CN101972196B - 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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- CN101972196B CN101972196B CN2010105344939A CN201010534493A CN101972196B CN 101972196 B CN101972196 B CN 101972196B CN 2010105344939 A CN2010105344939 A CN 2010105344939A CN 201010534493 A CN201010534493 A CN 201010534493A CN 101972196 B CN101972196 B CN 101972196B
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Abstract
The invention discloses a lower-limb motion recovery machine with multiple body positions. Two ends of an electric linear hip pushing rod (29) are respectively articulated with the tail end of a hip rod (18) and an upper thigh rod (22), and the electric linear hip pushing rod (29) drives the hip joint to move; two ends of an electric linear knee pushing rod (30) are respectively articulated with a lower thigh rod (24) and an upper shank rod (27), and the electric linear knee pushing rod (30) drives the knee joint to move; and two ends of an electric linear ankle pushing rod (31) are respectively articulated with a lower shank rod (28) and the front end of a foot rod (21), and the electric linear ankle pushing rod (31) drives the ankle to move. Compared with the prior art, an outer joint assisted motion exoskeleton of the lower-limb motion recovery machine with multiple body positions can simulate the walking motion of the lower limbs of a human so as to drive the lower limbs of a patient to walk so that walking skills of the patient can be improved, or gradually recovered and accurately mastered.
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 accurately grasp walking movement technical ability.The most basic purpose of rehabilitation is to make the patient to grasp the motor skill of daily life again.Motor skill is to grasp in the human motion and a kind of ability of accomplishing specific actions effectively, 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 receive many influences like factors such as recovery training method, rehabilitation training intensity, technical movements standard, learning goals property and initiatives in this process.Research proof can make patient's brain motor function plasticity reach optimization through rehabilitation exercise training effectively, shortens the time of patient moving functional rehabilitation.
Summary of the invention
To 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 through 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 said outer joint assistant movement exoskeleton is installed in the said sick bed mechanism;
Said outer joint assistant movement exoskeleton comprises the identical ectoskeleton lower limb in the left and right sides (16,17), and said 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);
Said hip bar (18) and the hinged formation hip joint of said thigh bar (19), said thigh bar (19) and the hinged formation knee joint of said shank bar (20), said shank bar (20) and the hinged formation ankle joint of said foot bar (21);
Said thigh bar (19) is composed in series by thigh upper boom (22), the long governor motion of first bar (23), thigh lower beam (24); The long governor motion of said first bar (23) two ends are fixing with said thigh upper boom (22) and said thigh lower beam (24) respectively, and the long governor motion of said first bar (23) comprises slides in telescopic guide rail (25) and rail length clamping screw (26);
Said shank bar (19) is composed in series by shank upper boom (27), the long governor motion of second bar (23), shank lower beam (29); The long governor motion of second bar (23) two ends are fixing with shank upper boom (27) and shank lower beam (28) respectively, and the long governor motion of said second bar (23) comprises slides in telescopic 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 said thigh upper boom (22) of said hip bar (18) respectively; The two ends of knee electric linear push rod (30) are hinged with said thigh lower beam (24) and said 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;
Said sick bed mechanism comprises base (1); Medical treadmill (2), upright push rod (3), upright bedstead (4); Said medical treadmill (2) places under the said base (1); The two ends of said upright push rod (3) are hinged with said base (1) and said upright bedstead (4) through first hinge (6) and second hinge (7) respectively, are used for the upright angular adjustment of upright sick bed, and there is back tilting table plate (5) front portion of said upright bedstead (4).
Preferably, the side of hip joint, knee joint and the ankle joint of said outer joint assistant movement exoskeleton is separately installed with angular transducer (38).
Preferably, said many positions lower extremity movement rehabilitation machine also comprises internal layer joint motions data monitoring ectoskeleton, and said internal layer joint motions data monitoring ectoskeleton is fixed on one's body the patient;
Said 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 said internal layer ectoskeleton hip bar (8) and the said internal layer ectoskeleton thigh; The hinged formation internal layer of bar (11) ectoskeleton knee joint behind bar (10) and the said internal layer ectoskeleton shank before the said internal layer ectoskeleton thigh, bar (12) and the hinged formation internal layer of said internal layer ectoskeleton foot bar (13) exoskeleton ankle joint before the said internal layer ectoskeleton shank;
Behind said internal layer ectoskeleton hip bar (8), said internal layer ectoskeleton thigh, on bar (11), the preceding bar (12) of said internal layer ectoskeleton shank and the said internal layer ectoskeleton foot bar (13) bundled piece (14) is installed all behind bar (10), the said internal layer ectoskeleton shank before bar (9), the said internal layer ectoskeleton thigh.
