CN102526947A - Mass balancing device and method for lower limb rehabilitation training patient - Google Patents
Mass balancing device and method for lower limb rehabilitation training patient Download PDFInfo
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- CN102526947A CN102526947A CN2012100511741A CN201210051174A CN102526947A CN 102526947 A CN102526947 A CN 102526947A CN 2012100511741 A CN2012100511741 A CN 2012100511741A CN 201210051174 A CN201210051174 A CN 201210051174A CN 102526947 A CN102526947 A CN 102526947A
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Abstract
The invention relates to a mass balancing device and method for a lower limb rehabilitation training patient. The balancing device comprises a reduced gravity generating mechanism, a bracket, an electric winch, a steel wire rope, a pulley wheel, a force sensor, a suspender, a running machine and a control system. When a reduced gravity walking training is carried out, the patient wears the suspender to stand on the running machine; the suspender is connected to the steel wire rope through the pulley wheel and two ends of the steel wire rope are respectively mounted on the reduced gravity generating mechanism and the electric winch; and the size of the actual reduced gravity detected by the force sensor is fed back to the control system to realize closed-ring control. Aiming to the patient of lower limb motor dysfunction caused by central nervous system diseases including spinal injuries, brain stroke and the like, a load to lower limbs of the patient which is caused by the self-gravity of the patient and the dynamic load in the walking process can be simultaneously relieved when the reduced gravity walking training is carried out, so as to realize constant-mass gravity reduction. According to the rehabilitation conditions of the patient or the training requirements, a weight reducing device provided by the invention can conveniently adjust a gravity reducing ratio. The suspender of the weight reducing device can be moved along the gravity center of the patient in real time and is good for the rehabilitation of normal physiological gaits of the patient.
Description
Technical field
The present invention relates to a kind of lower limb rehabilitation training patient mass balance device and method, belong to the rehabilitation medical instrument field.Be mainly used in the Unweighting walking rehabilitation training that the lower extremity motor function impaired patients is arranged that the nervous system diseases such as spinal cord injury, cerebral apoplexy cause.
Background technology
In recent years; Along with increasing of traffic and industrial accident; And the aging of society; The lower extremity motor function impaired patients that is caused by central nervous system diseases such as spinal injury, cerebral apoplexies is the trend of rapid increase, and patient's Health and Living quality in serious harm, brings heavy burden for simultaneously patient family and society.Existing vast amount of clinical confirms, except early operation treatment and drug therapy, (Body Weight Support Treadmill Training BWSTT) is one of the important means of treating to such disease patient walking rehabilitation in the Unweighting walking training.
In the Unweighting walking training,, just need unload patient's part own wt through alternate manner because the patient can't support own wt.In the rehabilitation training process, along with patient's rehabilitation gradually, needed loss of weight power also can reduce gradually.In gait processes, the fluctuation up and down of patient's center of gravity also can produce inertia force, and promptly dynamic load can produce burden to patient's lower limb equally.So in order to improve the effect of Unweighting walking training, employed loss of weight device must provide corresponding loss of weight power according to patient's actual conditions, and can alleviate the dynamic load that produces in patient's own wt and the walking process burden simultaneously to patient's lower limb.The loss of weight mode that adopts both at home and abroad at present mainly comprises initiatively four kinds of modes of loss of weight of the passive loss of weight of static balance, the passive loss of weight of balancing weight, spring passive loss of weight and constant weight amount.Wherein, the passive loss of weight of static balance can hinder moving up and down of patient's center of gravity, is unfavorable for the recovery of patient's normal physiological gait; The passive loss of weight of balancing weight need consume the very big muscle power of operating personnel when adjustment loss of weight power, and owing to receive the influence of balancing weight self inertia during training, the loss of weight power error that causes it to provide is bigger; The spring passive loss of weight owing to the change of patient's position of centre of gravity, can not provide needed loss of weight power in training process; Though and constant weight amount active loss of weight can well alleviate the burden that patient's own wt causes its lower limb, can not alleviate the burden that dynamic load causes patient's lower limb in the gait processes.
