CN104069619B - Rehabilitative walking exerciser - Google Patents
Rehabilitative walking exerciser Download PDFInfo
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- CN104069619B CN104069619B CN201410321345.7A CN201410321345A CN104069619B CN 104069619 B CN104069619 B CN 104069619B CN 201410321345 A CN201410321345 A CN 201410321345A CN 104069619 B CN104069619 B CN 104069619B
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- support member
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- walking movement
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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 is related to a kind of rehabilitation walking movement apparatus.
Background technology
The handicapped patient in the legs such as hemiplegia needs to carry out limbs to resume training to recover leg function, to prevent flesh
Meat atrophy.Due to the leg obstacle of patient, it is impossible to which complete independently limbs are trained, it is necessary to helped carry out by other people, it not only increases
Other people bear, but also to consume a large amount of muscle power of patient, greatly reduce recovery effects.And it is existing for lower limb rehabilitation
Apparatus also lack to mitigate patient body burden consideration, cause rehabilitation efficacy slow.
To solve the above problems, the invention provides a kind of rehabilitation walking movement apparatus, it not only solves mitigation patient
The problem of body burden, also improves the security of device.
The content of the invention
The present invention relates to a kind of rehabilitation walking movement apparatus, including body is exempted from refitting and is put and gait stability control device；Body is exempted from
Refitting is put including seat and the first support member, and seat is connected with the near-end of the first support member, distal end and the support of the first support member
Mechanism connects, and the first support member can be slided up and down on supporting mechanism；The supporting mechanism is vertically fixed on gait stability control device
Framework on；Gait stability control device includes the fortune of the detached left crawler belt in left and right and right-hand track chiain, the left crawler belt and the right-hand track chiain
Scanning frequency degree can be individually controlled.
The patient of hemiplegia in rehabilitation training is carried out, exempt to reset to put and support the one of patient by the form of seat by body
Part body weight is mitigating the burden of leg.And body exempts from the body that heavy-duty machine structure can also be with gait when body is walked about to patient
Body provided auxiliary supports to reduce the burden of leg, realizes the effect of rehabilitation.
The present invention using two can difference speed governing crawler belt, secondary analog patient's walking forward travel state.By using 2 crawler belts
The mode for controlling respectively, controls rehabilitation machine, the rehabilitation goal for reaching according to the different speed of travel of patient or so leg.
First support member of the present invention may include transversal stretching mechanism, to adjust lateral attitude of the seat relative to patient；
And the near-end of support member and the connection of seat are foldable connection, so as to seat can be folded to the direction of supporting mechanism retract；
It enables seat to be applied to the patient of different demands, improves the hommization of rehabilitation walking movement apparatus.
The seat of the present invention can be also connected by support bar with the near-end of the first support member, and support bar and the first support member are perpendicular
Directly it is slidably connected, it makes the regulation of height of seat gradable, so as to adjust become more meticulous.
The rehabilitation walking movement apparatus of the present invention may also include waist fixing device, waist fixing device include support ring and
Second support member；Support ring includes bulb, and the near-end of the second support member includes groove match with bulb, support ring and second
Support member is fixedly connected proximally by bulb and the groove, bulb in the groove can up and down, or so freely rotate；The
The distal end of two support members is connected with the supporting mechanism, and the second support member can be slided up and down on the supporting mechanism.
The support ring of the present invention may also include the C-shaped ring by made by elastomeric material, and C-shaped ring can be according to the size of patient's waist
It is extended to a certain extent and shrinks, to clamp the waist of patient, bulb is fixed with the middle part of C-shaped ring by connecting rod and connected
Connect.
The C-shaped ring of the support ring of the present invention can also be substituted by U-shaped structure, and U-shaped structure includes left and right pole, cross bar and left and right
Supporting pad；Left and right supporting pad is respectively fixedly connected with left and right pole, and left and right pole can be slided respectively on cross bar, and bulb is by connecting
Extension bar is fixedly connected with the middle part of cross bar.
