CN1022798C - Electric walking machine for high leg paraplegia patients - Google Patents
Electric walking machine for high leg paraplegia patients Download PDFInfo
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- CN1022798C CN1022798C CN 90104491 CN90104491A CN1022798C CN 1022798 C CN1022798 C CN 1022798C CN 90104491 CN90104491 CN 90104491 CN 90104491 A CN90104491 A CN 90104491A CN 1022798 C CN1022798 C CN 1022798C
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- bar
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- walking
- walking machine
- motion
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- 206010033892 Paraplegia Diseases 0.000 title claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 210000000629 knee joint Anatomy 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 17
- 230000008093 supporting effect Effects 0.000 claims abstract description 17
- 210000001624 hip Anatomy 0.000 claims abstract description 14
- 210000002414 leg Anatomy 0.000 claims abstract description 12
- 210000000689 upper leg Anatomy 0.000 claims description 30
- 210000004394 hip joint Anatomy 0.000 claims description 22
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 239000010985 leather Substances 0.000 claims description 3
- 210000000481 breast Anatomy 0.000 claims description 2
- 210000001217 buttock Anatomy 0.000 claims description 2
- 238000000605 extraction Methods 0.000 claims 1
- 230000017531 blood circulation Effects 0.000 abstract description 2
- 241000253999 Phasmatodea Species 0.000 abstract 1
- 230000002349 favourable effect Effects 0.000 abstract 1
- 210000003205 muscle Anatomy 0.000 abstract 1
- 230000036544 posture Effects 0.000 abstract 1
- 238000011084 recovery Methods 0.000 abstract 1
- 241001166076 Diapheromera femorata Species 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 229910052742 iron Inorganic materials 0.000 description 3
- 230000037396 body weight Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000005755 formation reaction Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The present invention relates to an electric walking machine for high lower limb paraplegic patients, which belongs to the field of machines. The walking machine uses electric power as an energy source, the whole walking machine is integrally designed, and accordingly, a patient can stand and walk via walking sticks after wearing the walking machine. The walking machine is mainly composed of a power supply, a supporting part, a mechanical power and moving mechanism part and a control part. The hips and the knee joints of patient's legs have high mobility, which leads that the patient is forced to be trained when walking, muscle movement and blood circulation are promoted, and the patient can favorably recover. The walking state of the walking machine likes the state that a healthy person walks in small steps, which is stable, beautiful and is favorable for patient's psychological recovery; in a non-walking state, the hips and the knee joints of the walking machine can be free hinges in order to adapt to patient's various sitting and lying postures.
Description
The present invention relates to a kind of electric walking machine for high leg paraplegia patients, belong to the rehabilitation mechanical field.
At present, the invalid mobile roof support of a kind of lower limb high paraplegia is arranged, see United States Patent (USP) 4,557,257.The power of this mobile roof support is compressed air, is made up of waist holder, thigh holder and knee joint holder etc., and hip joint is driven by cylinder.During use, the patient utilizes support to bear body weight, and hand steered dolly is to keep one's balance, and the vapour source is put on the dolly, by patient's control, drives left and right sides hip joint cylinder, reaches the purpose of walking.The shortcoming of this mobile roof support is patient's stiff knee when walking, and the mobility of whole lower limb is limited, so the passive exercise weak effect, is unfavorable for patient's rehabilitation.And walk steady inadequately, attractive in appearance, again because with dolly together, the domain of walk just is restricted.The cost of whole system is also expensive.
The objective of the invention is to design a kind of new pedipulator, is the energy with electric power, and whole pedipulator is designed to one, can stand and walk by walking stick after making the patient wear pedipulator, enlarges the scope of Ambulatory Activity.The hip of both legs, knee joint have bigger mobility, are subjected to passive exercise when the patient is walked, and promote musculation and blood circulation, help patient's rehabilitation.The walking step state of pedipulator is similar to healthy people's small step walking, not only steadily but also attractive in appearance, helps the rehabilitation of patients ' psychological.When non-walking states, the hip of pedipulator, knee joint can be freed and be free hinge, to adapt to patient's various seat prone position gesture.
Content of the present invention is: whole pedipulator is made up of energy part, supporting part, machine power and motion part and control section.With the high-energy battery group is the energy, supporting part is divided into the supporting of body bearing, thigh support, shank supporting and foot, machine power and motion partly are motor, decelerator, hip joint four-bar motion mechanism, knee joint one-level four-bar mechanism, knee joint gear wheel reversing mechanism, knee joint driving mechanism, hip joint relieving mechanism and knee joint relieving mechanism.Control section is angular displacement sensor, controller and control knob.The medial and lateral of the left and right and lower limb of patient body are equipped with the symmetrical motion in the left and right sides respectively, the pedipulator part of only having drawn patient's left side leg outer side and right inboard leg among the figure.