Summary of the invention
The objective of the invention is to the present existing problem and shortage of loss of weight mode of use both at home and abroad; A kind of lower limb rehabilitation training patient mass balance device and method are provided; Alleviate the burden that the dynamic load that produces in patient's own wt and the walking process causes patient's lower limb simultaneously; Reach the effect that the patient feels after having removed the part sole mass, to accept ambulation training; Thereby be consistent with kinesiology model in the normal walking process, help the recovery of patient's normal physiological gait more.
Design of the present invention is: the lower limb rehabilitation training patient mass balance device that the present invention designs is a kind of towed active loss of weight system based on Electric Machine Control that restricts.The suspention loss of weight can reduce the feared state of mind of patient to falling, and helps the patient and stands and carry out the training of early stage Unweighting walking; The Adjustable real-time of loss of weight power size can be realized as required through the control motor, and very high precision and stability can be guaranteed.During the Unweighting walking training, the patient puts on suspender belt and is positioned on the treadmill, and suspender belt is connected on the steel wire rope, and an end of steel wire rope is connected on the electric winch, and the other end is connected in loss of weight power and produces in the mechanism.Electric winch can be regulated length of steel wire rope according to patient's height, and can assist personnel help the patient to stand up; The suspender belt that loss of weight power generation mechanism is used to realize being connected on the steel wire rope is followed the motion of patient's barycenter trajectory and loss of weight power can be provided, and the size of loss of weight power can be set by medical personnel according to patient's hands-on situation.In order to reduce the load that loss of weight power produces motor in the mechanism, thereby reduce energy consumption and reduce heat, introduce extension spring and bear fractional load.In training process; The quality that the needs that configure according to medical personnel deduct; Calculate loss of weight power according to acceleration of gravity and patient's center of gravity accelerometer and produce the loss of weight power that mechanism's needs provide; Detect the size of actual loss of weight power and feed back to the force feedback closed-loop control that supervisory controller realizes that position-based is followed by the power sensor again, thereby guarantee the constant quality that subtracts.
According to above-mentioned design, the present invention adopts following technical scheme:
A kind of lower limb rehabilitation training patient mass balance device is connected in suspender belt on the steel wire rope and can follows the motion of patient's barycenter trajectory when it is characterized in that training, and removal part patient deadweight simultaneously and dynamic load reach permanent quality weight loss effect to the burden of patient's lower limb.Said lower limb rehabilitation training patient mass balance device comprises that loss of weight power produces mechanism, support, electric winch, steel wire rope, pulley, power sensor, suspender belt, treadmill and control system, and said loss of weight power produces mechanism and is connected with an end of steel wire rope; The other end of said steel wire rope is connected with electric winch with a movable pulley through two fixed pulleys; Said two fixed pulleys and electric winch are installed on the above-mentioned support; Said pulley is connected with power sensor one end through steel wire rope; The said power sensor other end is connected with suspender belt through steel wire rope; Said suspender belt can be through on one's body the patient; Said treadmill is installed in above-mentioned frame bottom.
Said loss of weight power produces mechanism and is made up of motor, connecting plate for electric motor, shaft coupling, ball-screw, bearing block, coupler, encoder, feed screw nut, the axis of guide, axis of guide bearing, linear bearing, steel wire rope connecting plate, extension spring, spring fastening, limit switch and installation base plate.Said motor is installed on the connecting plate for electric motor, drives ball-screw through shaft coupling and rotates, and realizes the rectilinear motion of steel wire rope connecting plate; Said connecting plate for electric motor is installed in through soket head cap screw and installs on the base plate; Said ball-screw is installed on two bearing blocks; The other end of said ball-screw connects encoder through coupler, is used to detect the angle of ball-screw actual rotation; Said encoder is fixed in above-mentioned bearing block on one of them; Said two bearing blocks are installed on the above-mentioned installation base plate through soket head cap screw; Feed screw nut on the said ball-screw is fixed in steel wire rope connecting plate middle part; Said steel wire rope connecting plate two ends are connected with two linear bearings; Said two linear bearings are enclosed within respectively on two parallel axis of guides that are positioned at above-mentioned ball-screw both sides; Said two axis of guides are installed on four axis of guide bearings; Said four axis of guide bearings are installed in through soket head cap screw and install on the base plate; Also be connected with two spring fastenings on the middle partially position, said steel wire rope connecting plate two ends and be used to connect two extension spring one ends; Said two extension springs are positioned at the both sides of above-mentioned motor; The other end of said two extension springs is connected on two spring fastenings that are installed in above-mentioned installation base plate; Side of said installation base plate is equipped with two limit switches, is used for confirming the initial position of steel wire rope connecting plate and preventing that the steel wire rope connecting plate from exceeding moving range when doing rectilinear motion.