Waist fixed mechanism is to carry out systemic measurement to the body of patient by ergonomics, for the body using patient
Concrete conditions in the establishment of a specific crime carries out most suitable fixation to support the body of patient.And by way of swinging and rotating waist, adjustment
The center of gravity of patient, aids in patient to realize the walking action for stepping leg carrying out walking rehabilitation training.
Second support member of the present invention may include transversal stretching mechanism, to adjust horizontal position of the support ring relative to patient
Put, it enables C-shaped ring or U-shaped structure to be applied to the patient of different demands, improves the hommization of rehabilitation walking movement apparatus.
The rehabilitation walking movement apparatus of the present invention may also include the vision gait prompt system in front of patient, the step
State prompt system includes display, human-computer interaction device and controller；Wherein, display can real time patient walking appearance
State, human-computer interaction device can be respectively provided with the speed of service of left crawler belt and right-hand track chiain, and controller can respectively control left crawler belt and the right side
The speed of service of crawler belt.The controller can also automatically adjust the operation speed of left crawler belt and right-hand track chiain according to the walking of patient
Degree.
Patient stands can respectively control left and right leg walking speed, and controller can monitor patient or so leg according to gait pattern
Different ambulatory status meet the demand for adapting to patient itself left and right difference adjusting the speed of left and right crawler belt respectively.Same time control
Device processed can Intelligent adjustment each drive diarthrodial coordinated movement of various economic factors, to meet between different patients or between same patient difference recovery period
Difference demand.Meanwhile, the rehabilitation walking movement apparatus can over the display provide patient's walking in each joint in walking
State, realizes the intelligent interaction between patient and rehabilitation walking movement apparatus, and rehabilitation instruction is improved in the case where security is ensured
Experienced effect.
In addition, the rehabilitation walking movement apparatus of the present invention may also include the hand steered device in front of patient, to improve trouble
The security of person's rehabilitation training.
Description of the drawings
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 body exempts to reset the connection diagram of the seat and support member put.
Fig. 4 a are the schematic diagrames of the support ring of waist fixing device.
Fig. 4 b are another embodiments of the support ring of waist fixing device.
Fig. 5 is the front view of rehabilitation walking movement apparatus.
Specific embodiment
Fig. 1-5 illustrates rehabilitation walking movement apparatus 1 in accordance with an exemplary embodiment of the invention.Rehabilitation walking movement
Apparatus 1 is exempted from refitting and puts 11, gait stability control device 13 including body, and body is exempted to reset the body for putting 11 couples of patient P and is supported, with
Reducing patient is carrying out lower limb burden when physical rehabilitation is trained.Body is exempted from refitting and puts 11 including seat 111 and support member 112
(referring to Fig. 2)；Seat 111 is connected with the near-end of support member 112, and body is exempted to reset and puts 11 portions that patient is supported by seat 111
Split weight is mitigating the burden of leg；And body exempts to reset and puts 11 bodies that can also be with gait when body is walked about to patient
Body provided auxiliary is supported；The distal end of support member 112 is connected with vertical supporting mechanism 15；Support member 112 can be on supporting mechanism 15
Slide up and down, exempt to reset the distance for putting 11 vertical directions to adjust body, body exempts from refitting and put 11 also (not show including locking mechanism
Go out), with a certain select location that support member 112 is locked in the vertical direction supporting mechanism 15, the locking being such as clasped
Mechanism etc..Support member 112 may also comprise transversal stretching mechanism (not shown), to adjust horizontal position of the seat 111 relative to patient
Put, the near-end of support member 112 can be to fold connection, so that seat 111 is in rehabilitation walking movement apparatus 1 with the connection of seat 111
When being not used or not needing the support of seat 111, to the direction of supporting mechanism 15 retraction seat 111 is folded.Seat 111 can also lead to
Cross support bar 113 and be vertically slidably connected (referring to Fig. 3) with the near-end of support member 112, adjusted with sliding on supporting mechanism 15
After section support member 112, by the position of the fine setting in the vertical direction of seat 111 that is slidably connected between support bar 113 and support member 112
Put.Supporting mechanism 15 is vertically fixedly connected on the framework of gait stability control device 13.
