CN103505342B - External skeleton type gait rehabilitation training device - Google Patents

External skeleton type gait rehabilitation training device Download PDF

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Publication number
CN103505342B
CN103505342B CN201310484383.XA CN201310484383A CN103505342B CN 103505342 B CN103505342 B CN 103505342B CN 201310484383 A CN201310484383 A CN 201310484383A CN 103505342 B CN103505342 B CN 103505342B
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China
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limb
suffering limb
suffering
strong
joint
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CN201310484383.XA
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Chinese (zh)
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CN103505342A (en
Inventor
李军强
王娟
赵海文
刘今越
陈贵亮
金磊磊
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河北工业大学
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Publication of CN103505342A publication Critical patent/CN103505342A/en
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Publication of CN103505342B publication Critical patent/CN103505342B/en

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Abstract

The invention discloses an external skeleton type gait rehabilitation training device. The device mainly comprises a support, a healthy limb side external skeleton system, a healthy limb side armpit supporting mechanism, a diseased limb side armpit supporting mechanism and a diseased limb side external skeleton system. On a healthy limb side, an external skeleton type motion parameter detection system is used for detecting healthy limb motion parameters, and an ankle part of a healthy limb motion parameter detection system is connected with an in-situ walking system; on a diseased limb side, a lower limb external skeleton system with three degrees of freedom is utilized to achieve auxiliary motion of diseased limbs of a patient. When rehabilitation training is carried out, the armpit supporting mechanisms are supported in armpits of the patient to lighten burdens on lower limbs of the patient, the armpit supporting mechanisms are of a right-left symmetrical structure, and the heights of armpit supporting parts can be adjusted to adapt to different patients.

Description

A kind of external skeleton type gait rehabilitation training devices
Technical field
The present invention relates to robot and technical field of medical instruments, specifically a kind of external skeleton type gait rehabilitation training devices.
Background technology
Human body lower limbs supports the health of people, is responsible for the function of walking, plays an important role in the daily life of people.The research of human body lower limbs recovery exercising robot has important theory significance and actual application value.
Current lower limb gait rehabilitation training robot adopts mechanical exoskeleton structure or pedal structure to realize rehabilitation exercise mostly, or by driving human body basin bone to correct body gait.Adopt the gait rehabilitation robot of ectoskeleton structure, as the Lokomat gait rehabilitation training robot of Switzerland, it forms primarily of gait correcting device, body weight back-up system and walking platform.Its gait correcting device is ectoskeleton structure, and every bar ectoskeleton has two degree of freedom, can realize hip joint and the motion of knee joint in sagittal plane.The Haptic walker gait rehabilitation training robot of Germany is typical pedal structure, there is body weight back-up system, and the rehabilitation exercise training of the track that fixed in sagittal plane by two cover pedal systems drive patients, every suit pedal system has 3 degree of freedom, for the structure that connection in series-parallel combines, employing motor drives, and drives human body to fix in sagittal plane orbiting motion.Robot gait rehabilitation (RGR) system of the U.S. then have employed the mode driving human body basin bone to carry out gait rehabilitation training, this system is made up of body weight back-up system, basin bone motor system and walking platform, basin bone motor system each side has a moving cell at human body, each moving cell is made up of two orthogonal slide rails, robot is connected with patient by buttocks connection bracket, linear electric machine vertical and horizontal face is installed, and can produce active force to the abnormal motion of basin bone.
