CN102113949A - Exoskeleton-wearable rehabilitation robot - Google Patents
Exoskeleton-wearable rehabilitation robot Download PDFInfo
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- CN102113949A CN102113949A CN 201110029533 CN201110029533A CN102113949A CN 102113949 A CN102113949 A CN 102113949A CN 201110029533 CN201110029533 CN 201110029533 CN 201110029533 A CN201110029533 A CN 201110029533A CN 102113949 A CN102113949 A CN 102113949A
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Abstract
The invention provides an exoskeleton-wearable rehabilitation robot in the technical field of medical rehabilitation machinery. The robot comprises a lower limb exoskeleton, a shoulder exoskeleton and an upper limb exoskeleton, wherein the lower limb exoskeleton is worn on the lower limbs and waist of a patient; the shoulder exoskeleton is worn on the shoulder of the patient and positioned above the lower limb exoskeleton; and the upper limb exoskeleton is divided into a left upper limb exoskeleton and a right upper limb exoskeleton which are worn on the upper limes of the patient and positioned under the forelimbs of the shoulder exoskeleton respectively. The exoskeleton-wearable rehabilitation robot ensures that the patient can perform rehabilitation training of upper and lower limbs at the same time, is driven by batteries on the back of the patient, and can be used for solving the problem that the moving range of the patient is limited when carrying out rehabilitation by utilizing the traditional rehabilitation device.
Description
Technical field
What the present invention relates to is the device in a kind of medical rehabilitation technique with the apparatus field, specifically is the wearable healing robot of a kind of ectoskeleton.
Background technology
Rehabilitation medicine is the medical application subject of a research people with disability and patient's rehabilitation, its purpose is to pass through physiotherapy, exercise therapy, the life training, skill training, multiple means such as speech training and psychological counselling are recovered disease the disabled as soon as possible to greatest extent, make the function of health residual fraction obtain the performance of fullest, reach taking care of oneself of maximum possible, the ability of work and work lays the first stone for sick the disabled reintegrates into society.According to statistics, at present China is because the limbs disturbance patient that apoplexy, spinal cord injury and various accident cause has 8,770,000 people, and wherein more than halfly can improve limb function by training.Traditional rehabilitation training is at first to be under medical practitioner guidance by doing and illustrating, then manually patient is suffered from limb and is drawn repeatedly by patient's healthy upper limb or its family members, nurse.Along with science and technology development, the medical robot technology is rapidly developed, and healing robot is exactly the new application of robotics aspect rehabilitation medical.Because there is not tired problem in robot, can satisfies different patients' training strength requirement, thereby be more suitable for the patient and carry out rehabilitation training separately.
Find by prior art documents, Chinese invention patent publication number: CN101357097A, title: five-freedom degree dermaskeleton type upper limb rehabilitation robot, this device comprises the installing rack of mounting robot, the installing rack design has guide rail, crane is installed on the guide rail, have height adjustment mechanism on the crane, rotatable hold-down arm is installed on the crane by rotating shaft, by horizontal shoulder, upper arm, the rehabilitation mechanical arm body that forearm and handle constitute is installed on the rotatable hold-down arm, 5 degree-of-freedom joints, 5 drive motors are installed in respectively on the pivot center in each joint, be installed in shoulder respectively with four torque sensors of drive motors cascade, ancon and wrist, wherein shoulder is two, one of ancon, wrist bends and stretches one at place, and torque sensor connects motor reducer and actuator as actuating device and checkout gear.This device pedestal bottom has shifting roller, position that can adjusting device, but because shifting roller does not have the motorized motions ability, make patient's mobile device relatively more difficult, this has just limited the range of activity the when patient uses rehabilitation mechanical arm, simultaneously for those because the side that hemiplegia causes limb movement disturbance patient up and down, this device only provides rehabilitation training of upper limbs, has certain limitation on patient's rehabilitation training scope.
Summary of the invention
The present invention is directed to the prior art above shortcomings, provide a kind of ectoskeleton wearable healing robot, can make the patient carry out rehabilitation training for upper and lower extremities simultaneously.Rely on behind battery-operated of patient simultaneously, solved patient's restricted problem of range of activity when using traditional convalescence device to carry out rehabilitation training.
The present invention is achieved by the following technical solutions, the present invention includes: lower limb exoskeleton is worn on patient's lower limb and waist; The shoulder ectoskeleton is worn on patient's shoulder, is positioned at the lower limb exoskeleton top; The upper limb ectoskeleton is divided into left and right sides upper limb ectoskeleton, is worn on patient's upper limb, lays respectively at the below of the ectoskeletal big arm portion of shoulder.Each parts are directly dressed, and by hold-down support and fixing band ectoskeleton are fixed on patient's extremity, form an exoskeleton-type robot rehabilitation system, by the unified power supply of accumulator battery, treat at different rehabilitation patient demands.