Gait stability control device 13 can be such that left and right leg controls respectively, and it includes the detached crawler belt 131, driving means in left and right, inspection
Survey device and controller.The motion of crawler belt 131 is driven by the driving means with motor, and it belongs to prior art, here no longer
Repeat；The speed of left and right crawler belt 131 can otherness adjust, it is by controller control.The operation speed of detection means detection crawler belt 131
Degree and the time and strength of pin and the contact of crawler belt 131.Controller can pass through the walking speed and pin and shoe of 2 crawler belts 131
The motion state in each joint (such as leg, waist) of patient during walking is speculated with 131 times for contacting and strength, respectively
The speed of left and right crawler belt 131 is adjusted, to meet the demand of patient itself left and right difference, and waist fixing device 12 and body is controlled
Exempt from refitting to put 11 to aid in patient to carry out rehabilitation ambulation training.
Rehabilitation walking movement apparatus 1 may also include waist fixing device 12, to support the body of patient.Waist fixing device
12 include 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 fixes dress
Put 12 waists that patient is fixed to by support ring 121；As shown in fig. 4 a, support ring 121 includes C-shaped ring 1211, bulb 1212,
Bulb 1212 is connected by connecting rod with the middle part of C-shaped ring 1211；The near-end of support member 122 includes recessed with what bulb 1212 was matched
Groove, support ring 121 is fixedly connected with support member 122 proximally by bulb 1212 and the groove, and bulb 1212 is recessed at this
In groove can up and down, left and right freely rotate.C-shaped ring 1211 is made up of elastomeric material, and it can be according to the size of patient's waist certain
It is extended in degree and shrinks.C-shaped ring 1211 also can be replaced by U-shaped structure 1213, such as Fig. 4 b.U-shaped structure 1213 includes a left side
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, with according to trouble
Person's waist sizes are arranged on the distance between left and right pole 1214 in suitable scope；Left and right supporting pad 1216 is fixedly connected on a left side
Right pole 1214, and the waist of patient is supported on, it can be cushion, to increase the comfortableness of patient.The connecting rod of support ring 121
It is arranged on the middle part of cross bar 1215.The distal end of support member 122 is connected with vertical supporting mechanism 15；Support member 122 can be in the machine of support
Slide up and down on structure 15, to adjust the distance of the vertical direction of waist fixing device 12, waist fixing device 12 also includes locking machine
Structure (not shown), with a certain select location that support member 122 is locked in the vertical direction supporting mechanism 15, is such as clasped
Locking mechanism etc..Support member 122 may also comprise transversal stretching mechanism (not shown), to adjust support ring 121 relative to patient
Lateral attitude.Support member 122 can be rotated about their axes.
Rehabilitation walking movement apparatus 1 may also include the vision gait prompt system 14 in front of patient P, gait prompting system
System 14 includes display, human-computer interaction device and controller, wherein, display can be touch display, and human-computer interaction device can
For membrane keyboard, the controller of gait prompt system 14 and the controller of gait stability control device 13 can be same.Controller can lead to
Cross the speed of service and pin and crawler belt contact of left and right crawler belt 131 time and strength speculating the walking of patient, and build
The gait pattern of vertical human body；Display can point out the ambulatory status of patient by the motion of display gait pattern in real time.Crawler belt
131 speed also can be supervised by controller by doctor or patient by operating human-computer interaction device to control according to gait pattern
Survey the different ambulatory status of left and right leg of patient to adjust the speed of left and right crawler belt 131 respectively, meet and adapt to patient itself left and right
The demand of difference.
Rehabilitation walking movement apparatus 1 may also include hand steered device, and it is located at the front of patient stand, enter in order to patient
Carry out during row walking rehabilitation training it is hand steered, so as to support patient.