Preferably, the side of said internal layer ectoskeleton hip joint, said internal layer ectoskeleton knee joint and said internal layer exoskeleton ankle joint is separately installed with angular transducer (15).
Preferably, said bundled piece (14) is the nylon bandage.
Preferably; Said many positions lower extremity movement rehabilitation machine also comprises hip width governor motion (32); Said hip width governor motion (32) comprises left and right adjusting nut (34,35), regulating handle (36) and the support (37) of regulating leading screw (33), regulating leading screw (33); Said support (37) is fixing with said upright bedstead (4); The two ends of said adjusting leading screw (33) are passed through bearings respectively on said support (37), and the left and right adjusting nut of said adjusting leading screw (33) (34,35) is connected with said left and right sides ectoskeleton lower limb (16,17) respectively, said regulating handle (36) and coaxial fixed connection of said 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 first bar (23) of thigh bar (19) and the long governor motion of second 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 can its structure 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 the long governor motion of thigh upper boom 22, first bar 23, thigh lower beam 24; The long governor motion of first bar 23 two ends are fixing with thigh lower beam 24 with thigh upper boom 22 respectively, and the long governor motion 23 of first bar comprises slides in telescopic guide rail 25 and rail length clamping screw 26; Shank bar 19 is composed in series by the long governor motion of shank upper boom 27, second bar 23, shank lower beam 29; The long governor motion of second bar 23 two ends are fixing with shank lower beam 28 with shank upper boom 27 respectively, and the long governor motion 23 of second bar comprises slides in telescopic 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; Through certain control algolithm; Can be through 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 dressed the walking of internal layer joint motions data monitoring ectoskeleton, the angle in each joint changed during angular transducer 15 measuring patient walking in real time.
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 upright bedstead 4 with base 1 through first hinge 6 and second hinge 7 respectively, are used for the upright angular adjustment of upright sick bed, and 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 letting the patient lie low, and motion is used in different patients respectively in the time of also can letting the patient vertical.
Many positions lower extremity movement rehabilitation machine also comprises hip width governor motion 32; Hip width governor motion 32 comprises left and right adjusting nut 34,35, regulating handle 36 and the support 37 of regulating leading screw 33, regulating leading screw 33; Support 37 is fixed with upright bedstead 4; Regulate the two ends of leading screw 33 and pass through bearings respectively on support 37; The left and right adjusting nut 34,35 of regulating leading screw 33 is connected with left and right sides ectoskeleton lower limb 16,17 respectively, and regulating handle 36 and adjusting leading screw 33 coaxial fixed connections can adapt to different fat or thin patients' needs through 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 General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments among this paper.Therefore, the present invention will can not be restricted to these embodiment shown in this paper, 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 said outer joint assistant movement exoskeleton is installed in the said sick bed mechanism;
Said outer joint assistant movement exoskeleton comprises the identical ectoskeleton lower limb in the left and right sides (16,17), and said 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);
Said hip bar (18) and the hinged formation hip joint of said thigh bar (19), said thigh bar (19) and the hinged formation knee joint of said shank bar (20), said shank bar (20) and the hinged formation ankle joint of said foot bar (21);
Said thigh bar (19) is composed in series by thigh upper boom (22), the long governor motion of first bar (23), thigh lower beam (24); The long governor motion of said first bar (23) two ends are fixing with said thigh upper boom (22) and said thigh lower beam (24) respectively, and the long governor motion of said first bar (23) comprises slides in telescopic guide rail (25) and rail length clamping screw (26);
Said shank bar (19) is composed in series by shank upper boom (27), the long governor motion of second bar (23), shank lower beam (28); The long governor motion of second bar (23) two ends are fixing with shank upper boom (27) and shank lower beam (28) respectively, and the long governor motion of said second bar (23) comprises slides in telescopic 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 said thigh upper boom (22) of said hip bar (18) respectively; The two ends of knee electric linear push rod (30) are hinged with said thigh lower beam (24) and said 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 (28) and foot bar (21) respectively;
Said sick bed mechanism comprises base (1); Medical treadmill (2), upright push rod (3), upright bedstead (4); Said medical treadmill (2) places under the said base (1); The two ends of said upright push rod (3) are hinged with said base (1) and said upright bedstead (4) through first hinge (6) and second hinge (7) respectively, are used for the upright angular adjustment of upright sick bed, and there is back tilting table plate (5) front portion of said 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 said 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 said internal layer joint motions data monitoring ectoskeleton is fixed on one's body the patient;
Said 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 said internal layer ectoskeleton hip bar (8) and the said internal layer ectoskeleton thigh; The hinged formation internal layer of bar (11) ectoskeleton knee joint behind bar (10) and the said internal layer ectoskeleton shank before the said internal layer ectoskeleton thigh, bar (12) and the hinged formation internal layer of said internal layer ectoskeleton foot bar (13) exoskeleton ankle joint before the said internal layer ectoskeleton shank;
Behind said internal layer ectoskeleton hip bar (8), said internal layer ectoskeleton thigh, on bar (11), the preceding bar (12) of said internal layer ectoskeleton shank and the said internal layer ectoskeleton foot bar (13) bundled piece (14) is installed all behind bar (10), the said internal layer ectoskeleton shank before bar (9), the said internal layer ectoskeleton thigh.