Described lower limb exoskeleton comprises: foot's ectoskeleton, hip joint ectoskeleton, telescopic shank rod member, knee joint ectoskeleton, telescopic thigh rod member, hip joint ectoskeleton, and wherein: foot's ectoskeleton is directly dressed; The ankle joint ectoskeleton links to each other with foot, and the shank rod member links to each other with the ankle joint ectoskeleton, and the knee joint ectoskeleton links to each other with the shank rod member, and the thigh ectoskeleton links to each other with the knee joint ectoskeleton, and the hip joint ectoskeleton links to each other with the thigh rod member.
Described upper limbs ectoskeleton comprises: described upper limbs ectoskeleton comprises: elbow joint bends and stretches motor; Elbow joint bends and stretches bevel gear assembly; Big arm fixed flat planar; The forearm fixed flat planar; The elbow joint electric rotating machine; Elbow joint rotation connecting rod; Wrist joint bends and stretches motor; Palm is opened and is held motor; Four fingers are opened and are held motor; Four fingers are opened and are held bevel gear assembly; The palm baffle plate; Four finger rod members; Wherein: upper arm fixed flat planar and the binding of patient's upper arm; Elbow joint bends and stretches bevel gear assembly and is connected with the upper arm fixed flat planar; Elbow joint bends and stretches motor and bends and stretches bevel gear assembly with elbow joint and link to each other; Forearm fixed flat planar and elbow joint bend and stretch that bevel gear assembly is connected and bundle with patient's forearm; The elbow joint electric rotating machine is connected with the forearm fixed flat planar; Elbow joint rotation connecting rod links to each other with the elbow joint electric rotating machine; Wrist joint bends and stretches motor and links to each other with elbow joint rotation connecting rod; Palm baffle plate and wrist joint bend and stretch that motor links to each other and fix with patient's palm; Palm is opened and is held motor and the palm baffle plate is fixed; Four fingers are opened and are held bevel gear assembly and link to each other with the palm baffle plate; Four fingers are opened and are held motor and four fingers and open and hold bevel gear assembly and link to each other, and four finger rod members and four fingers are opened and held that bevel gear assembly links to each other and fix with patient's four fingers.
Described shoulder ectoskeleton comprises: side exhibition motor component, the shoulder joint link bends and stretches motor component, and wherein: side exhibition motor component links to each other with the shoulder joint link, bend and stretch motor component and link to each other, the big arm binding of big arm fixed flat planar and patient with the shoulder joint link.The present invention has the following advantages compared to existing technology: each joint of fitting, can carry out the comprehensive rehabilitation training in each joint of upper and lower extremities at different patients; Adopt storage battery power supply, wearable, can be portable, solved the limited problem of patient's range of activity; Each ectoskeleton rod member adopts sleeve design, can realize step-less adjustment length, makes things convenient for the patient to dress; The ectoskeleton sleeve adopts light material manufacture, relieve patient ' s burden simultaneously.
The present invention can have two kinds of rehabilitation training modes: in the active training method, ectoskeleton carries out power-assisted and protection by myoelectricity interface analysis prediction patient moving intention; In the passive exercise mode, ectoskeleton drives the patient and finishes some everyday actions under motor-driven, train.
Description of drawings
Fig. 1 is a lower limb exoskeleton structural representation of the present invention.
Fig. 2 is upper limb of the present invention and shoulder joint ectoskeleton structural representation.
Fig. 3 is a left lower extremity ectoskeleton structure chart of the present invention.
Fig. 4 is a left side of the present invention hip joint ectoskeleton structure chart.
Fig. 5 is a thigh rod member structure chart of the present invention.
Fig. 6 is shank member structure figure of the present invention.
Fig. 7 is a lower limb motor component structure chart of the present invention.
Fig. 8 is a shoulder joint ectoskeleton structure chart of the present invention.
Fig. 9 is a upper limb ectoskeleton structure chart of the present invention.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Present embodiment comprises: lower limb exoskeleton, upper limb ectoskeleton, and the shoulder ectoskeleton, wherein:
As shown in Figure 1, described lower limb exoskeleton comprises: lower limb exoskeleton link 1; Connect left and right sides lower limb exoskeleton, can spacing; Left lower extremity ectoskeleton 2; Right lower extremity ectoskeleton 3.Wherein, the fair plate of ectoskeleton link 1 is connected with left lower extremity ectoskeleton 2, the female dull and stereotyped of ectoskeleton link is connected with right lower extremity ectoskeleton 3, fair plate contains threaded cylinder, female flat board has groove and can pass through cylinder, fix by nut, can regulate the spacing of left and right sides lower limb exoskeleton.
