CN104069619A - Rehabilitative walking exerciser - Google Patents
Rehabilitative walking exerciser Download PDFInfo
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- CN104069619A CN104069619A CN201410321345.7A CN201410321345A CN104069619A CN 104069619 A CN104069619 A CN 104069619A CN 201410321345 A CN201410321345 A CN 201410321345A CN 104069619 A CN104069619 A CN 104069619A
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- support member
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- walking
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Abstract
The invention relates to a rehabilitative walking exerciser. The rehabilitative walking exerciser comprises a body weight-avoiding device (11) and a walking control device (13); the body weight-avoiding device (11) comprises a seat (111) and a first supporting piece (112); the seat (111) is connected with the near end of the first supporting piece (112), the far end of the first supporting piece (112) is connected with a supporting mechanism (15), and the first supporting piece (112) is capable of sliding up and down on the supporting mechanism (15). The supporting mechanism (15) is vertically fixed on the frame of the walking control device (13); the walking control device (13) comprises a left track (131) and a right track (131), the two of which are separated on the left and right sides; the running speeds of the left track and the right track can be controlled separately. During the rehabilitative exercise of lower limbs, the rehabilitative walking exerciser is capable of reducing the body burden of a patient and improving the rehabilitation efficacy.
Description
Technical field
The application relates to a kind of rehabilitation walking movement apparatus.
Background technology
The handicapped patient of the shanks such as hemiplegia, in order to recover leg function, need to carry out limbs and resume training, to prevent muscular atrophy.Due to patient's shank obstacle, can not train by complete independently limbs, must be helped carry out by other people, it has not only increased other people burden, but also will consume a large amount of muscle power of patient, greatly reduces recovery effects.And the existing apparatus for lower limb rehabilitation also lacks alleviating the consideration of patient body burden, cause rehabilitation efficacy slow.
For addressing the above problem, the invention provides a kind of rehabilitation walking movement apparatus, it has not only solved the problem that alleviates patient body burden, has also improved the security of device.
Summary of the invention
The present invention relates to a kind of rehabilitation walking movement apparatus, comprise health exempt from refitting put and walking control device; Health is exempted from refitting and is put and comprise seat and the first support member, and seat is connected with the near-end of the first support member, and the far-end of the first support member is connected with supporting mechanism, and the first support member can slide up and down on supporting mechanism; Described supporting mechanism is vertically fixed on the framework of walking control device; Walking control device comprises left crawler belt and the right-hand track chiain that left and right is separated, and the speed of service of described left crawler belt and described right-hand track chiain can be controlled respectively.
The patient of hemiplegia is in carrying out during rehabilitation training, and health is exempted from refitting and put a part of body weight that supports patient by the form of seat, alleviates the burden of shank.And health is exempted from the gait of heavy-duty machine structure also can walk about along with health time and is provided supplemental support to patient's health, reduces the burden of shank, realizes the effect of rehabilitation.
The present invention adopt two can difference speed governing crawler belt, secondary analog patient's walking forward travel state.By the mode of using 2 crawler belts to control respectively, according to the patient left and right different speed of travel of leg, control rehabilitation machine, the rehabilitation goal reaching.
The first support member of the present invention can comprise transversal stretching mechanism, the lateral attitude with adjusting seat with respect to patient; And the near-end of support member is connected with being connected to of seat is collapsible so that seat can be to the direction of supporting mechanism folding retraction; It makes seat can be applicable to the patient of different demands, improves the hommization of rehabilitation walking movement apparatus.
Seat of the present invention also can be connected with the near-end of the first support member by support bar, and support bar is vertically connected slidably with the first support member, and it makes the adjusting of height of seat gradable, so that regulate, becomes more meticulous.
Rehabilitation walking movement apparatus of the present invention also can comprise waist fixture, and waist fixture comprises support ring and the second support member; Support ring comprises bulb, and the near-end of the second support member comprises the groove mating with bulb, and support ring is fixed and is connected with this groove by bulb with the near-end of the second support member, and bulb can be up and down in this groove, freely rotate left and right; The far-end of the second support member is connected with described supporting mechanism, and the second support member can slide up and down on described supporting mechanism.
Support ring of the present invention also can comprise that the C shape of being made by elastomeric material is encircled, and C shape ring can be expanded to a certain extent and shrink according to the size of patient's waist, and to clamp patient's waist, bulb is fixedly connected with the middle part of C shape ring by connecting rod.
The C shape ring of support ring of the present invention also can be substituted by U-shaped structure, and U-shaped structure comprises left and right pole, cross bar and left and right supporting pad; Left and right supporting pad is fixedly connected on respectively left and right pole, and left and right pole can be slided respectively on cross bar, and bulb is fixedly connected with the middle part of cross bar by connecting rod.