Mechanical exoskeleton can each joint of Direct driver human body lower limbs, and structure is relatively simple, but current rehabilitation lower limb exoskeleton mostly can not support the health of patient, need with walking platform and weight support system with the use of realizing rehabilitation training, and in rehabilitation training, walking platform can produce certain impact to the gait of human body.Although pedal structure does not need to use walking platform, because it can not Direct driver joint of the lower extremity, so be difficult to make each joint of patient's lower limb carry out rehabilitation training by certain gait parameter in using.The rehabilitation training effect correcting body gait by driving human body basin bone and can reach certain, but need walking platform to coordinate and carry out rehabilitation training, and it is similar with pedal structure, this kind of mode can not Direct driver joint of the lower extremity, so have certain limitation in using, rehabilitation training effect is also restricted.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the technical problem to be solved in the present invention is: provide a kind of external skeleton type gait rehabilitation training devices.This device is applicable to hemiplegic patient, can not only support weight in patients, and does not need walking platform when carrying out lower limb rehabilitation training.This device comprises support, suffering limb side exoskeleton system, strong limb side exoskeleton system and oxter supporting mechanism.Strong limb side exoskeleton system comprises strong limb kinematic parameter detection system and original place pedestrian system, kinematic parameter detection system human body gait parameter, the reference that the kinematic parameter of being good for each joint of limb using patient moves as suffering limb, original place pedestrian system is for providing the interaction force of human body lower limbs and ground.Suffering limb side exoskeleton system is provided with servomotor, human body suffering limb can be driven to move, and be provided with force transducer, can perception patient suffering limb and suffering limb side exoskeleton system interaction force.In rehabilitation training, the motion of robot Real-Time Monitoring suffering limb, when patient's suffering limb can autonomic movement time, suffering limb side exoskeleton system follow patient's suffering limb motion, to suffering limb motion have an impact.When the kinematic parameter of suffering limb and strong limb relevant parameter produce error, suffering limb side exoskeleton system drives suffering limb motion, helps patient to complete rehabilitation training.Like this, not only make the gait of patient more natural, and add the active participate degree of patient.
The technical scheme that the present invention solve the technical problem is: design a kind of external skeleton type gait rehabilitation training devices, mainly comprises support, strong limb side exoskeleton system, strong oxter, limb side supporting mechanism, suffering limb side oxter supporting mechanism and suffering limb side exoskeleton system;
Described support comprises rack body, strong limb side link and suffering limb side link;
Described strong limb side exoskeleton system is good for limb joint kinematic parameter detection system by the original place pedestrian system and exoskeleton-type with plane four bar structure and is formed; Described original place pedestrian system comprises supporting plate, lower link, vertical connecting rod, outer support bar, inner bracing piece, strong limb side exoskeleton system servomotor, supporting bar connector, decelerator, antivibrator, strong limb side substrate and axle; Described outer support bar, inner bracing piece, supporting bar connector, strong limb side substrate, lower link and vertical connecting rod form a quadric chain, and strong limb side substrate is the frame of this four-bar mechanism; Wherein, outer support bar, inner bracing piece and supporting bar connector are connected, in order to support the pedal force of patient; Strong limb side exoskeleton system servomotor is connected with decelerator, and the outfan of decelerator is connected with MR damper shell; Strong limb side exoskeleton system servomotor and antivibrator are as the executive component of original place pedestrian system, motion for four-bar linkage provides driving moment or antivibrator moment, driving moment is in order to compensate the gravity of original place pedestrian system, and damping torque is in order to simulate the horizontal applied force of human foot and ground; Supporting plate and lower link are connected, and the athletic posture of supporting plate is consistent with lower link, all the time with ground keeping parallelism; Strong limb side substrate and support are connected by strong limb side link;
Described exoskeleton-type is good for limb joint kinematic parameter detection system and is comprised strong limb side foot fixing device, strong limb side shank holding device, calf plate, detection system ankle joint, knee angle displacement transducer, strong limb side thigh holding device, thigh plate, detection system hip joint, hip joint angular displacement sensor, U-shaped connector, force transducer, slide block, No. two force transducers and a detection system ankle joint, described detection system hip joint is installed on axle, and can rotate around this axle, detection system hip joint is provided with hip joint angular displacement sensor, thigh plate upper end is connected with detection system hip joint, lower end is connected with calf plate by detection system knee joint, detection system knee joint is provided with knee angle displacement transducer, strong limb side thigh holding device is installed on thigh plate, strong limb side shank holding device is installed on calf plate, calf plate is connected with strong limb side foot fixing device by detection system ankle joint, strong limb side foot fixing device and blade contacts, and it is separable, detection system ankle joint is connected with slide block by U-shaped connector, strong limb side ankle joint front end force transducer and ankle joint front end, strong limb side force transducer are installed therebetween, in order to the interaction force between perception U-shaped connector and slide block, slide block can slide up and down along outer support bar and inner bracing piece, detection system ankle joint and U-shaped connector can relatively rotate, during work, parameter detecting system moves with patient's lower limb, and the hip joint of detection system hip joint, detection system knee joint and detection system ankle joint and patient, knee joint and ankle joint moved in coaxial, in order to detect patient's associated joint kinematic parameter,