As shown in Figure 2, described upper limb and shoulder joint ectoskeleton comprise: shoulder ectoskeleton 4; Upper limb ectoskeleton 5.The ectoskeletal upper arm part of shoulder all bundlees with upper arm with the ectoskeletal upper arm part of upper limb, realizes fixing.
As shown in Figure 3, described left lower extremity ectoskeleton 2 comprises: hip joint ectoskeleton 6; Telescopic thigh rod member 7; Knee joint ectoskeleton 8; Telescopic shank ectoskeleton 9; Ankle joint ectoskeleton 10, foot's ectoskeleton 11.Wherein, thigh rod member 7 and hip joint ectoskeleton 6 are connected by bevel gear assembly, bundle with patient's thigh; Knee joint ectoskeleton 8 is positioned at thigh rod member 7 bottoms; Shank rod member 9 is positioned at knee joint ectoskeleton 8 belows, bundlees with patient's shank; Ankle joint ectoskeleton 10 is positioned at shank rod member 9 belows; Foot's ectoskeleton 11 is positioned at ankle joint ectoskeleton 10 sides, fixes with patient foot.
As shown in Figure 4, described hip joint ectoskeleton 6 comprises: hip joint side exhibition motor 12; Hip joint link 13; Hip joint movable part 14.Wherein, hip joint side exhibition motor is connected with lower limb exoskeleton link 1 among Fig. 1, and the side that produces lower limb is opened up driving; Hip joint link 13 is connected by the bevel gear parts with hip joint side exhibition motor 12; Hip joint movable part 14 and hip joint link 13 are connected the rotary freedom of open hip joint by bearing.The axle of hip joint movable part 14 is gone up bevel gear is installed, and is connected with telescopic thigh rod member.
As shown in Figure 5, described telescopic thigh rod member 7 comprises: hip joint bends and stretches motor 15; The big sleeve 16 of thigh rod member; Thigh rod member small sleeve 17; Knee joint is bent and stretched motor 18.Wherein, the hip joint movable part 14 that hip joint bends and stretches among motor 15 and Fig. 4 is connected by bevel gear, realizes that hip joint bends and stretches degree of freedom; The big sleeve 16 of thigh rod member is positioned at hip joint and bends and stretches motor 15 belows; Thigh rod member small sleeve 17 is nested with the big sleeve 16 of thigh rod member, the length that can regulate the thigh rod member by the big telescopic degree of tightness of thigh rod member; Knee joint is bent and stretched motor 18 and is positioned at thigh rod member small sleeve below, produces knee joint and bends and stretches the degree of freedom driving.
As shown in Figure 6, described telescopic shank rod member 9 comprises: knee joint bevel gear assembly 22; The big sleeve 21 of shank rod member; Shank rod member small sleeve 20; Ankle joint bends and stretches motor 19.Wherein, knee joint bevel gear assembly 22 bends and stretches motor 18 with the knee joint among Fig. 5 and is connected by the bevel gear parts, and the realization knee joint is bent and stretched degree of freedom; The big sleeve 21 of shank rod member is positioned at the knee joint bevel gear and sets up 22 belows; Shank rod member small sleeve 20 is nested with the big sleeve of shank, the length that can regulate the shank rod member by the big telescopic degree of tightness of shank rod member; Ankle joint bends and stretches the below that motor 19 is positioned at the shank small sleeve, produces ankle joint and bends and stretches the degree of freedom driving.
As shown in Figure 7, each motor component of described lower limb comprises: bevel gear coupling assembling 23; Electric motor protecting shell 24; Servomotor 25; Fixed flat planar 26.Wherein, bevel gear assembly 23 is a bevel gear box, and the rotation around the Z axle that motor is produced by bevel gear is converted into the rotation around X-axis; Electric motor protecting shell 24 is positioned at bevel gear coupling assembling below, the protection servomotor; Servomotor 25 is positioned at the electric motor protecting shell, produces to drive power; It is other that fixed flat planar 26 is positioned at electric motor protecting shell 24, is connected with the electric motor protecting shell, can be used for the binding of patient's lower limb limbs fixing.