Waist fixed mechanism is by ergonomics, patient's health to be carried out to systematicness to measure, and for the physical qualification that uses patient, carries out most suitable fixing, and supports patient's health.And by the mode that swings and rotate waist, adjust patient's center of gravity, auxiliary patient realizes the walking action that steps leg, carries out walking rehabilitation training.
The second support member of the present invention can comprise transversal stretching mechanism, and to regulate support ring with respect to patient's lateral attitude, it makes C shape ring or U-shaped structure can be applicable to the patient of different demands, improves the hommization of rehabilitation walking movement apparatus.
Rehabilitation walking movement apparatus of the present invention also can comprise the vision gait prompt system that is positioned at patient the place ahead, and described gait prompt system comprises display, human-computer interaction device and controller; Wherein, display can show patient's walking in real time, and human-computer interaction device can arrange respectively the speed of service of left crawler belt and right-hand track chiain, and controller can be controlled respectively the speed of service of left crawler belt and right-hand track chiain.Described controller also can regulate the speed of service of left crawler belt and right-hand track chiain automatically according to patient's walking.
Patient stands in and can control respectively left and right leg walking speed, and controller can be monitored the speed that leg different walking state in patient left and right regulates respectively left and right crawler belt according to gait pattern, meets the demand that adapts to patient self left and right difference.With Time Controller, can intelligence regulate the coordinated movement of various economic factors of each driving joint, with meet between different patients or the different recovery period of same patient between difference demand.Meanwhile, this rehabilitation walking movement apparatus can provide patient's walking states in each joint when walking on display, realizes the intelligent interaction between patient and rehabilitation walking movement apparatus, improves the effect of rehabilitation training in the situation that guaranteeing security.
In addition, rehabilitation walking movement apparatus of the present invention also can comprise the hand steered device that is positioned at patient the place ahead, to improve the security of Rehabilitation training.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of rehabilitation walking movement apparatus overall arrangement.
Fig. 2 is the side view of rehabilitation walking movement apparatus.
Fig. 3 is that health is exempted from the seat put of refitting and the connection diagram of support member.
Fig. 4 a is the schematic diagram of the support ring of waist fixture.
Fig. 4 b is another embodiment of the support ring of waist fixture.
Fig. 5 is the front view of rehabilitation walking movement apparatus.
The specific embodiment
The rehabilitation walking movement apparatus 1 according to exemplary of the present invention has been shown in Fig. 1-5.Rehabilitation walking movement apparatus 1 comprises that health exempts from that refitting puts 11, walking control device 13, and health is exempted from refitting and put the health of 11 couples of patient P and support, to reduce the lower limb burden of patient when carrying out physical rehabilitation training.Health is exempted from refitting and is put 11 and comprise seat 111 and support member 112 (referring to Fig. 2); Seat 111 is connected with the near-end of support member 112, and health is exempted from refitting and put 11 by seat 111 support patients' part body weight, alleviates the burden of shank; And health is exempted from refitting and is put 11 gaits also can walk about along with health time and provide supplemental support to patient's health; The far-end of support member 112 is connected with vertical supporting mechanism 15; Support member 112 can slide up and down on supporting mechanism 15, to adjust health, exempt from the distance that 11 vertical directions are put in refitting, health is exempted from refitting and is put 11 and also comprise locking mechanism (not shown), with in the vertical direction, support member 112 is locked in to a certain select location of supporting mechanism 15, as the locking mechanism being clasped etc.Support member 112 also can comprise transversal stretching mechanism (not shown), lateral attitude with adjusting seat 111 with respect to patient, the near-end of support member 112 with can be folding connection being connected of seat 11, so that seat 111 is not when rehabilitation walking movement apparatus 1 uses or do not need the support of seat 111, to the folding retraction seat 111 of direction of supporting mechanism 15.Seat 111 also can vertically be connected (referring to Fig. 3) with the near-end of support member 112 slidably by support bar 113, after slidable adjustment support member 112 on supporting mechanism 15, the position of fine setting seat 111 in the vertical directions that are slidably connected by 112 of support bar 113 and support members.Supporting mechanism 15 is vertically fixedly connected on the framework of walking control device 13.
Walking control device 13 can make left and right leg control respectively, and it comprises crawler belt 131, drive unit, checkout gear and controller that left and right is separated.The motion of crawler belt 131 is driven by the drive unit with motor, and it belongs to prior art, repeats no more here; The speed of left and right crawler belt 131 can otherness regulate, and it is controlled by controller.Checkout gear detects the speed of service of crawler belt 131 and time and the strength that pin contacts with crawler belt 131.Controller can be by the walking speed of 2 crawler belts 131 and time and the strength that pin contacts with crawler belt 131, the motion state of each joint of patient (as shank, waist) while inferring walking, regulate respectively the speed of left and right crawler belt 131, to meet the demand of patient self left and right difference, and control waist fixture 12 and health and exempt from refitting and put 11 and assist patient to carry out rehabilitation ambulation training.