Oxter, described strong limb side supporting mechanism comprises strong limb side handwheel and oxter, strong limb side support bar, and oxter, suffering limb side supporting mechanism comprises suffering limb side handwheel and oxter, suffering limb side support bar; Strong limb side handwheel is in order to regulate the height of oxter, strong limb side support bar, and suffering limb side handwheel is in order to regulate the height of oxter, suffering limb side support bar;
Described suffering limb side exoskeleton system comprises inner thighs plate, suffering limb side substrate, lateral thigh plate, suffering limb Ce great leg restraint gear, inner side calf plate, outside calf plate, suffering limb Ce little leg restraint gear, suffering limb batter portion fixed mechanism, suffering limb side hip joint, suffering limb side knee joint, suffering limb side ankle joint, foot's connecting plate, foot support plate, thigh rear end force checking device, thigh front end force checking device, shank front end force checking device, shank rear end force checking device, foot's upper end force checking device, foot's lower end force checking device, suffering limb side hip joint servomotor, suffering limb side hip joint decelerator, suffering limb side knee joint servomotor, suffering limb side knee joint decelerator, suffering limb side ankle joint servomotor and suffering limb side ankle joint decelerator, described suffering limb side substrate is connected by suffering limb side link and support, suffering limb side hip joint and suffering limb side substrate are connected, inner thighs plate is connected with suffering limb side hip joint with the upper end of lateral thigh plate, lower end is connected with suffering limb side is kneed, inner side calf plate is connected with suffering limb side is kneed with the upper end of outside calf plate, lower end is connected with suffering limb side ankle joint, and foot's connecting plate one end is connected with suffering limb side ankle joint, and the other end and foot support plate are connected,
Described suffering limb Ce great leg restraint gear is installed on inner thighs plate, thigh rear end force checking device and thigh front end force checking device are installed on the two ends of suffering limb Ce great leg restraint gear respectively, suffering limb Ce little leg restraint gear is installed on inner side calf plate, shank front end force checking device and shank rear end force checking device are installed on the two ends of suffering limb Ce little leg restraint gear respectively, suffering limb batter portion fixed mechanism is installed on foot support plate, and foot's upper end force checking device and foot's lower end force checking device are installed on the two ends up and down of suffering limb batter portion fixed mechanism respectively;
Described suffering limb side hip joint servomotor is connected with suffering limb side hip joint decelerator, drive the motion of suffering limb side hip joint, suffering limb side knee joint servomotor is connected with suffering limb side knee joint decelerator, drive suffering limb side motion of knee joint, suffering limb side ankle joint servomotor is connected with suffering limb side ankle joint decelerator, drives suffering limb side ankle motion.
Its lower limb exoskeleton system of lower limb exoskeleton device for healing and training of the present invention adopts new structure, in strong limb side, application exoskeleton-type kinematic parameter detection system detects strong limb kinematic parameter, and the ankle part of strong limb kinematic parameter detection system is connected with original place pedestrian system, and can relatively rotate.Original place pedestrian system adopts four-bar linkage structure, and MR damper provides the interaction force on human body lower limbs and ground, can realize the original place walking movement of human body lower limbs in sagittal plane.
In suffering limb side, the lower limb exoskeleton system of application Three Degree Of Freedom realizes the assisted movement to patient's suffering limb.Patient's suffering limb side exoskeleton system is all provided with force transducer in thigh, shank and foot, in order to the ectoskeletal interaction force of perception patient suffering limb and suffering limb side, the motion of application driven by servomotor suffering limb side exoskeleton system, its leg portion and lower leg portion all have employed two parallel connecting rods, to increase its weight capacity.
During rehabilitation training, oxter supporting mechanism is supported in patient oxter, and in order to alleviate patient's lower limb burden, oxter supporting mechanism is left and right is symmetrical structure, and the height of oxter support zone can adjust, to adapt to different patient.
Compared with prior art, the beneficial effect of lower limb exoskeleton device for healing and training of the present invention is:
1. be designed with oxter supporting mechanism, directly can support body weight or the part body weight of patient, alleviate patient's lower limb burden, and original place walking can be realized, eliminate the impact of walking platform on body gait.
2. strong limb side exoskeleton system adopts MR damper to provide resistance, the frictional force on foot and ground during in order to simulate human body walking.
