upright bedstead (4) by hinge (6) and hinge (7) respectively, be used for the upright angular adjustment of upright sick bed, there is back tilting table plate (5) front portion of described upright bedstead (4).
2. many positions lower extremity movement rehabilitation machine according to claim 1 is characterized in that, the side of hip joint, knee joint and the ankle joint of described outer joint assistant movement exoskeleton is separately installed with angular transducer (38).
3. many positions lower extremity movement rehabilitation machine according to claim 1 is characterized in that, also comprises internal layer joint motions data monitoring ectoskeleton, and described internal layer joint motions data monitoring ectoskeleton is fixed on one's body the patient;
Described internal layer joint motions data monitoring ectoskeleton comprises bar (12) and internal layer ectoskeleton foot bar (13) before bar (11) behind bar (10) before bar (9) behind internal layer ectoskeleton hip bar (8), the internal layer ectoskeleton thigh, the internal layer ectoskeleton thigh, the internal layer ectoskeleton shank, the internal layer ectoskeleton shank;
The hinged formation internal layer of bar (9) ectoskeleton hip joint behind described internal layer ectoskeleton hip bar (8) and the described internal layer ectoskeleton thigh, the hinged formation internal layer of bar (11) ectoskeleton knee joint behind bar (10) and the described internal layer ectoskeleton shank before the described internal layer ectoskeleton thigh, bar (12) and the hinged formation internal layer of described internal layer ectoskeleton foot bar (13) exoskeleton ankle joint before the described internal layer ectoskeleton shank;
Behind described internal layer ectoskeleton hip bar (8), described internal layer ectoskeleton thigh, on bar (11), the preceding bar (12) of described internal layer ectoskeleton shank and the described internal layer ectoskeleton foot bar (13) bundled piece (14) is installed all behind bar (10), the described internal layer ectoskeleton shank before bar (9), the described internal layer ectoskeleton thigh.
4. many positions lower extremity movement rehabilitation machine according to claim 3 is characterized in that, the side of described internal layer ectoskeleton hip joint, described internal layer ectoskeleton knee joint and described internal layer exoskeleton ankle joint is separately installed with angular transducer (15).
5. many positions lower extremity movement rehabilitation machine according to claim 3 is characterized in that described bundled piece (14) is the nylon bandage.
6. many positions lower extremity movement rehabilitation machine according to claim 1, it is characterized in that, also comprise hip width governor motion (32), described hip width governor motion (32) comprises regulates leading screw (33), regulate the left side of leading screw (33), right adjusting nut (34), (35), regulating handle (36) and support (37), described support (37) is fixing with described upright bedstead (4), the two ends of described adjusting leading screw (33) respectively by bearings on described support (37), the left side of described adjusting leading screw (33), right adjusting nut (34), (35) respectively with described left and right sides ectoskeleton lower limb (16), (17) connect described regulating handle (36) and coaxial the fixedlying connected of described adjusting leading screw (33).
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