When in use, two pin of hemiplegic patient P are stood respectively on left and right crawler belt 131, and the buttocks of patient P rides on present
On chair 111, the height and extension elongation of seat 111 can realize that the waist of patient P is by waist by the regulation to support member 112
Portion's fixing device 12 is supported.The initial velocity of left and right crawler belt 131 can be adjusted by doctor or patient by gait prompt system 14
Section, in the running of rehabilitation walking movement apparatus, the operation speed of the left and right crawler belt 131 that controller is detected according to detection means
The time and strength of degree and pin and crawler belt contact speculates the walking of patient, and sets up the gait pattern of human body, gait
Model shows that patient P adjusts walking according to the real-time gait pattern for showing, together on the display of gait prompt system 14
When controller accordingly adjust the speed of service of left and right crawler belt 131.In addition, the speed of service of left and right crawler belt 131 also can be by controller
Automatically adjust to be switched to and adjusted respectively as needed by doctor or patient.
The patient of hemiplegia is carried out in rehabilitation training, and body exempts to reset and puts the body to patient and be supported, and reduces and suffers from
While person's lower limb are born, the walking rule of patient simulation normal person is helped by way of waist fixing device is waved carries out health
Refreshment is practiced, and reaches exercise muscle, recovers control ability of the nervous system to locomotor activity, recovers the motor function of lower limb.
In addition, the present invention can respectively control the walking speed of left and right leg according to the ambulatory status of patient or so leg, it is to avoid patient is in health
Danger is fallen down etc. in refreshment during practicing.Meanwhile, the prompting of ambulatory status is provided to patient by visual manner, improve rehabilitation
The effect of training.
Claims (10)
1. a kind of rehabilitation walking movement apparatus, it includes that body is exempted from refitting and puts (11) and gait stability control device (13)；Body exempts from weight
Device (11) includes seat (111) and the first support member (112), and seat (111) is connected with the near-end of the first support member (112),
The distal end of the first support member (112) is connected with supporting mechanism (15), and the first support member (112) can be on supporting mechanism (15) up and down
Slide；The supporting mechanism (15) is vertically fixed on the framework of gait stability control device (13)；Gait stability control device (13) includes
The speed of service of the detached left crawler belt (131) in left and right and right-hand track chiain (131), the left crawler belt and the right-hand track chiain can be controlled respectively
System；Characterized in that, rehabilitation walking movement apparatus also includes waist fixing device (12), waist fixing device (12) is including support
Ring (121) and the second support member (122)；The near-end of the second support member (122) is connected with support ring (121), the second support member
(122) distal end is connected with the supporting mechanism (15)；Second support member (122) can rotate around the axle of the second support member (122).
2. rehabilitation walking movement apparatus according to claim 1, it is characterised in that the first support member (112) is including horizontal
Telescoping mechanism, to adjust lateral attitude of the seat (111) relative to patient, near-end and the seat (111) of the first support member (112)
Connection be foldable connection so that seat (111) can to supporting mechanism (15) direction fold retract.
3. rehabilitation walking movement apparatus according to claim 2, it is characterised in that seat (111) is by support bar (113)
It is connected with the near-end of the first support member (112), support bar (113) is vertically slidably connected with the first support member (112).
4. rehabilitation walking movement apparatus according to claim 1, it is characterised in that the support ring (121) is including bulb
(1212), the near-end of the second support member (122) includes the groove matched with the bulb (1212), support ring (121) with second
Support member (122) is fixedly connected proximally by the bulb (1212) and the groove, and the bulb (1212) can in the groove
Up and down, left and right freely rotates；Second support member (122) can be slided up and down on the supporting mechanism (15).
5. rehabilitation walking movement apparatus according to claim 4, it is characterised in that support ring (121) is also included by elasticity
C-shaped ring made by material (1211), C-shaped ring (1211) can to a certain extent be extended and receive according to the size of patient's waist
Contracting, to clamp the waist of patient, bulb (1212) is fixedly connected by connecting rod with the middle part of C-shaped ring (1211).