As shown in Figure 8, the ectoskeleton of shoulder shown in 4 comprises: shoulder joint link 27; Shoulder joint side exhibition motor bevel gear assembly 30; Shoulder joint abduction motor 31; Shoulder joint is bent and stretched motor 28; Shoulder joint is bent and stretched motor bevel gear assembly 29; Shoulder joint fixed flat planar 32.Wherein, the fair plate of shoulder joint link is connected with the left shoulder joint ectoskeleton, the female dull and stereotyped of shoulder joint link is connected with the right shoulder joint ectoskeleton, fair plate contains threaded cylinder, female flat board has groove and can pass through cylinder, fix by nut, can regulate the ectoskeletal spacing of left and right sides shoulder; Shoulder joint side exhibition motor bevel gear assembly 30 links to each other with shoulder joint link 27, realizes shoulder joint abduction degree of freedom; Shoulder joint survey station point and 31 links to each other with shoulder joint side exhibition motor bevel gear assembly 31, produces shoulder joint side exhibition degree of freedom and drives; Shoulder joint is bent and stretched motor bevel gear assembly 29 and is positioned at shoulder joint side exhibition motor bevel gear assembly 30 sides, and the realization shoulder joint is bent and stretched degree of freedom; Shoulder joint is bent and stretched motor 28 and is bent and stretched motor bevel gear assembly 29 with shoulder joint and be connected, and produces shoulder joint and bends and stretches degree of freedom and drive; Shoulder joint fixed flat planar 32 is positioned at shoulder joint and bends and stretches motor bevel gear assembly 29 belows, can bundle with patient's upper limb.
As shown in Figure 9, described upper limb ectoskeleton 5 comprises: elbow joint bends and stretches motor 33; Elbow joint bends and stretches bevel gear assembly 34; Big arm fixed flat planar 35; Forearm fixed flat planar 36; Elbow joint electric rotating machine 37; Elbow joint rotation connecting rod 38; Carpal joint bends and stretches motor 39; Palm is opened and is held motor 40; Four fingers are opened and are held motor 41; Four fingers are opened and are held bevel gear assembly 42; Palm baffle plate 43; Four refer to rod member 44.Wherein, upper arm fixed flat planar 35 and the binding of patient's upper arm; Elbow joint bends and stretches bevel gear assembly 34 and is connected with upper arm fixed flat planar 35, realizes that elbow joint bends and stretches degree of freedom; Elbow joint bends and stretches motor 33 and bends and stretches bevel gear assembly 34 with elbow joint and link to each other, and produces elbow joint and bends and stretches degree of freedom and drive; Forearm fixed flat planar 36 bends and stretches bevel gear assembly 34 with elbow joint and is connected, and can bundle with patient's forearm; Elbow joint electric rotating machine 37 is connected with forearm fixed flat planar 36, realizes the elbow joint rotary freedom; Elbow joint rotation connecting rod links to each other with elbow joint electric rotating machine 37, realizes the elbow joint rotary freedom; Carpal joint bends and stretches motor 39 and links to each other with elbow joint rotation connecting rod 38, produces carpal joint and bends and stretches the degree of freedom driving; Palm baffle plate 43 bends and stretches motor 39 with carpal joint and links to each other, and can fix with patient's palm; Palm is opened and is held motor 40 and fix with the palm baffle plate, realizes that palm is opened to hold degree of freedom; Four refer to open and to hold bevel gear assembly 42 and link to each other with palm baffle plate 43, realize that four refer to hold degree of freedom; Four refer to open and to hold motor 41 and four and refer to open and hold bevel gear assembly 42 and link to each other, produce four and refer to open and hold the degree of freedom driving; Four refer to that rod members 44 and four refer to open holds bevel gear assembly and links to each other, can refer to fix with patient four.
Claims (4)
1. the wearable healing robot of ectoskeleton is characterized in that, comprising:
Lower limb exoskeleton is worn on patient's lower limb and waist;
The shoulder ectoskeleton is worn on patient's shoulder, is positioned at the lower limb exoskeleton top;
The upper limb ectoskeleton is divided into left and right sides upper limb ectoskeleton, is worn on patient's upper limb, lays respectively at the below of the ectoskeletal big arm portion of shoulder.
2. the wearable healing robot of ectoskeleton according to claim 1, it is characterized in that, described lower limb exoskeleton comprises: foot's ectoskeleton, hip joint ectoskeleton, telescopic shank rod member, knee joint ectoskeleton, telescopic thigh rod member, hip joint ectoskeleton, and wherein: foot's ectoskeleton is directly dressed; The ankle joint ectoskeleton links to each other with foot, and the shank rod member links to each other with the ankle joint ectoskeleton, and the knee joint ectoskeleton links to each other with the shank rod member, and the thigh ectoskeleton links to each other with the knee joint ectoskeleton, and the hip joint ectoskeleton links to each other with the thigh rod member.