Said control system medical personnel configure need subtract quality after; Industrial computer sends the command signal about barycenter trajectory through control program; And passing through motion control card output motor controlled quentity controlled variable in motor driver, motor driver control motor realization suspender belt is followed patient's centre-of-gravity motion; Meanwhile industrial computer sends the synchronous coordination motion that instruction realizes treadmill through serial ports; Industrial computer is gathered the signal of power sensor in real time through data collecting card; Promptly actual loss of weight power; Feed back in the controller; Through with according to required subtract in the Unweighting walking training process that quality, acceleration of gravity and center of gravity accelerometer calculate each constantly required loss of weight power compare, realize permanent quality loss of weight control, and will the current training time, the information such as quality and loss of weight power that subtract of barycenter trajectory, reality are presented on the man-machine interface.
The force feedback closed-loop control that said control system adopts position-based to follow; Its concrete mode is: the reference barycenter trajectory of using when Unweighting walking is trained is input in the PD positioner; Controller converts angle signal and angular velocity signal to corresponding analog voltage signal and sends to motor driver, again by the rotation of motor driver control motor, realizes the weight loss effect of lower limb rehabilitation training patient mass balance device; Meanwhile the power sensor with the loss of weight force feedback of reality in industrial computer; Loss of weight power through with needs compares, and sends the correction about angle signal and angular velocity signal by industrial computer again, realizes closed-loop control.
A kind of lower limb rehabilitation training patient mass balance method makes the patient under the constant situation that subtracts quality, to carry out the Unweighting walking training, it is characterized in that the concrete operations step is following:
1) patient has dressed suspender belt under medical personnel's help, and is in place on treadmill;
2) medical personnel are long presses the electric winch control button, gradually the patient is sling through suspender belt, stands up fully on treadmill until the patient;
3) medical personnel start the control system of loss of weight device, according to patient's training through keyboard input control parameter: the training time with subtract the quality size;
4) medical personnel are through the initialization button of click; Motor subtracts quality adjustment spring length according to what configure; The steel wire rope connecting plate arrives initial position; And then electric winch begins to regulate length of steel wire rope, and the loss of weight power that receives until the patient reaches the initial loss of weight power that subtracts the quality correspondence that sets;
5) medical personnel are through the training button on the click operation interface, and loss of weight power generation mechanism and treadmill start simultaneously and begin training, finish until the training time, or medical personnel press stop button, the training end.
The present invention has following conspicuous outstanding substantive distinguishing features and remarkable advantage compared with prior art:
The lower limb rehabilitation training patient mass balance device that the present invention designs is a kind of towed active loss of weight system based on Electric Machine Control that restricts; Both can reduce the feared state of mind of patient to falling; Helping the patient stands and carries out the training of early stage Unweighting walking; The Adjustable real-time of loss of weight power size can be realized again as required, and very high precision and stability can be guaranteed.What the present invention adopted is permanent quality loss of weight method; Can alleviate the burden that the dynamic load that produces in patient's own wt and the walking process causes patient's lower limb simultaneously; Reach the effect that the patient feels after having removed the part sole mass, to accept ambulation training; Can be consistent with kinesiology model in the normal walking process, help the recovery of patient's normal physiological gait more.The force feedback closed-loop control that is based on location following that control system among the present invention adopts; Can guarantee that suspender belt follows patient's centre-of-gravity motion in real time; Can effectively reduce loss of weight power error again, make that subtracting quality keeps constant in less error, guarantee that the loss of weight device reaches the expection weight loss effect.