Description of drawings:
Fig. 1: the overall construction drawing of pedipulator.
Fig. 2: pedipulator support system sketch map.
Fig. 3: pedipulator motion sketch map.
Fig. 4: joint relieving mechanism top view.
Fig. 5: joint relieving mechanism side view.
Fig. 6: the release conditions sketch map of joint relieving mechanism.
Fig. 7: control system logic chart.
Below in conjunction with accompanying drawing, introduce content of the present invention in detail.
Fig. 1 is the overall construction drawing of walking motor.Among the figure, the 1st, body bearing, the 2nd, thigh support, the 3rd, control knob, the 4th, shank supports, and the 5th, foot supports, the 6th, walking stick, the 7th, controller, the 8th, high-energy battery group, the 9th, hip joint four-bar mechanism, the 10th, hip joint relieving mechanism, the 11st, decelerator, the 12nd, knee joint one-level four-bar mechanism, the 13rd, knee joint gear wheel reversing gear, the 14th, motor, the 15th, angular displacement sensor, the 16th, knee joint relieving mechanism, the 17th, knee joint secondary four-bar mechanism.
Operation principle of the present invention and work process will be described below in conjunction with the accompanying drawings:
Each effect and mutual relation:
Supporting system is referring to Fig. 2:
The upper body supporting part:
Breast restraint zone 24, waist restraint zone 28, buttocks restraint zone 31 usefulness elastic belts are made, and they are riveted together with rivet and the waist receptive cavity of making by patient's bodily form 25.Utilize the snap close 23,26,30 of restraint zone end can be with receptive cavity 25 upper body relative fixed with the patient.Because receptive cavity 25 is to receive waist at waist, thereby it can accept most of gravity of patient's upper body.Also have a pair of suspender belt 29 in the bottom of waist receptive cavity 25, they are walked around from patient's left and right sides thigh root respectively, and the other end is fixed on the wallboard of receptive cavity 25.Suspender belt 29 bears another part patient's last heavy sensation of the whole body, and this part gravity is passed on the receptive cavity 25.With the cross band 24,28,31 of receptive cavity 25 riveted joint again with body bearing bar 27 riveted joints of the receptive cavity 25 and the left and right sides, thereby on the hip joint 32 about the body weight of patient's upper body is delivered to by upper body cramp bar 27.Hip joint 32 is hinged with rolling bearing and thigh support bar 33, thereby is allowing under the prerequisite in relative rotation weight transfer with upper body to thigh support bar 33.
The thigh support part:
Be riveted together by the transfemoral sockets 35 of patient's lower limb shape making and the thigh restraint zone 34 of elastic metal sheet system, utilize velcro transfemoral sockets 35 can be held tightly on patient's thigh with restraint zone 34.Receptive cavity 35 and restraint zone 34 are riveted with thigh support bar 33 and pair cramp bar 36 respectively in both sides again, and receptive cavity 35 plays thigh support bar 33 and pays cramp bar 36 and patient's thigh relative fixed like this, and accepts the effect of the gravity of thigh.Cramp bar 33 and pay cramp bar 36 respectively by main knee joint hinge 38 and pay knee joint hinge 37 with the shank master, pay cramp bar 18 and 40 hinges, allowing under the prerequisite of rotating, can be on shank cramp bar 18 and 40 with the weight transfer on the thigh support bar 33,36.
The shank supporting part:
Rivet mutually with the shank restraint zone 39 that elastic metal sheet is made by the transtibial sockets 19 that patient's lower limb shape is made, utilize velcro receptive cavity 19 can be held tightly on patient's shank with restraint zone 39.Receptive cavity 19 and restraint zone 39 again in both sides respectively with shank cramp bar 18 and 40 riveted joints, receptive cavity 19 plays and pays cramp bar 40 and patient's shank relative fixed with shank and cramp bar 18 and shank like this, and accepts the effect of lower leg portion gravity.Cramp bar 18 and pay a cramp bar 40 and link with resilient U-shaped plate 21 by the bolt group 41 of foot both sides respectively, thus shank master the various power on cramp bar 18 and 40 of paying are delivered on the special leather shoes 22 that the patient wears.
