CN104083268A - Wearable intelligent hemiplegia lower limb rehabilitation training robot - Google Patents
Wearable intelligent hemiplegia lower limb rehabilitation training robot Download PDFInfo
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- CN104083268A CN104083268A CN201410335941.0A CN201410335941A CN104083268A CN 104083268 A CN104083268 A CN 104083268A CN 201410335941 A CN201410335941 A CN 201410335941A CN 104083268 A CN104083268 A CN 104083268A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 21
- 206010019468 Hemiplegia Diseases 0.000 title abstract 5
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 210000001624 hip Anatomy 0.000 claims abstract description 39
- 210000000629 knee joint Anatomy 0.000 claims abstract description 33
- 210000000689 upper leg Anatomy 0.000 claims abstract description 29
- 210000001699 lower leg Anatomy 0.000 claims abstract description 25
- 210000002683 foot Anatomy 0.000 claims abstract description 21
- 210000004394 hip joint Anatomy 0.000 claims abstract description 20
- 210000003423 ankle Anatomy 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 210000002414 leg Anatomy 0.000 claims abstract description 8
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 23
- 230000035876 healing Effects 0.000 claims description 15
- 230000003387 muscular Effects 0.000 claims description 9
- 230000003183 myoelectrical effect Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract 1
- 238000011156 evaluation Methods 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 description 22
- 230000033001 locomotion Effects 0.000 description 18
- 238000005457 optimization Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000005021 gait Effects 0.000 description 2
- 210000000653 nervous system Anatomy 0.000 description 2
- 230000002096 anti-tetanic effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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Abstract
The invention discloses a wearable intelligent hemiplegia lower limb rehabilitation training robot which comprises foot support mechanisms, leg mechanisms and a waist support mechanism form bottom to top in sequence. The wearable intelligent hemiplegia lower limb rehabilitation training robot is characterized in that each foot support mechanism comprises a foot support and an ankle mechanism connected with the foot support in a transmission mode, each leg mechanism comprises a thigh connecting board and a crus connecting board, each thigh connecting board is connected with the corresponding crus connecting board through a knee joint mechanism, the waist support mechanism comprises a waist support, the waist support is provided with symmetrical upper waist support supports, a hip joint mechanism is arranged between the waist support and each thigh connecting board, and the ankle mechanisms, the knee joint mechanisms and the hip joint mechanisms are connected with one controller which is connected with a sensor detection system. The wearable intelligent hemiplegia lower limb rehabilitation training robot is small in size and convenient to wear and use, can meet the requirement for lower limb rehabilitation training of patients with hemiplegia, has the advantage of being adjustable in speed, pace and stride frequency, and has the functions of collecting, displaying and recording training data and the functions of rehabilitation evaluation and report output.
Description
Technical field
The invention belongs to rehabilitation field of medical, specifically, relate to a kind of wearable intelligent healing hemiplegic lower limb image training robot.
Background technology
Walking is the most basic model of action of the mankind, also be the essential condition that guarantees the independent life of the mankind, when various factors nervous system or motor system go wrong, all can cause human body walking obstacle even to lose walking ability, have a strong impact on the orthobiosis of human body.Healing robot, theoretical and the collaborative robot principle according to rehabilitation medicine, by the walking states control system under a set of computer control, help limbs of patient to carry out rehabilitation training, by active training, passive exercise, impedance training isotype, reach the ability at limbs of patient or some positions that strengthens, the object of rebuilding body function.
Summary of the invention
The technical problem to be solved in the present invention is to overcome above-mentioned defect, a kind of wearable intelligent healing hemiplegic lower limb image training robot is provided, help limbs of patient to carry out rehabilitation training, by active training, passive exercise, impedance training isotype, reach the ability at limbs of patient or some positions that strengthens, the object of rebuilding body function.