Description of drawings
Fig. 1 is the structure chart of lower limb rehabilitation training patient mass balance device;
Fig. 2 is the structure chart that loss of weight power produces mechanism;
Fig. 3 is that the control system hardware constitutes sketch map;
Fig. 4 is a control principle block diagram of the present invention.
The specific embodiment
The preferred embodiments of the present invention accompanying drawings is following:
Embodiment one:
Referring to Fig. 1, the lower limb rehabilitation training patient mass balance device in the present embodiment comprises that loss of weight power produces mechanism (1), steel wire rope (2), fixed pulley (3), support (4), electric winch (5), movable pulley (6), power sensor (7) (NS-WL1 is washed one's hair in the sky), suspender belt (9), treadmill (10) (Qiao Shan PARAGON) and control system (referring to Fig. 3).
Referring to Fig. 2, loss of weight power produces mechanism (1) and is made up of motor (11) (YASKAWA SGMJV08A), connecting plate for electric motor (12), shaft coupling (13), bearing block (14), feed screw nut (15), ball-screw (16), installation base plate (17), coupler (18), encoder (19), axis of guide bearing (20), the axis of guide (21), linear bearing (22), limit switch (23), steel wire rope connecting plate (24), extension spring (25) and spring fastening (26).Motor (11) is installed on the connecting plate for electric motor (12), drives ball-screw (16) through shaft coupling (13) and rotates, and realizes the rectilinear motion of steel wire rope connecting plate (24); Connecting plate for electric motor (24) is installed in through soket head cap screw and installs on the base plate (17); Ball-screw (16) is installed on two bearing blocks (14); The other end of ball-screw (16) connects encoder (19) through coupler (18), is used to detect the angle of ball-screw actual rotation; Encoder (19) is connected bearing block (14) on one of them; Two bearing blocks (14) are installed in through soket head cap screw and install on the base plate (17); Feed screw nut (15) on the ball-screw (16) is connected steel wire rope connecting plate (24) middle part; Steel wire rope connecting plate (24) two ends are connected with two linear bearings (22); Two linear bearings (22) are enclosed within respectively on two the parallel axis of guides (21) that are positioned at ball-screw (16) both sides; Two axis of guides (21) are installed on four axis of guide bearings (20); Four axis of guide bearings (20) are installed in through soket head cap screw and install on the base plate (17); Also be connected with two spring fastenings (26) on the middle partially position, steel wire rope connecting plate (24) two ends and be used to connect two extension springs (25) one ends; Two extension springs (25) are positioned at the both sides of motor (11); The other end of two extension springs (25) is connected two and is installed on the spring fastening (26) that base plate (17) is installed; (17) sides of base plate are installed two limit switches (23) are installed, be used for confirming the initial position of steel wire rope connecting plate and preventing that the steel wire rope connecting plate from exceeding moving range when doing rectilinear motion.
Loss of weight power produces mechanism (1) and is installed in support (4) top through base plate (17) is installed, and is connected through the end of steel wire rope connector (24) with steel wire rope (2); The other end of steel wire rope (2) is connected with electric winch (5) with a movable pulley (6) through two fixed pulleys (3); Two fixed pulleys (3) and electric winch (5) are installed on the support (4); Movable pulley (6) is connected with power sensor (7) one ends through steel wire rope (2); Power sensor (7) other end is connected with suspender belt (9) through steel wire rope (2); Suspender belt (9) can be through on one's body the patient (8); Treadmill (10) is installed in support (4) bottom.