The foot supporting part:
The patient wears in special leather shoes 22, and the bottom of footwear is lined with the elastic sheet iron, and steel plate is riveted at heel part with U-shaped plate 21.The U-shaped plate is tightened on footwear 22 with belt 20 on top.Thereby the various power on the U-shaped plate are passed to the patient underfooting.
The walking stick part:
Walking stick 6 can be that turn two oxters, also can be singlehanded cane.This is mainly by patient's arm strength and proficiency level's decision of operation pedipulator.Experiment shows that the strong patient of trained arm can use singlehanded cane to keep the balance of health in standing and walking.For general patient, should make with the hands cane.
In walking, both legs are alternating movements, thereby except that 20% time both legs load-bearing simultaneously, all the other times are single lower limb supportings, and certainly, walking stick also bears the part weight in patients.
The energy: the present invention uses the chargeable storage group of high energy as power supply.Battery components is contained in three suitcases that hang on the belt 28.
The motion part is referring to Fig. 3.
Left and right sides lower limb respectively has a prime mover, is exactly motor 14, and rotatablely moving of they drops to the desired circular frequency of patient's walking by decelerator 11 with speed, and the torque of motor 14 is amplified.The output shaft of decelerator 11 directly connects with the common crank 48 of hip, knee joint driving mechanism, and power is sent to two driving mechanisms.
Hip joint four-bar motion mechanism part:
Hip joint four-bar motion mechanism is a crank four-bar linkage, and its crank is 48.Connecting rod is made up of 46,44 two and half connecting rods, when work, with relieving mechanism 10 their rigid attachment together.Rocking bar is formed by free bearing 42 with the upper body supporting 27 of its riveted joint.Thigh support bar 33 and support 50 constitute the frame of mechanism.Connect with the hinge 47,43 that bearing is housed and 32 respectively between crank, connecting rod, rocking bar and frame.When work, crank 48 serves as that axle around body bearing 27 swings so mechanism makes thigh support 33 with hinge 32 counterclockwise to rotate.Because each parameter of mechanism is pressed the design of the slow small step walking of human body rule, thereby the thigh characteristics of motion of thigh during by human walking that mechanism drives the patient steps moving forward.When patient's rest, relieving mechanism 10 can make upper and lower half connecting rod 44 and 46 free bends, so hip joint 32 becomes free joint.
The knee joint driving mechanism:
This mechanism is formed by three mechanisms in series, and they are knee joint one-level four-bar mechanisms 9, knee joint gear graduation changement 13 and secondary four-bar mechanism 17.
Four-bar mechanism 9 is by crank 48, connecting rod 51, and rocking bar 53 and frame 50 are formed.Be respectively to connect between " four bars " with the hinge 47,52 that bearing is housed and 55.Mechanism 13 is gear mechanisms, is made up of fan type gear (being again the rocking bar of mechanism 9 simultaneously) 53 and pinion (also being the crank of mechanism 17 simultaneously) 56.The axle of two gears utilizes bearing iron hinge 54 and 55 to be installed on the support 50.The crank of mechanism 17 is 56, and connecting rod is made up of two and half connecting rods 58 and 60, and is similar with the hip joint driving mechanism, they is linked together rigidly with relieving mechanism 16 in when work.Rocking bar constitutes by rotatable hinge seat 49 and with shank main supporting rod 18 that it welds together, and frame then is that support 50 and the thigh master that connects with its rigidity support 33 formations.With bearing iron hinge 54,57,61 and 38 is hinged between " four bars ".After power process mechanism 9 conversions from crank 48, output on rocking bar 53, elevating arc and pinion 56 engagements with 53 consubstantialities, conversion back with the secondary crank of 56 consubstantialities on be input to mechanism 17, the motion of mechanism 17 outputs on the secondary rocking bar 49, joint hinge 38 swings so driving shank main supporting rod 18 is stayed with one's parents in order to make them happy.Because each parameter of whole knee joint driving mechanism is pressed each parameter while optimal design of the slow small step walking of human body rule and hip joint driving mechanism, thereby kneed motion also meets the human locomotion knee joint and strides forward the characteristics of motion.
More than two driving mechanisms because shared crank 48, thereby be the interlock of one degree of freedom doublejointed, thereby guarantee the reliability of walking, and the mobility of both legs.
The joint relieving mechanism is referring to Fig. 4, Fig. 5, Fig. 6.