3. the joint kinematic parameter detection system of strong limb side exoskeleton system can detect the flexion/extension motion that patient is good for limb hip joint, and the parameter of the flexion/extension motion of kneed flexion/extension motion and ankle joint, this parameter can be used as the reference data of patient's suffering limb motion.
4. suffering limb side exoskeleton system can drive the suffering limb of patient to realize the flexion/extension motion of hip joint, the flexion/extension motion of kneed flexion/extension motion and ankle joint, and intentional movement compensation can be carried out according to the detection data of strong limb side exoskeleton system to the motion of patient's suffering limb.
Accompanying drawing explanation
Fig. 1 is the general assembly structural representation of a kind of embodiment of external skeleton type gait rehabilitation training devices of the present invention.
Fig. 2 is the strong limb portion outboard suffering limb sections inner side structural representation of a kind of embodiment of external skeleton type gait rehabilitation training devices of the present invention.
Fig. 3 is the strong limb sections inner side suffering limb portion outboard structural representation of a kind of embodiment of external skeleton type gait rehabilitation training devices of the present invention.
Fig. 4 is the local I enlarged diagram of Fig. 3.
Detailed description of the invention
The present invention is further described below in conjunction with embodiment and accompanying drawing thereof.
The lower limb exoskeleton device for healing and training of the present invention's design (is called for short device, see Fig. 1-4), mainly comprise support 1, strong limb side exoskeleton system 2, strong oxter, limb side supporting mechanism 3, oxter, suffering limb side supporting mechanism 4 and suffering limb side exoskeleton system 5(see Fig. 1).
Described support 1 comprises rack body, strong limb side link 11 and suffering limb side link 12;
Described strong limb side exoskeleton system 2 is good for limb joint kinematic parameter detection system 22 by the original place pedestrian system 21 with plane four bar structure with exoskeleton-type and is formed (see Fig. 1); Described original place pedestrian system 21 comprises supporting plate 211, lower link 212, vertical connecting rod 213, outer support bar 214, inner bracing piece 215, strong limb side exoskeleton system servomotor 216, supporting bar connector 217, decelerator 218, antivibrator 219, strong limb side substrate 2110 and axle 2111; Described outer support bar 214, inner bracing piece 215, lower link 212 and vertical connecting rod 213 form a quadric chain by supporting bar connector 217 and strong limb side substrate 2110, and strong limb side substrate 2110 is the frame of this four-bar mechanism; Wherein, outer support bar 214, inner bracing piece 215 are connected, in order to support the pedal force of patient with supporting bar connector 217; Strong limb side exoskeleton system servomotor 216 is connected with decelerator 218, and the outfan of decelerator 218 is connected with MR damper 219 shell; Strong limb side exoskeleton system servomotor 216 and the executive component of antivibrator 219 as original place pedestrian system 21, motion for four-bar linkage provides driving moment or antivibrator moment, driving moment is in order to compensate the gravity of original place pedestrian system, and damping torque is in order to simulate the horizontal applied force of human foot and ground.Supporting plate 211 and lower link 212 are connected, and the athletic posture of supporting plate 211 is consistent with lower link 212, all the time with ground keeping parallelism.Strong limb side substrate 2110 and support 1 are connected by strong limb side link 11.
Described exoskeleton-type is good for limb joint kinematic parameter detection system 22 and is comprised strong limb side foot fixing device 221, strong limb side shank holding device 222, calf plate 223, detection system ankle joint 2214, knee angle displacement transducer 225, strong limb side thigh holding device 226, thigh plate 227, detection system hip joint 228, hip joint angular displacement sensor 229, U-shaped connector 2210, force transducer 2211, slide block 2212, No. two force transducers 2213 and detection system ankle joint 2214, described detection system hip joint 228 is installed on described axle 2111, and can rotate around described axle 2111, detection system hip joint 228 is provided with hip joint angular displacement sensor 229, thigh plate 227 upper end is connected with detection system hip joint 228, lower end is connected with calf plate 223 by detection system knee joint 224, detection system knee joint 224 is provided with knee angle displacement transducer 225, strong limb side thigh holding device 226 is installed on thigh plate 227, strong limb side shank holding device 222 is installed on calf plate 223, calf plate 223 is connected with strong limb side foot fixing device 221 by detection system ankle joint 2214, strong limb side foot fixing device 221 contacts with supporting plate 211, and it is separable, detection system ankle joint 2214 is connected with slide block 2212 by U-shaped connector 2210, ankle joint front end, strong limb side force transducer 2211 and ankle joint front end, strong limb side force transducer 2213 are installed therebetween, in order to the interaction force between perception U-shaped connector 2210 and slide block 2212, slide block 2212 can slide up and down along outer support bar 214 and inner bracing piece 215.Detection system ankle joint 2214 and U-shaped connector 2210 can relatively rotate.During work, parameter detecting system moves with patient's lower limb, the hip joint of detection system hip joint 228, detection system knee joint 224 and detection system ankle joint 2214 and patient, knee joint and ankle joint moved in coaxial, can detect patient's associated joint kinematic parameter.