For addressing the above problem, the technical solution adopted in the present invention is:
A wearable intelligent healing hemiplegic lower limb image training robot, comprises foot support mechanism, leg mechanism and waist support mechanism from bottom to top successively, it is characterized in that: described foot support mechanism comprises foot holder, and the ankle mechanism being dynamically connected with foot toss; Described leg mechanism comprises thigh connecting plate and shank connecting plate, between thigh connecting plate and shank connecting plate, by knee-joint mechanism, connects; Described waist support mechanism comprises waist holder, is provided with symmetrical waist holder upper bracket in waist holder, and is provided with hip joint mechanism between waist holder and thigh connecting plate; Described ankle mechanism, knee-joint mechanism are connected a controller jointly with hip joint mechanism, and controller is connected with sensor detecting system.
As a kind of technical scheme of optimization, described ankle mechanism comprises the ankle joint being connected between foot holder and shank connecting plate, is provided with ankle joint gear on ankle joint, and ankle joint gear drive connects ankle joint link gear.
Technical scheme as a kind of optimization, described ankle joint link gear comprises parallel and is fixedly connected on the interlock connecting rod on shank connecting plate, the top knee-joint mechanism that is in transmission connection of interlock connecting rod, the bottom of interlock connecting rod is provided with ankle interlock tooth bar, ankle interlock tooth bar engagement ankle joint gear.
Technical scheme as a kind of optimization, described knee-joint mechanism comprises the knee joint motor being arranged on shank connecting plate or thigh connecting plate, knee joint motor-driven is connected with the knee joint cam being arranged on shank connecting plate or thigh connecting plate, and knee joint cam drive connects interlock connecting rod.
As a kind of technical scheme of optimization, on described thigh connecting plate, be provided with length adjustment mechanism; Described length adjustment mechanism comprises the length adjustment plate being arranged on shank connecting plate upper end, and the adjustment fixing plate that is arranged on thigh connecting plate lower end, between length adjustment plate and adjustment fixing plate, is bolted.
As a kind of technical scheme of optimization, described hip joint mechanism comprises the hip joint motor being arranged on waist holder upper bracket, and hip joint motor-driven connects thigh connecting plate.
As a kind of technical scheme of optimization, between described waist holder and waist holder upper bracket, be provided with waistline adjustable plate.
As a kind of technical scheme of optimization, described controller connects knee joint motor and hip joint motor.
As a kind of technical scheme of optimization, described controller comprises host computer and embedded computer, and embedded computer connecting sensor also connects host computer by wireless or wired mode; Institute's sensor detecting system comprises muscular strength sensor, myoelectric sensor, and angular transducer, pull pressure sensor and limit sensors, muscular strength sensor, myoelectric sensor, angular transducer, pull pressure sensor and limit sensors are connected embedded computer jointly.
Owing to having adopted technique scheme, compared with prior art, the present invention has splendid wearable property.Due to special design, make the good combination of human and computer, improved and dressed to obtain comfortableness.
Special control thinking, controls deformed limb by strong limb and moves, its stability, and balance, coordinates higher.Special knee joint ankle connects linkage function, and when suffering limb motion of knee joint, its ankle joint is motion together also.The application of robotics on rehabilitation training equipment, makes the gait of Wearable image training robot more natural.Multivariant waist holder structure, this waist holder has up and down, and axially twisting, walks patient more natural.
The little wearing of volume of the present invention is easy to use; make Rehabilitation training not be subject to time site limitation, can realize the demand of the rehabilitation training of hemiplegic patient's lower limb, comprise the single motion in each joint; lift lower limb; walking, rises and sits back and waits, each motion has three kinds of patterns; there is speed, stride, feature that cadence is adjustable simultaneously; also there is collecting training data, demonstration and writing function, there is Rehabilitation Assessment and report output function, there is triple safe protective measure and emergency measure.
Below in conjunction with the drawings and specific embodiments, the invention will be further described simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment of the present invention.
The specific embodiment
Embodiment:
As shown in Figure 1, a kind of wearable intelligent healing hemiplegic lower limb image training robot, comprises foot support mechanism, leg mechanism and waist support mechanism from bottom to top successively.Described foot support mechanism comprises foot holder 1, and the ankle mechanism being in transmission connection with foot holder 1.Described leg mechanism comprises thigh connecting plate 9 and shank connecting plate 14, between thigh connecting plate 9 and shank connecting plate 14, by knee-joint mechanism, connects.Described waist support mechanism comprises waist holder 13, is provided with symmetrical waist holder upper bracket 12 in waist holder 13, and is provided with hip joint mechanism between waist holder 13 and thigh connecting plate 9.Described ankle mechanism, knee-joint mechanism are connected a controller jointly with hip joint mechanism, and controller is connected with sensor detecting system.