Referring to Fig. 3; Control system in the present embodiment medical personnel configure need subtract quality after; Industrial computer (32) (NuPRO-935A mainboard; Intel Core2 double-core E8400 CPU) sends command signal through control program about barycenter trajectory; And (PCI-8158) the output motor controlled quentity controlled variable is in motor driver (29) (YASKAWA SGDV5R5A01A) to pass through motion control card (31), and motor driver (29) control motor (11) realization suspender belt is followed patient's centre-of-gravity motion; Meanwhile industrial computer (32) sends the synchronous coordination motion that instruction realizes treadmill (10) through serial ports (27); Industrial computer (32) (DAQ-2204) is gathered the signal of power sensor (7) in real time through data collecting card (30); Promptly actual loss of weight power; Feed back in the controller; Through with according to required subtract in the Unweighting walking training process that quality, acceleration of gravity and center of gravity accelerometer calculate each constantly required loss of weight power compare; Realize permanent quality loss of weight control, and current training time, barycenter trajectory, the actual information such as quality and loss of weight power that subtract are presented on the man-machine interface (33).
Referring to Fig. 4; The force feedback closed-loop control that present embodiment control system adopts position-based to follow; Its concrete mode is: the reference barycenter trajectory of using when Unweighting walking is trained is input in the PD positioner; Controller converts angle signal and angular velocity signal to corresponding analog voltage signal and sends to motor driver, again by the rotation of motor driver control motor, realizes the weight loss effect of lower limb rehabilitation training patient mass balance device; Meanwhile the power sensor with the loss of weight force feedback of reality in industrial computer; Loss of weight power through with needs compares, and sends the correction about angle signal and angular velocity signal by industrial computer again, realizes closed-loop control.
Embodiment two:
Lower limb rehabilitation training patient mass balance method concrete operations step is following in the present embodiment:
1) patient (8) has dressed suspender belt (9) under medical personnel's help, goes up in place at treadmill (10);
2) medical personnel are long presses electric winch (5) control button, gradually the patient is sling through suspender belt (9), stands up fully on treadmill (10) until the patient;
3) medical personnel start the control system of loss of weight device, according to patient's training through keyboard input control parameter: the training time with subtract the quality size;
4) medical personnel are through the initialization button of click; Motor subtracts quality adjustment spring (25) length according to what configure; Steel wire rope connecting plate (24) arrives initial position; And then electric winch (5) length that begins to regulate steel wire rope (2), the loss of weight power that receives until patient (8) reaches to set and subtracts the corresponding initial loss of weight power of quality;
5) medical personnel are through the training button on the click operation interface, and loss of weight power generation mechanism (1) and treadmill (10) start simultaneously and begin training, finish until the training time, or medical personnel press stop button, the training end.
Claims (5)
1. lower limb rehabilitation training patient mass balance device; Comprise that loss of weight power produces mechanism (1), steel wire rope (2), fixed pulley (3), support (4), electric winch (5), movable pulley (6), power sensor (7), suspender belt (9), treadmill (10) and control system, it is characterized in that said loss of weight power produces mechanism (1) and is connected with an end of steel wire rope (2); The other end of steel wire rope (2) is connected with electric winch (5) with a movable pulley (6) through two fixed pulleys (3); Two fixed pulleys (3) and electric winch (5) are installed on the support (4); Movable pulley (6) is connected with power sensor (7) one ends through steel wire rope (2); Power sensor (7) other end is connected with suspender belt (9) through steel wire rope (2); Suspender belt (9) can be through on one's body the patient (8); Treadmill (10) is installed in support (4) bottom.