Oxter, described strong limb side supporting mechanism 3 comprises strong limb side handwheel 31 and oxter, strong limb side support bar 32;
Oxter, described suffering limb side supporting mechanism 4 comprises suffering limb side handwheel 42 and oxter, suffering limb side support bar 41; Strong limb side handwheel 31 in order to regulate the height of oxter, strong limb side support bar 32, suffering limb side handwheel 42 in order to regulate the height of oxter, suffering limb side support bar 41, to adapt to different patient.
Described suffering limb side exoskeleton system 5 comprises inner thighs plate 51, suffering limb side substrate 52, lateral thigh plate 53, suffering limb Ce great leg restraint gear 54, inner side calf plate 55, outside calf plate 56, suffering limb Ce little leg restraint gear 57, suffering limb batter portion fixed mechanism 58, suffering limb side hip joint 59, suffering limb side knee joint 510, suffering limb side ankle joint 511, foot's connecting plate 512, foot support plate 513, thigh rear end force checking device 541, thigh front end force checking device 542, shank front end force checking device 571, shank rear end force checking device 572, foot's upper end force checking device 581, foot's lower end force checking device 582, suffering limb side hip joint motor 592, suffering limb side hip joint decelerator 591, suffering limb side knee joint motor 5101, suffering limb side knee joint decelerator 5102, suffering limb side ankle joint motor 5111, suffering limb side ankle joint decelerator 5112, described suffering limb side substrate 52 is connected by suffering limb side link 12 and support 1, suffering limb side hip joint 59 and suffering limb side substrate 52 are connected, inner thighs plate 51 is connected with suffering limb side hip joint 59 with the upper end of lateral thigh plate 53, lower end is connected with suffering limb side knee joint 510, inner side calf plate 55 and the upper end of outside calf plate 56 and being connected of suffering limb side knee joint 510, lower end is connected with suffering limb side ankle joint 511, foot's connecting plate 512 one end is connected with suffering limb side ankle joint 511, and the other end and foot support plate 513 are connected.
Described suffering limb Ce great leg restraint gear 54 is installed on inner thighs plate 51, thigh rear end force checking device 541 and thigh front end force checking device 542 are installed on the two ends of suffering limb Ce great leg restraint gear 54 respectively, suffering limb Ce little leg restraint gear 57 is installed on inner side calf plate 55, shank front end force checking device 571 and shank rear end force checking device 572 are installed on the two ends of suffering limb Ce little leg restraint gear 57 respectively, suffering limb batter portion fixed mechanism 58 is installed on foot support plate 513, foot's upper end force checking device 581 and foot's lower end force checking device 582 are installed on the two ends up and down of suffering limb batter portion fixed mechanism 58 respectively.
Described suffering limb side hip joint servomotor 592 is connected with suffering limb side hip joint decelerator 591, suffering limb side hip joint 59 is driven to move, suffering limb side knee joint servomotor 5101 is connected with suffering limb side knee joint decelerator 5102, suffering limb side knee joint 510 is driven to move, suffering limb side ankle joint servomotor 5111 is connected with suffering limb side ankle joint decelerator 5112, drives suffering limb side ankle joint 511 to move.
The work process of device of the present invention: in use, support 1 is positioned over ground, strong limb side exoskeleton system 2 and suffering limb side exoskeleton system 5 are installed on support 1 both sides respectively, strong limb side exoskeleton system 2 is applied to the right lower extremity of patient, suffering limb side exoskeleton system 5 is applied to the left lower extremity of patient, and this mounting means is applicable to the patient of left side hemiplegia; When the patient of right side hemiplegia uses, only strong limb side foot fixing device 221, supporting plate 211 and suffering limb batter portion base plate 513 oppositely need be installed.