Rehabilitation walking movement apparatus 1 also can comprise waist fixture 12, to support patient's health.Waist fixture 12 comprises support ring 121 and support member 122 (referring to Fig. 2), and support ring 121 is connected with the near-end of support member 122, and waist fixture 12 is fixed to patient's waist by support ring 121; As shown in Fig. 4 a, support ring 121 comprises C shape ring 1211, bulb 1212, and bulb 1212 is connected with the middle part of C shape ring 1211 by connecting rod; The near-end of support member 122 comprises the groove mating with bulb 1212, and support ring 121 is fixed and is connected with this groove by bulb 1212 with the near-end of support member 122, and bulb 1212 can be up and down in this groove, freely rotate left and right.C shape ring 1211 is made by elastomeric material, and it can be expanded to a certain extent and shrink according to the size of patient's waist.C shape ring 1211 also can be replaced by U-shaped structure 1213, as Fig. 4 b.U-shaped structure 1213 comprises left and right pole 1214, cross bar 1215 and left and right supporting pad 1216.Left and right pole 1214 can be slided on cross bar 1215, the distance of 1214 of left and right poles is arranged in suitable scope according to patient's waist size; Left and right supporting pad 1216 is fixedly connected on left and right pole 1214, and is supported on patient's waist, and it can be cushion, to increase patient's comfortableness.The connecting rod of support ring 121 is arranged on the middle part of cross bar 1215.The far-end of support member 122 is connected with vertical supporting mechanism 15; Support member 122 can slide up and down on supporting mechanism 15, to adjust the distance of waist fixture 12 vertical directions, waist fixture 12 also comprises locking mechanism (not shown), with in the vertical direction, support member 122 is locked in to a certain select location of supporting mechanism 15, as the locking mechanism being clasped etc.Support member 122 also can comprise transversal stretching mechanism (not shown), to regulate support ring 121 with respect to patient's lateral attitude.Support member 122 can be around its axle rotation.
Rehabilitation walking movement apparatus 1 also can comprise the vision gait prompt system 14 that is positioned at patient P the place ahead, gait prompt system 14 comprises display, human-computer interaction device and controller, wherein, display can be touch display, human-computer interaction device can be membrane keyboard, and the controller of the controller of gait prompt system 14 and walking control device 13 can be same.The walking that the time that controller can contact with crawler belt by the speed of service and the pin of left and right crawler belt 131 and strength are inferred patient, and set up the gait pattern of human body; Display can be pointed out by the motion of real-time demonstration gait pattern patient's walking state.The speed of crawler belt 131 can be controlled by operation human-computer interaction device by doctor or patient, also can by controller, according to gait pattern monitoring patient's the different walking state of left and right leg, be regulated respectively the speed of left and right crawler belt 131, meet the demand that adapts to patient self left and right difference.
Rehabilitation walking movement apparatus 1 also can comprise hand steered device, and it is positioned at the place ahead that patient stands, so that patient carries out when carrying out walking rehabilitation training is hand steered, thereby supports patient.
In use, two pin of hemiplegic patient P stand on respectively on left and right crawler belt 131, the buttocks of patient P rides on seat 111, and the height of seat 111 and extension elongation can be by the adjusting of support member 112 is realized, and the waist of patient P is supported by waist fixture 12.The initial velocity of left and right crawler belt 131 can be regulated by gait prompt system 14 by doctor or patient, in the running of rehabilitation walking movement apparatus, the walking that the speed of service of the left and right crawler belt 131 that controller detects according to checkout gear and the time that pin contacts with crawler belt and strength are inferred patient, and set up the gait pattern of human body, gait pattern shows on the display of gait prompt system 14, patient P adjusts walking according to the gait pattern showing in real time, with the speed of service of the corresponding adjustment of Time Controller left and right crawler belt 131.In addition, the speed of service of left and right crawler belt 131 also can be switched to by doctor or patient and be regulated respectively as required by the automatic adjusting of controller.
The patient of hemiplegia carries out in during rehabilitation training, health exempts to reset to put patient's health is supported, when reducing patient's lower limb burden, the walking rule that the mode of waving by waist fixture helps patient to simulate normal person is carried out rehabilitation training, reach exercise lower limb muscles, recover the control ability of nervous system to locomotor activity, recover the motor function of lower limb.In addition, the walking speed of left and right leg is controlled respectively in meeting of the present invention according to the walking state of patient left and right leg, avoids the danger such as patient falls down in during rehabilitation training.Meanwhile, by visual manner, to patient, provide the prompting of walking state, improve the effect of rehabilitation training.