6. rehabilitation walking movement apparatus according to claim 4, it is characterised in that support ring (121) also includes U-shaped structure
(1213), U-shaped structure (1213) includes left and right pole (1214), cross bar (1215) and left and right supporting pad (1216)；Left and right supports
Pad (1216) is respectively fixedly connected with left and right pole (1214), and left and right pole (1214) can be slided respectively on cross bar (1215),
Bulb (1212) is fixedly connected by connecting rod with the middle part of cross bar (1215).
7. rehabilitation walking movement apparatus according to claim 1, it is characterised in that the second support member (122) is including horizontal
Telescoping mechanism, to adjust lateral attitude of the support ring (121) relative to patient.
8. the rehabilitation walking movement apparatus according to any one of claim 1-7, it is characterised in that also include being located at patient
Vision gait prompt system (14) in front, the gait prompt system (14) is including display, human-computer interaction device and control
Device；Wherein, display can real time patient walking, human-computer interaction device can be respectively provided with left crawler belt (131) and the right side
The speed of service of crawler belt (131), controller can respectively control the speed of service of left crawler belt (131) and right-hand track chiain (131).
9. rehabilitation walking movement apparatus according to claim 8, it is characterised in that walking of the controller according to patient
Attitude automatically adjusts the speed of service of left crawler belt (131) and right-hand track chiain (131).
10. rehabilitation walking movement apparatus according to claim 1, it is characterised in that also include being located at the hand in front of patient
Help device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410321345.7A CN104069619B (en) | 2014-06-28 | 2014-06-28 | Rehabilitative walking exerciser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410321345.7A CN104069619B (en) | 2014-06-28 | 2014-06-28 | Rehabilitative walking exerciser |
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| Publication Number | Publication Date |
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| CN104069619A CN104069619A (en) | 2014-10-01 |
| CN104069619B true CN104069619B (en) | 2017-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410321345.7A Active CN104069619B (en) | 2014-06-28 | 2014-06-28 | Rehabilitative walking exerciser |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104740830A (en) * | 2015-03-30 | 2015-07-01 | 王春宝 | Walking training device integrating upper trunk coordinate exercise |
| CN108939432A (en) * | 2016-08-24 | 2018-12-07 | 周科言 | A kind of exercise device for helping patient's walking to restore |
| CN106236511B (en) * | 2016-08-31 | 2019-03-01 | 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 |
| JP7314829B2 (en) * | 2020-02-12 | 2023-07-26 | トヨタ自動車株式会社 | Walking training device and its control method and program |
| CN111632364A (en) * | 2020-05-26 | 2020-09-08 | 中国医学科学院北京协和医院 | Rehabilitation robot |
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| CN101530367A (en) * | 2009-04-21 | 2009-09-16 | 清华大学 | Unweighting walking rehabilitation training robot |
| CN203291184U (en) * | 2013-06-03 | 2013-11-20 | 南京信息工程大学 | Intelligent human body gait rehabilitation training device |
| CN203989711U (en) * | 2014-06-28 | 2014-12-10 | 张博 | Rehabilitation walking movement apparatus |
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| CN201469972U (en) * | 2009-07-07 | 2010-05-19 | 王连春 | Elasticity abdomen hardening chair |
| US7717830B1 (en) * | 2009-10-01 | 2010-05-18 | Dynamic Fitness Equipment, Llc | Exercise device |
| KR101277253B1 (en) * | 2011-11-24 | 2013-06-26 | 주식회사 피앤에스미캐닉스 | Walking training apparatus |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101530367A (en) * | 2009-04-21 | 2009-09-16 | 清华大学 | Unweighting walking rehabilitation training robot |
| CN203291184U (en) * | 2013-06-03 | 2013-11-20 | 南京信息工程大学 | Intelligent human body gait rehabilitation training device |
| CN203989711U (en) * | 2014-06-28 | 2014-12-10 | 张博 | Rehabilitation walking movement apparatus |
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