For left side hemiplegic patient, when utilizing apparatus of the present invention to carry out gait rehabilitation training, patient Jian Zhi foot is positioned on strong limb side foot fixing device 221, and it is fixing, the shank that strong limb side shank holding device 222 and patient are good for limb is connected, strong limb side thigh holding device 226 is good for limb thigh with patient and is connected, and on the right side of patient, oxter is supported in oxter, strong limb side support bar 32.Patient's suffering limb foot is placed on suffering limb side foot fixing device 513, foot front end is positioned in suffering limb batter portion fixed mechanism 58, patient's suffering limb shank is connected with suffering limb Ce little leg restraint gear 57, patient's suffering limb thigh is connected with suffering limb Ce great leg restraint gear 54, and on the left of patient, oxter is supported in oxter, suffering limb side support bar 41.
In training process, patient is good for limb active exercise, strong limb joint kinematic parameter detection system 22 is followed patient and is good for limb and moves together, detection is hip joint angular displacement sensor 229 in hip joint 228, to detect be knee angle displacement transducer 225 in knee joint 224 and to detect be that ankle joint angular displacement sensor 2215 in ankle joint 2214 detects the kinematic parameter that patient is good for the associated joint of limb in real time, and sets up gait pattern.A force transducer 2211 and the interaction force between No. two force transducer 2213 perception original place pedestrian systems 21 and strong limb joint kinematic parameter detection system 22, after obtaining this information, strong limb side exoskeleton system servomotor 216 and MR damper 219 synergy, at the swing phase time of body gait, compensate the gravity of original place pedestrian system 21, at the support phase time of body gait, provide the interaction force on human body lower limbs and ground.
Thigh rear end force checking device 541 in described suffering limb side exoskeleton system 5, thigh front end force checking device 542, shank front end force checking device 571, shank rear end force checking device 572, foot's upper end force checking device 581 and foot's lower end force checking device 582 detect the interaction force of patient's suffering limb and suffering limb side exoskeleton system 5 in real time, application suffering limb side hip joint servomotor 592, suffering limb side knee joint servomotor 5101, encoder in suffering limb side ankle joint servomotor 5111 obtains the kinematic parameter of patient's suffering limb associated joint, and compared with the gait pattern of strong limb, when patient's suffering limb can autonomic movement time, suffering limb side hip joint servomotor 592, suffering limb side knee joint servomotor 5101, suffering limb side ankle joint servomotor 5111 is according to thigh rear end force checking device 541, thigh front end force checking device 542, shank front end force checking device 571, shank rear end force checking device 572, the information that foot's upper end force checking device 581 and foot's lower end force checking device 582 obtain, drives each joint motions, makes suffering limb side ectoskeleton follow the motion of patient's suffering limb.When patient can not complete rehabilitation training, suffering limb side hip joint servomotor 592, suffering limb side knee joint servomotor 5101, suffering limb side ankle joint servomotor 5111 drive each joint motions, make suffering limb side exoskeleton system 5 drive patient's suffering limb to move, complete rehabilitation training.
The present invention does not address part and is applicable to prior art.