Because the relieving mechanism 16 of knee joint driving mechanism is the same with the relieving mechanism 10 of hip joint driving mechanism on principle and structure, thereby be the example description with the relieving mechanism of hip joint driving mechanism here.Relieving mechanism is by first connecting rod 44, second connecting rod 46, and sliding sleeve 62, hinge 63, banking pin 45 constitutes.Figure four and figure five are respectively top view and the side view of relieving mechanism in working order the time.When shown position, though two halves connecting rod 44 and 46 connect with rotatable hinge 63 since sliding sleeve 62 with two halves connecting rod 44 and 46 and hinge 63 together entangle, make first connecting rod 44 not rotate around second connecting rod 46, both become a rigid body.When patient's rest, sliding sleeve 62 is slided into figure six positions, the two halves connecting rod can rotate mutually, and the effective length of connecting rod becomes arbitrarily, so at hip joint 32 places, upper body cramp bar 27 can freely rotate with respect to thigh support bar 33.The effect of banking pin 45 is when patient moving, and sliding sleeve 62 leans against on the banking pin 45 to guarantee that sliding sleeve 62 is in suitable latched position by gravity fall.
The control logic of pedipulator such as figure seven.The 8th, power supply.64 and 65 is respectively the speed-regulating potentiometer of left and right sides lower limb, the 66th, and synchro switch, they all are installed on patient's the walking stick 6.The 67th, controller, it is according to turning round 64,65 and 66 signal from control, and with reference to the signal from the phase sensitivity amplifying unit, decision is to the supply voltage of left and right two motor 69 and 70.The motion mode of pedipulator has two kinds, and first both legs are with interlock frequently.At this moment Synchronization Control button 66 is connected.The motion of both legs will keep the same frequency motion of 180 degree phase contrasts.Step frequently can be by 64 controls of left lower limb control potentiometer.Principle with walking frequently is as follows, and left and right corner displacement transducer 71 and 72 measures the angular displacement ψ of left and right sides lower limb crank respectively
LAnd ψ
R, and they are converted into corresponding voltage signal u
L=Usin ψ
LAnd u
L=Usin ψ
R, signal U
LBecome-Usin ψ through behind the phase inverter 73
LTwo signals are again through becoming the input signal U of phase-sensitive amplifier behind the comparator 74
Go into mutually=usin ψ
R+ usin ψ
L=u(sin ψ
R+ sin ψ
L), and the output signal of phase sensitivity amplifying unit is U
Go out mutually=ku(sin ψ
L+ sin ψ
R), as can be seen, have only the ψ of working as
L-180 °-ψ
R=0 o'clock, U
Go into mutuallyJust be zero.Work as ψ
L-180 °-ψ
R＞0 o'clock, show the righter motor 70 of rotating speed fast of left motor 69, control unit 67 will improve the supply voltage of right motor, otherwise, controller will reduce the current potential of right motor, to improve its rotating speed, be the same frequency interlock of 180 degree thereby make left and right sides motor 69 and 70 keep phase contrast.Be mainly used in the walking state of pedipulator with interlock frequently.
It two is the control of single lower limb.Disconnect interlock control knob 66, the controller 67 of pedipulator is in single lower limb control mode, utilizes left and right lower limb control potentiometer 64 and 65 can start or stop left and right lower limb motor 69 and 70 respectively, and carries out speed governing.Single lower limb motion mode is mainly used in the action that the patient adjusts attitude.
Installation process when the patient uses pedipulator:
The front portion of elastic health receptive cavity 25 is openings, and patient's body can enter from opening part, after suspender belt 29 is hung up properly, patient's body can be tightened with fastening cross band 24,28 and 31, and lock with snap close 23,26 and 30.Elastic thigh acceptance 35 and thigh cross band 34 also are that the patient's of front openings thigh enters from opening, then with velcro on the receptive cavity 35 and the locking of the belt on the cross band 34.Elastic transtibial sockets 19 and shank cross band 39 rear aperture, shank enter the back from behind and lock with velcro and belt.Patient's foot will pierce in the shoes 22 before thigh and shank are fixing, and fastens with belt 20.Notice that for wearing conveniently, relieving mechanism should discharge.