3. exoskeleton-wearable rehabilitation robot according to claim 1; It is characterized in that; Described upper limbs ectoskeleton comprises: described upper limbs ectoskeleton comprises: elbow joint bends and stretches motor; Elbow joint bends and stretches bevel gear assembly; Big arm fixed flat planar; The forearm fixed flat planar; The elbow joint electric rotating machine; Elbow joint rotation connecting rod; Wrist joint bends and stretches motor; Palm is opened and is held motor; Four fingers are opened and are held motor; Four fingers are opened and are held bevel gear assembly; The palm baffle plate; Four finger rod members; Wherein: upper arm fixed flat planar and the binding of patient's upper arm; Elbow joint bends and stretches bevel gear assembly and is connected with the upper arm fixed flat planar; Elbow joint bends and stretches motor and bends and stretches bevel gear assembly with elbow joint and link to each other; Forearm fixed flat planar and elbow joint bend and stretch that bevel gear assembly is connected and bundle with patient's forearm; The elbow joint electric rotating machine is connected with the forearm fixed flat planar; Elbow joint rotation connecting rod links to each other with the elbow joint electric rotating machine; Wrist joint bends and stretches motor and links to each other with elbow joint rotation connecting rod; Palm baffle plate and wrist joint bend and stretch that motor links to each other and fix with patient's palm; Palm is opened and is held motor and the palm baffle plate is fixed; Four fingers are opened and are held bevel gear assembly and link to each other with the palm baffle plate; Four fingers are opened and are held motor and four fingers and open and hold bevel gear assembly and link to each other, and four finger rod members and four fingers are opened and held that bevel gear assembly links to each other and fix with patient's four fingers.
4. the wearable healing robot of ectoskeleton according to claim 1, it is characterized in that, described shoulder ectoskeleton comprises: side exhibition motor component, the shoulder joint link, bend and stretch motor component, wherein: side exhibition motor component links to each other with the shoulder joint link, bends and stretches motor component and links to each other with the shoulder joint link, the big arm binding of big arm fixed flat planar and patient.
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Cited By (31)
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| CN102327173A (en) * | 2011-09-29 | 2012-01-25 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
| CN102499857A (en) * | 2011-11-09 | 2012-06-20 | 上海交通大学 | Exoskeleton wearable upper limb rehabilitation robot |
| CN102499859A (en) * | 2011-11-08 | 2012-06-20 | 上海交通大学 | Lower limb exoskeleton walking rehabilitation robot |
| CN102641195A (en) * | 2012-04-24 | 2012-08-22 | 上海交通大学 | Bed type lower limb external skeleton recovery robot |
| CN102793595A (en) * | 2012-09-03 | 2012-11-28 | 浙江大学 | Wearable heavy material handling power-assisting bionic exoskeleton |
| CN102846449A (en) * | 2012-09-28 | 2013-01-02 | 中国科学院深圳先进技术研究院 | Portable and wearable exoskeleton robot for lower limb rehabilitation and walk aid |
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| CN103070756A (en) * | 2013-01-06 | 2013-05-01 | 北京工业大学 | Upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility |
| CN103240728A (en) * | 2012-02-06 | 2013-08-14 | 三星电子株式会社 | Wearable robot and teaching method of motion using the same |
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| CN104395951A (en) * | 2012-05-16 | 2015-03-04 | 皇家飞利浦有限公司 | Training garment for person suffering from upper limb dysfunction |
| CN104398368A (en) * | 2014-12-10 | 2015-03-11 | 电子科技大学 | Walking assistance outer skeleton robot with transversely-arranged motors |
| CN105108760A (en) * | 2015-08-14 | 2015-12-02 | 上海申磬产业有限公司 | Control method of wearable type power-assisted exoskeleton upper limb mechanism |
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| CN108079490A (en) * | 2018-02-24 | 2018-05-29 | 安阳市翔宇医疗设备有限责任公司 | A kind of healing and training shoulder joint and apparatus for evaluating |
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| CN109568085A (en) * | 2018-12-27 | 2019-04-05 | 广州云瑞信息科技有限公司 | A kind of safety-type manipulator of rehabilitation training of upper limbs robot |
| US10391634B2 (en) | 2014-05-16 | 2019-08-27 | Massachusetts Institute Of Technology | Apparatus and method for supporting a human body using supernumerary artificial limbs |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN111096869A (en) * | 2020-01-07 | 2020-05-05 | 长春工业大学 | Rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot |
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