Claims (10)
1. a rehabilitation walking movement apparatus, it comprises that health exempts from refitting and put (11) and walking control device (13); Health is exempted from refitting and is put (11) and comprise seat (111) and the first support member (112), seat (111) is connected with the near-end of the first support member (112), the far-end of the first support member (112) is connected with supporting mechanism (15), and the first support member (112) can slide up and down on supporting mechanism (15); Described supporting mechanism (15) is vertically fixed on the framework of walking control device (13); Walking control device (13) comprises left crawler belt (131) and the right-hand track chiain (131) that left and right is separated, and the speed of service of described left crawler belt and described right-hand track chiain can be controlled respectively.
2. rehabilitation walking movement apparatus according to claim 1, it is characterized in that, the first support member (112) comprises transversal stretching mechanism, lateral attitude with adjusting seat (111) with respect to patient, the collapsible connection that be connected to of the near-end of the first support member (112) and seat (11) so that seat (111) can be to the direction of supporting mechanism (15) folding retraction.
3. rehabilitation walking movement apparatus according to claim 2, it is characterized in that, seat (111) is connected with the near-end of the first support member (112) by support bar (113), and support bar (113) is vertically connected slidably with the first support member (112).
4. according to the rehabilitation walking movement apparatus described in any one in claim 1-3, it is characterized in that, also comprise waist fixture (12), waist fixture (12) comprises support ring (121) and the second support member (122); Support ring (121) comprises bulb (1212), the near-end of the second support member (122) comprises the groove mating with bulb (1212), support ring (121) is fixed and is connected with this groove by bulb (1212) with the near-end of the second support member (122), and bulb (1212) can be up and down in this groove, freely rotate left and right; The far-end of the second support member (122) is connected with described supporting mechanism (15), and the second support member (122) can slide up and down on described supporting mechanism (15).
5. rehabilitation walking movement apparatus according to claim 4, it is characterized in that, support ring (121) also comprises the C shape ring (1211) of being made by elastomeric material, C shape ring (1211) can be expanded to a certain extent and shrink according to the size of patient's waist, with clamping patient's waist, bulb (1212) is fixedly connected with the middle part of C shape ring (1211) by connecting rod.
6. rehabilitation walking movement apparatus according to claim 4, it is characterized in that, support ring (121) also comprises U-shaped structure (1213), and U-shaped structure (1213) comprises left and right pole (1214), cross bar (1215) and left and right supporting pad (1216); Left and right supporting pad (1216) is fixedly connected on respectively left and right pole (1214), left and right pole (1214) can be respectively in the upper slip of cross bar (1215), and bulb (1212) is fixedly connected with the middle part of cross bar (1215) by connecting rod.
7. rehabilitation walking movement apparatus according to claim 4, is characterized in that, the second support member (122) comprises transversal stretching mechanism, to regulate support ring (121) with respect to patient's lateral attitude.
8. according to the rehabilitation walking movement apparatus described in any one in claim 1-2,5-7, it is characterized in that, also comprise the vision gait prompt system (14) that is positioned at patient the place ahead, described gait prompt system (14) comprises display, human-computer interaction device and controller; Wherein, display can show patient's walking in real time, human-computer interaction device can arrange respectively the speed of service of left crawler belt (131) and right-hand track chiain (131), and controller can be controlled respectively the speed of service of left crawler belt (131) and right-hand track chiain (131).
9. rehabilitation walking movement apparatus according to claim 8, is characterized in that, described controller regulates the speed of service of left crawler belt (131) and right-hand track chiain (131) automatically according to patient's walking.
10. according to the rehabilitation walking movement apparatus described in any one in claim 1-9, it is characterized in that, also comprise the hand steered device that is positioned at patient the place ahead.
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| CN201410321345.7A CN104069619B (en) | 2014-06-28 | 2014-06-28 | Rehabilitative walking exerciser |
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| CN201410321345.7A CN104069619B (en) | 2014-06-28 | 2014-06-28 | Rehabilitative walking exerciser |
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| CN104069619B CN104069619B (en) | 2017-05-10 |
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Cited By (5)
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| CN104740830A (en) * | 2015-03-30 | 2015-07-01 | 王春宝 | Walking training device integrating upper trunk coordinate exercise |
| CN106236516A (en) * | 2016-08-24 | 2016-12-21 | 周科言 | A kind of patient of help walk recover exercise apparatus |
| CN106236511A (en) * | 2016-08-31 | 2016-12-21 | 漫步者（天津）康复设备有限公司 | Loss of weight gait image training robot |
| CN110025459A (en) * | 2019-04-25 | 2019-07-19 | 王翠霞 | A kind of intelligence apoplexy lower limb rehabilitation system |
| CN113317967A (en) * | 2020-02-12 | 2021-08-31 | 丰田自动车株式会社 | Walking training device, control method thereof, and computer-readable medium |
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