In the present embodiment, described ankle mechanism comprises the ankle joint being connected between foot holder 1 and shank connecting plate 14, is provided with ankle joint gear 2 on ankle joint, the ankle joint gear 2 ankle joint link gear that is in transmission connection.
Described ankle joint link gear comprises parallel and is fixedly connected on the interlock connecting rod 4 on shank connecting plate, the top knee-joint mechanism that is in transmission connection of interlock connecting rod 4, the bottom of interlock connecting rod is provided with ankle interlock tooth bar 3, ankle interlock tooth bar 3 engagement ankle joint gears 2.
Described knee-joint mechanism comprises the knee joint motor 5 being arranged on shank connecting plate 14 or thigh connecting plate 9, knee joint motor 5 is connected with the knee joint cam 6 being arranged on shank connecting plate or thigh connecting plate, knee joint cam 6 be in transmission connection interlock connecting rod 4.
On described thigh connecting plate, be provided with length adjustment mechanism.Described length adjustment mechanism comprises the length adjustment plate 7 being arranged on shank connecting plate upper end, and the adjustment fixing plate 8 that is arranged on thigh connecting plate lower end, between length adjustment plate 7 and adjustment fixing plate 8, is bolted.
Described hip joint mechanism comprises the hip joint motor 10 being arranged on waist holder upper bracket, the hip joint motor 10 thigh connecting plate that is in transmission connection.
Between described waist holder 13 and waist holder upper bracket 12, be provided with waistline adjustable plate.Described controller connects knee joint motor and hip joint motor.
Described controller comprises host computer and embedded computer, and embedded computer connecting sensor also connects host computer by wireless or wired mode; Institute's sensor detecting system comprises muscular strength sensor, myoelectric sensor, and angular transducer, pull pressure sensor and limit sensors, muscular strength sensor, myoelectric sensor, angular transducer, pull pressure sensor and limit sensors are connected embedded computer jointly.
Three kinds of motion principles of the present invention:
1: passive motion-type exercise pattern.Under this pattern, first by sensor, detect the strong limb characteristics of motion, comprise movement velocity, amplitude, the parameters such as type of motion, process through controller, then do same motion by PC control suffering limb, to be good for limb motion, drive the motion of suffering limb, guarantee that like this patient has good balance and coordination when training.This pattern is mainly tempered the joint motion of suffering limb, and stimulated muscle and nervous system, to improve, recover muscular strength and effects on neural system.
2: active exercise pattern.Under this pattern, sensor detects the kinematic parameter of suffering limb, pressure while comprising motion, muscular strength, and speed, process by controller, type of sports and the parameter of judgement suffering limb, by servo system control suffering limb, move, this pattern mainly trains patient under the effect of sense of independence, completes rehabilitation training.Object improves the effect of rehabilitation training.
3: resistance formula motor pattern.Under this pattern, sensor detects the kinematic parameter of suffering limb, the pressure while comprising motion, muscular strength, and speed, process by controller, type of sports and the parameter of judgement suffering limb, by servosystem, to suffering limb, motion applies certain resistance, to temper and to improve the muscular strength of suffering limb.
During above three kinds of motor patterns are controlled, all there is antitetanic safety measure.Relevant physiology in motor process, the parameter of motion are detected by sensor, and signal is transferred to that host computer is processed, demonstration and record, and the data of record can be inquired about.
The present invention has splendid wearable property.Due to special design, make the good combination of human and computer, improved and dressed to obtain comfortableness.Special control thinking, controls deformed limb by strong limb and moves, its stability, and balance, coordinates higher.Special knee joint ankle connects linkage function, and when suffering limb motion of knee joint, its ankle joint is motion together also.The application of robotics on rehabilitation training equipment, makes the gait of Wearable image training robot more natural.Multivariant waist holder structure, this waist holder has up and down, and axially twisting, walks patient more natural.