Claims (3)
1, the electric walking machine used of a kind of high leg paraplegia patients, form by the energy, supporting part, machine power and motion part and control section, supporting part wherein comprises that body-support, thigh support and shank supports, and it is characterized in that the wherein said energy is the high-energy battery group; Described machine power and motion partly are motor, decelerator, hip joint four-bar motion mechanism, knee joint one-level four-bar mechanism, knee joint gear wheel reversing mechanism, knee joint secondary four-bar mechanism, hip joint relieving mechanism and knee joint relieving mechanism, described control section is an angular displacement sensor, controller and control knob, wherein said body bearing is by the waist reception cavity, breast restraint zone and snap close, waist restraint zone and snap close, buttocks restraint zone and snap close, body bearing bar and suspender belt are formed, described thigh support is by the thigh reception cavity, the thigh restraint zone, thigh support bar and thigh are paid cramp bar and are formed, described shank supporting receives control by shank, the shank restraint zone, shank cramp bar and shank are paid the cramp bar composition, and described foot supporting is made up of U-shaped plate and special leather shoes.
2, electric walking machine as claimed in claim 1, it is characterized in that wherein said hip joint four bar driving mechanisms are made up of crank and two and half connecting rods, described hip joint one-level four-bar mechanism is made up of crank, connecting rod, rocking bar and frame, described hip joint gear wheel reversing mechanism is made up of sector gear and pinion, described knee joint secondary four-bar mechanism is made up of crank and connecting rod, and described hip joint, knee joint relieving mechanism are made up of first connecting rod, second connecting rod, sliding sleeve, hinge and banking pin.
3, electric walking machine as claimed in claim 1, it is characterized in that wherein said control section is by power supply, speed-regulating potentiometer, controller, control knob, angular displacement sensor, phase inverter and comparator are formed, power supply is located at the waist of body bearing, speed-regulating potentiometer is placed in a left side, on the right lower limb, be installed in the angular displacement sensor on the motion of both sides respectively, comparator, controller and control knob are formed feedback control system, the voltage signal that is directly proportional with movement velocity by the angular displacement sensor extraction, through comparator relatively after, identify the speed difference of both sides motion, via controller is adjusted the power supply of the motor of motion again, and the both sides motion is produced with the campaign of harmony frequently.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 90104491 CN1022798C (en) | 1990-06-21 | 1990-06-21 | Electric walking machine for high leg paraplegia patients |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 90104491 CN1022798C (en) | 1990-06-21 | 1990-06-21 | Electric walking machine for high leg paraplegia patients |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1057581A CN1057581A (en) | 1992-01-08 |
| CN1022798C true CN1022798C (en) | 1993-11-24 |
Family
ID=4878586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 90104491 Expired - Fee Related CN1022798C (en) | 1990-06-21 | 1990-06-21 | Electric walking machine for high leg paraplegia patients |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1022798C (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1503707B1 (en) * | 2002-04-25 | 2011-11-30 | Ultraflex Systems, Inc. | Ambulating knee joint |
| CN1314382C (en) * | 2005-02-24 | 2007-05-09 | 大连大学 | Booster for disabled people |
| JP4712620B2 (en) * | 2006-06-12 | 2011-06-29 | 本田技研工業株式会社 | Control device for walking aids |
| ES2636946T3 (en) * | 2010-09-27 | 2017-10-10 | Vanderbilt University | Movement assist device |
| CN102415934A (en) * | 2010-09-28 | 2012-04-18 | 汤福刚 | Noninvasive knee joint stiffness function recovery device |
| US20120101415A1 (en) * | 2010-10-21 | 2012-04-26 | Amit Goffer | Locomotion assisting apparatus with integrated tilt sensor |
| EP2644178B1 (en) * | 2010-11-25 | 2015-01-21 | Toyota Jidosha Kabushiki Kaisha | Walking assistance device |
| CN102805915A (en) * | 2012-08-06 | 2012-12-05 | 陈建瑜 | Intelligent power assisting system |
| CN102846448B (en) * | 2012-09-28 | 2014-10-29 | 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 |
| CN103860355B (en) * | 2012-12-13 | 2016-08-03 | 李春光 | Double limb mirror movementses training equipment |
| CN104055650B (en) * | 2014-04-30 | 2017-05-10 | 中国康复研究中心 | Interactive paraplegia walking aid external skeleton with horizontal swinging function |
| CN105411816B (en) * | 2015-12-16 | 2019-09-20 | 哈尔滨工业大学深圳研究生院 | A kind of control system and control method of power assisting device of walking |
| CN106333830B (en) * | 2016-09-20 | 2021-01-08 | 合肥工业大学 | Walking aid mechanism of lower limb rehabilitation robot |
-
1990
- 1990-06-21 CN CN 90104491 patent/CN1022798C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1057581A (en) | 1992-01-08 |
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