4. many positions lower extremity movement rehabilitation machine according to claim 3 is characterized in that, the side of said internal layer ectoskeleton hip joint, said internal layer ectoskeleton knee joint and said 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 said 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); Said hip width governor motion (32) comprises left and right adjusting nut (34,35), regulating handle (36) and the support (37) of regulating leading screw (33), regulating leading screw (33), and said support (37) is fixing with said upright bedstead (4), and the two ends of said adjusting leading screw (33) are passed through bearings respectively on said support (37); The left and right adjusting nut of said adjusting leading screw (33) (34,35) is connected with said left and right sides ectoskeleton lower limb (16,17) respectively, said regulating handle (36) and coaxial fixed connection of said adjusting leading screw (33).
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| CN2010105344939A CN101972196B (en) | 2010-11-05 | 2010-11-05 | Lower-limb motion recovery machine with multiple body positions |
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| CN2010105344939A CN101972196B (en) | 2010-11-05 | 2010-11-05 | Lower-limb motion recovery machine with multiple body positions |
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| CN101972196B true CN101972196B (en) | 2012-05-30 |
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| CN102512307B (en) * | 2011-12-23 | 2013-12-04 | 清华大学 | Multi-position lower limb rehabilitation training robot |
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| RU2506932C1 (en) * | 2012-07-04 | 2014-02-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный университет имени М.В. Ломоносова" (МГУ) | Knee joint of exoskeleton |
| CN102895091B (en) * | 2012-11-01 | 2014-05-28 | 上海理工大学 | Wearable portable power exoskeleton hand function rehabilitation training device |
| CN103892987B (en) | 2012-12-25 | 2015-11-25 | 上海璟和技创机器人有限公司 | A kind of lower limbs rehabilitation training robot |
| CN103070760B (en) * | 2012-12-31 | 2015-05-20 | 金建明 | Lower-limb muscle function restoration trainer |
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| CN103505342B (en) * | 2013-10-16 | 2014-12-17 | 河北工业大学 | External skeleton type gait rehabilitation training device |
| CN104721011B (en) * | 2013-12-24 | 2016-09-07 | 上海璟和技创机器人有限公司 | A kind of many positions lower limbs rehabilitation training robot |
| CN103892989A (en) * | 2014-04-16 | 2014-07-02 | 崔建忠 | Lower limb rehabilitation training robot and training method thereof |
| CN104434471A (en) * | 2014-12-24 | 2015-03-25 | 广西大学 | Leading load acting-saving exoskeleton foot device |
| CN104490568B (en) * | 2014-12-25 | 2017-02-01 | 北京航空航天大学 | Human lower extremity exoskeleton walking aid rehabilitation robot |
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| CN105456004B (en) * | 2015-12-28 | 2019-02-01 | 中国科学院自动化研究所 | Exoskeleton-type moves walking rehabilitation training device and method |
| CN105997428A (en) * | 2016-05-12 | 2016-10-12 | 南京理工大学 | Lower-limb rehabilitation robot |
| CN106236419B (en) * | 2016-08-24 | 2018-01-02 | 上海邦邦机器人有限公司 | A kind of hand assisted power Wheelchair for patient standing car |
| CN107322569B (en) * | 2017-08-07 | 2023-08-22 | 南京理工大学 | Heterogeneous wearable load power assisting device and control method thereof |
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