The present invention is not limited to above-mentioned preferred implementation, and anyone should learn the structural change of making under enlightenment of the present invention, and every have identical or akin technical scheme with the present invention, all belongs to protection scope of the present invention.
Claims (9)
1. a wearable intelligent healing hemiplegic lower limb image training robot, comprises foot support mechanism, leg mechanism and waist support mechanism from bottom to top successively, it is characterized in that: described foot support mechanism comprises foot holder, and the ankle mechanism being dynamically connected with foot toss; Described leg mechanism comprises thigh connecting plate and shank connecting plate, between thigh connecting plate and shank connecting plate, by knee-joint mechanism, connects; Described waist support mechanism comprises waist holder, is provided with symmetrical waist holder upper bracket in waist holder, and is provided with hip joint mechanism between waist holder and thigh connecting plate;
In described foot holder, thigh connecting plate, shank connecting plate, waist holder, be respectively arranged with sensor, and the common controller that connects of all sensors, controller connects ankle mechanism, knee-joint mechanism and hip joint mechanism.
2. wearable intelligent healing hemiplegic lower limb image training robot according to claim 1, it is characterized in that: described ankle mechanism comprises the ankle joint being connected between foot holder and shank connecting plate, on ankle joint, be provided with ankle joint gear, ankle joint gear drive connects ankle joint link gear.
3. wearable intelligent healing hemiplegic lower limb image training robot according to claim 2, it is characterized in that: described ankle joint link gear comprises parallel and is fixedly connected on the interlock connecting rod on shank connecting plate, the top knee-joint mechanism that is in transmission connection of interlock connecting rod, the bottom of interlock connecting rod is provided with ankle interlock tooth bar, ankle interlock tooth bar engagement ankle joint gear.
4. wearable intelligent healing hemiplegic lower limb image training robot according to claim 3, it is characterized in that: described knee-joint mechanism comprises the knee joint motor being arranged on shank connecting plate or thigh connecting plate, knee joint motor-driven is connected with the knee joint cam being arranged on shank connecting plate or thigh connecting plate, and knee joint cam drive connects interlock connecting rod.
5. wearable intelligent healing hemiplegic lower limb image training robot according to claim 4, is characterized in that: on described thigh connecting plate, be provided with length adjustment mechanism; Described length adjustment mechanism comprises the length adjustment plate being arranged on shank connecting plate upper end, and the adjustment fixing plate that is arranged on thigh connecting plate lower end, between length adjustment plate and adjustment fixing plate, is bolted.
6. wearable intelligent healing hemiplegic lower limb image training robot according to claim 5, is characterized in that: described hip joint mechanism comprises the hip joint motor being arranged on waist holder upper bracket, and hip joint motor-driven connects thigh connecting plate.
7. wearable intelligent healing hemiplegic lower limb image training robot according to claim 6, is characterized in that: between described waist holder and waist holder upper bracket, be provided with waistline adjustable plate.
8. wearable intelligent healing hemiplegic lower limb image training robot according to claim 7, is characterized in that: described controller connects knee joint motor and hip joint motor.
9. wearable intelligent healing hemiplegic lower limb image training robot according to claim 8, it is characterized in that: described controller comprises host computer and embedded computer, embedded computer connecting sensor also connects host computer by wireless or wired mode; Sensor in described foot holder, thigh connecting plate, shank connecting plate, waist holder comprises respectively muscular strength sensor, myoelectric sensor, angular transducer, pull pressure sensor and limit sensors.