Claims (1)

1. an external skeleton type gait rehabilitation training devices, mainly comprises support, strong limb side exoskeleton system, strong oxter, limb side supporting mechanism, suffering limb side oxter supporting mechanism and suffering limb side exoskeleton system;
Described support comprises rack body, strong limb side link and suffering limb side link;
Described strong limb side exoskeleton system is good for limb joint kinematic parameter detection system by the original place pedestrian system and exoskeleton-type with plane four bar structure and is formed; Described original place pedestrian system comprises supporting plate, lower link, vertical connecting rod, outer support bar, inner bracing piece, strong limb side exoskeleton system servomotor, supporting bar connector, decelerator, antivibrator, strong limb side substrate and axle; Described outer support bar, inner bracing piece, lower link and vertical connecting rod form a quadric chain by supporting bar connector and strong limb side substrate, and strong limb side substrate is the frame of this four-bar mechanism; Wherein, outer support bar, inner bracing piece and supporting bar connector are connected; Strong limb side exoskeleton system servomotor is connected with decelerator, and the outfan of decelerator is connected with MR damper shell; Strong limb side exoskeleton system servomotor and antivibrator are as the executive component of original place pedestrian system, motion for four-bar linkage provides driving moment or antivibrator moment, driving moment is in order to compensate the gravity of original place pedestrian system, and damping torque is in order to simulate the horizontal applied force of human foot and ground; Supporting plate and lower link are connected, and the athletic posture of supporting plate is consistent with lower link, all the time with ground keeping parallelism; Strong limb side substrate and support are connected by strong limb side link;
Described exoskeleton-type is good for limb joint kinematic parameter detection system and is comprised strong limb side foot fixing device, strong limb side shank holding device, calf plate, detection system ankle joint, knee angle displacement transducer, strong limb side thigh holding device, thigh plate, detection system hip joint, hip joint angular displacement sensor, U-shaped connector, force transducer, slide block, No. two force transducers and a detection system ankle joint, described detection system hip joint is installed on described axle, and can rotate around this axle, detection system hip joint is provided with hip joint angular displacement sensor, thigh plate upper end is connected with detection system hip joint, lower end is connected with calf plate by detection system knee joint, detection system knee joint is provided with knee angle displacement transducer, strong limb side thigh holding device is installed on thigh plate, strong limb side shank holding device is installed on calf plate, calf plate is connected with strong limb side foot fixing device by detection system ankle joint, strong limb side foot fixing device and blade contacts, and it is separable, detection system ankle joint is connected with slide block by U-shaped connector, a force transducer and No. two force transducers are installed therebetween, slide block can slide up and down along outer support bar and inner bracing piece, detection system ankle joint and U-shaped connector can relatively rotate,
Oxter, described strong limb side supporting mechanism comprises strong limb side handwheel and oxter, strong limb side support bar;
Oxter, described suffering limb side supporting mechanism comprises suffering limb side handwheel and oxter, suffering limb side support bar; Strong limb side handwheel is in order to regulate the height of oxter, strong limb side support bar, and suffering limb side handwheel is in order to regulate the height of oxter, suffering limb side support bar;
Described suffering limb side exoskeleton system comprises inner thighs plate, suffering limb side substrate, lateral thigh plate, suffering limb Ce great leg restraint gear, inner side calf plate, outside calf plate, suffering limb Ce little leg restraint gear, suffering limb batter portion fixed mechanism, suffering limb side hip joint, suffering limb side knee joint, suffering limb side ankle joint, foot's connecting plate, foot support plate, thigh rear end force checking device, thigh front end force checking device, shank front end force checking device, shank rear end force checking device, foot's upper end force checking device, foot's lower end force checking device, suffering limb side hip joint servomotor, suffering limb side hip joint decelerator, suffering limb side knee joint servomotor, suffering limb side knee joint decelerator, suffering limb side ankle joint servomotor and suffering limb side ankle joint decelerator, described suffering limb side substrate is connected by suffering limb side link and support, suffering limb side hip joint and suffering limb side substrate are connected, inner thighs plate is connected with suffering limb side hip joint with the upper end of lateral thigh plate, lower end is connected with suffering limb side is kneed, inner side calf plate is connected with suffering limb side is kneed with the upper end of outside calf plate, lower end is connected with suffering limb side ankle joint, and foot's connecting plate one end is connected with suffering limb side ankle joint, and the other end and foot support plate are connected, described suffering limb Ce great leg restraint gear is installed on inner thighs plate, thigh rear end force checking device and thigh front end force checking device are installed on the two ends of suffering limb Ce great leg restraint gear respectively, suffering limb Ce little leg restraint gear is installed on inner side calf plate, shank front end force checking device and shank rear end force checking device are installed on the two ends of suffering limb Ce little leg restraint gear respectively, suffering limb batter portion fixed mechanism is installed on foot support plate, and foot's upper end force checking device and foot's lower end force checking device are installed on the two ends up and down of suffering limb batter portion fixed mechanism respectively, described suffering limb side hip joint servomotor is connected with suffering limb side hip joint decelerator, and suffering limb side knee joint servomotor is connected with suffering limb side knee joint decelerator, and suffering limb side ankle joint servomotor is connected with suffering limb side ankle joint decelerator.
CN201310484383.XA 2013-10-16 2013-10-16 External skeleton type gait rehabilitation training device CN103505342B (en)

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