2. according to the said lower limb rehabilitation training patient of claim 1 mass balance device, it is characterized in that said loss of weight power produces mechanism (1) and is made up of motor (11), connecting plate for electric motor (12), shaft coupling (13), bearing block (14), feed screw nut (15), ball-screw (16), installation base plate (17), coupler (18), encoder (19), axis of guide bearing (20), the axis of guide (21), linear bearing (22), limit switch (23), steel wire rope connecting plate (24), extension spring (25) and spring fastening (26); Said motor (11) is installed on the connecting plate for electric motor (12), drives ball-screw (16) through shaft coupling (13) and rotates, and realizes the rectilinear motion of steel wire rope connecting plate (24); Said connecting plate for electric motor (12) is installed in through soket head cap screw and installs on the base plate (17); Said ball-screw (16) is installed on two bearing blocks (14); The other end of said ball-screw (16) connects encoder (19) through coupler (18), is used to detect the angle of ball-screw actual rotation; Said encoder (19) is connected bearing block (14) on one of them; Said two bearing blocks (14) are installed in through soket head cap screw and install on the base plate (17); Feed screw nut (15) on the said ball-screw (16) is connected steel wire rope connecting plate (24) middle part; Said steel wire rope connecting plate (24) two ends are connected with two linear bearings (22); These two linear bearings (22) are enclosed within respectively on two the parallel axis of guides (21) that are positioned at ball-screw (16) both sides; These two axis of guides (21) are installed on four axis of guide bearings (20); Said four axis of guide bearings (20) are installed in through soket head cap screw and install on the base plate (17); Also be connected with two spring fastenings (26) on the middle partially position, steel wire rope connecting plate (24) two ends and be used to connect two extension springs (25) one ends; These two extension springs (25) are positioned at the both sides of motor (11); The other end of said two extension springs (25) is connected two and is installed on the spring fastening (26) that base plate (17) is installed; (17) sides of this installation base plate are equipped with two limit switches (23), are used for confirming the initial position of steel wire rope connecting plate and preventing that the steel wire rope connecting plate from exceeding moving range when doing rectilinear motion.
3. according to the said lower limb rehabilitation training patient of claim 1 mass balance device; It is characterized in that said control system medical personnel configure needs subtract quality after; Industrial computer (32) sends the command signal about barycenter trajectory through control program; And passing through motion control card (31) output motor controlled quentity controlled variable in motor driver (29), motor driver (29) control motor (11) realization suspender belt is followed patient's centre-of-gravity motion; Meanwhile industrial computer (32) sends the synchronous coordination motion that instruction realizes treadmill (10) through serial ports (27); Industrial computer (32) is gathered the signal of power sensor (7) in real time through data collecting card (30); Promptly actual loss of weight power; Feed back in the controller; Through with according to required subtract in the Unweighting walking training process that quality, acceleration of gravity and center of gravity accelerometer calculate each constantly required loss of weight power compare, realize permanent quality loss of weight control, and will the current training time, the information such as quality and loss of weight power that subtract of barycenter trajectory, reality are presented on the man-machine interface (33).
4. according to the said lower limb rehabilitation training patient of claim 3 mass balance device; It is characterized in that the force feedback closed-loop control that said control system adopts position-based to follow; Its concrete control mode is: the reference barycenter trajectory of using when Unweighting walking is trained is input in the PD positioner; Controller converts angle signal and angular velocity signal to corresponding analog voltage signal and sends to motor driver (29), again by the rotation of motor driver (29) control motor (11), realizes the weight loss effect of lower limb rehabilitation training patient mass balance device; Meanwhile power sensor (7) arrives the loss of weight force feedback of reality in the industrial computer (32); Loss of weight power through with needs compares, and sends the correction about angle signal and angular velocity signal by industrial computer (32) again, realizes closed-loop control.
5. a lower limb rehabilitation training patient mass balance method adopts and carries out balance according to claim 1 or 4 said lower limb rehabilitation training patient mass balance devices, it is characterized in that the concrete operations step is following:
1) patient (8) has dressed suspender belt (9) under medical personnel's help, goes up in place at treadmill (10);
2) medical personnel are long presses electric winch (5) control button, gradually the patient is sling through suspender belt (9), stands up fully on treadmill (10) until the patient;
3) medical personnel start the control system of loss of weight device, according to patient's training through keyboard input control parameter: the training time with subtract the quality size;
4) medical personnel are through the initialization button of click; Motor subtracts quality adjustment spring (25) length according to what configure; Steel wire rope connecting plate (24) arrives initial position; And then electric winch (5) length that begins to regulate steel wire rope (2), the loss of weight power that receives until patient (8) reaches to set and subtracts the corresponding initial loss of weight power of quality;
5) medical personnel are through the training button on the click operation interface, and loss of weight power generation mechanism (1) and treadmill (10) start simultaneously and begin training, finish until the training time, or medical personnel press stop button, the training end.
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