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| CN201410335941.0A CN104083268B (en) | 2014-07-15 | 2014-07-15 | Wearable intelligent hemiplegia lower limb rehabilitation training robot |
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| CN201410335941.0A CN104083268B (en) | 2014-07-15 | 2014-07-15 | Wearable intelligent hemiplegia lower limb rehabilitation training robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105476817A (en) * | 2016-01-13 | 2016-04-13 | 何平 | Mechanical leg controlled through thoughts of user and rehabilitation walking method |
| CN105943312A (en) * | 2016-06-15 | 2016-09-21 | 华中科技大学 | Hip joint recovery assisting device based on sensing and driving integration |
| CN106063760A (en) * | 2016-07-15 | 2016-11-02 | 黄忠伟 | Hemiparalysis recovery type external skeleton robot |
| CN106880469A (en) * | 2017-02-24 | 2017-06-23 | 上海交通大学 | Ankle rehabilitation ESD |
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
| CN110236884A (en) * | 2019-07-04 | 2019-09-17 | 青岛市中心医院 | A kind of all-around intelligent hip knee ankle-joint passive rehabilitation training device |
| CN110478885A (en) * | 2019-08-23 | 2019-11-22 | 马鞍山市安工大智能装备技术研究院有限公司 | Running athlete auxiliary training system based on electromyography signal |
| TWI690307B (en) * | 2019-02-22 | 2020-04-11 | 中國科技大學 | Intelligent leg health exoskeleton device |
| CN111449899A (en) * | 2020-03-26 | 2020-07-28 | 浙江大学 | Control method for rehabilitation training of pelvis correction rehabilitation training robot |
| CN111700778A (en) * | 2020-06-29 | 2020-09-25 | 河南省祥和康复产业技术研究院有限责任公司 | Wearable lower limb rehabilitation training system |
| CN114795826A (en) * | 2022-04-11 | 2022-07-29 | 河南省人民医院 | Shank rehabilitation and nursing apparatus for orthopedics |
| CN115253185A (en) * | 2022-04-14 | 2022-11-01 | 中南大学湘雅医院 | Traction device for knee joint rehabilitation training |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105476817A (en) * | 2016-01-13 | 2016-04-13 | 何平 | Mechanical leg controlled through thoughts of user and rehabilitation walking method |
| CN105943312A (en) * | 2016-06-15 | 2016-09-21 | 华中科技大学 | Hip joint recovery assisting device based on sensing and driving integration |
| CN106063760A (en) * | 2016-07-15 | 2016-11-02 | 黄忠伟 | Hemiparalysis recovery type external skeleton robot |
| CN106063760B (en) * | 2016-07-15 | 2018-10-12 | 黄忠伟 | The external bone robot of hemiparalysis recovery type |
| CN106880469A (en) * | 2017-02-24 | 2017-06-23 | 上海交通大学 | Ankle rehabilitation ESD |
| CN108567546A (en) * | 2018-04-10 | 2018-09-25 | 超微（上海）骨科医院管理股份有限公司 | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom |
| TWI690307B (en) * | 2019-02-22 | 2020-04-11 | 中國科技大學 | Intelligent leg health exoskeleton device |
| CN110236884A (en) * | 2019-07-04 | 2019-09-17 | 青岛市中心医院 | A kind of all-around intelligent hip knee ankle-joint passive rehabilitation training device |
| CN110236884B (en) * | 2019-07-04 | 2024-05-03 | 青岛市中心医院 | All-round intelligent hip knee ankle joint passive rehabilitation training device |
| CN110478885A (en) * | 2019-08-23 | 2019-11-22 | 马鞍山市安工大智能装备技术研究院有限公司 | Running athlete auxiliary training system based on electromyography signal |
| CN111449899A (en) * | 2020-03-26 | 2020-07-28 | 浙江大学 | Control method for rehabilitation training of pelvis correction rehabilitation training robot |
| CN111700778A (en) * | 2020-06-29 | 2020-09-25 | 河南省祥和康复产业技术研究院有限责任公司 | Wearable lower limb rehabilitation training system |
| CN111700778B (en) * | 2020-06-29 | 2024-05-10 | 河南省祥和康复产业技术研究院有限责任公司 | Wearable lower limb rehabilitation training system |
| CN114795826A (en) * | 2022-04-11 | 2022-07-29 | 河南省人民医院 | Shank rehabilitation and nursing apparatus for orthopedics |
| CN115253185A (en) * | 2022-04-14 | 2022-11-01 | 中南大学湘雅医院 | Traction device for knee joint rehabilitation training |
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Inventor after: Li Fang Inventor after: Feng Xiaoming Inventor after: Zhang Hongli Inventor after: Han Yawei Inventor before: Wang Gang Inventor before: Feng Xiaoming Inventor before: Li Fang Inventor before: Ma Zhaoming Inventor before: Zhang Hongli Inventor before: Wang Jianhui |
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