CN104083268B - Wearable intelligent hemiplegia lower limb rehabilitation training robot - Google Patents
Wearable intelligent hemiplegia lower limb rehabilitation training robot Download PDFInfo
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- CN104083268B CN104083268B CN201410335941.0A CN201410335941A CN104083268B CN 104083268 B CN104083268 B CN 104083268B CN 201410335941 A CN201410335941 A CN 201410335941A CN 104083268 B CN104083268 B CN 104083268B
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- connecting plate
- ankle
- waist support
- joint
- lower limb
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 18
- 206010019468 Hemiplegia Diseases 0.000 title abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 210000001624 hip Anatomy 0.000 claims abstract description 40
- 210000000689 upper leg Anatomy 0.000 claims abstract description 29
- 210000000629 knee joint Anatomy 0.000 claims abstract description 28
- 210000001699 lower leg Anatomy 0.000 claims abstract description 25
- 210000003423 ankle Anatomy 0.000 claims abstract description 20
- 210000004394 hip joint Anatomy 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 210000002414 leg Anatomy 0.000 claims abstract description 9
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 21
- 230000035876 healing Effects 0.000 claims description 13
- 230000003387 muscular Effects 0.000 claims description 8
- 210000003127 knee Anatomy 0.000 claims description 5
- 230000003183 myoelectrical effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 2
- 210000002683 foot Anatomy 0.000 abstract 4
- 238000011156 evaluation Methods 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 description 22
- 230000033001 locomotion Effects 0.000 description 19
- 238000005457 optimization Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000000653 nervous system Anatomy 0.000 description 2
- 230000002096 anti-tetanic effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 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
- 238000011084 recovery Methods 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 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 device, specifically, it is related to a kind of wearable intelligent healing hemiplegic lower limb
Image training robot.
Background technology
Walking is the most basic manner of the mankind, is also the necessary requirement ensureing the independent life of the mankind, when various
When factor nervous system or kinematic system go wrong, human body walking obstacle all can be led to even to lose walking ability, serious shadow
Ring the normal life of human body.Healing robot, according to medical science of recovery therapy theory and collaborative robot principle, by a set of calculating
Walking states control system under machine control, helps limbs of patient to carry out rehabilitation training, by active training, passive exercise, resistance
Anti- training isotype, to reach the ability strengthening limbs of patient or some position, the purpose rebuilding body function.
Content of the invention
The technical problem to be solved in the present invention is to overcome drawbacks described above, provides a kind of wearable intelligent healing hemiplegic lower limb instruction
Practice robot, help limbs of patient to carry out rehabilitation training, isotype is trained by active training, passive exercise, impedance, to reach
The ability at enhancing limbs of patient or some position, the purpose of reconstruction body function.
For solving the above problems, the technical solution adopted in the present invention is：
A kind of wearable intelligent healing hemiplegic lower limb image training robot, includes footrest mechanism, leg machine from bottom to top successively
Structure and waist support mechanism it is characterised in that：Described footrest mechanism includes footrest, and the ankle mechanism being in transmission connection with footrest；Institute
State leg mechanism and include thigh connecting plate and shank connecting plate, between thigh connecting plate and shank connecting plate, pass through knee-joint mechanism
Connect；Described waist support mechanism includes waist support, and waist support is provided with symmetrical waist support upper bracket, and waist support and thigh connecting plate it
Between be provided with hip joint mechanism；Described ankle mechanism, knee-joint mechanism and hip joint mechanism are common to connect a controller, controller
It is connected with sensor detecting system.
As a kind of technical scheme of optimization, described ankle mechanism includes the ankle being connected between footrest and shank connecting plate
Joint, ankle-joint is provided with ankle-joint gear, and ankle-joint gear drive connects ankle-joint link gear.
As a kind of technical scheme of optimization, described ankle-joint link gear includes parallel and is fixedly connected on shank connection
Linkage connecting rod on plate, the upper transmission of linkage connecting rod connects knee-joint mechanism, and the bottom of linkage connecting rod is provided with ankle linkage
Tooth bar, ankle linkage tooth bar engagement ankle-joint gear.
As a kind of technical scheme of optimization, described knee-joint mechanism includes being arranged on shank connecting plate or thigh connects
Knee joint motor on plate, knee joint motor is connected with the knee joint being arranged on shank connecting plate or thigh connecting plate
Cam, knee joint cam drive connects linkage connecting rod.
As a kind of technical scheme of optimization, described thigh connecting plate is provided with length adjustment mechanism；Described length is adjusted
Section mechanism includes the length adjustment plate that is arranged on shank connecting plate upper end, and be arranged on thigh connecting plate lower end regulation solid
Fixed board, is bolted between length adjustment plate and adjustment fixing plate.
As a kind of technical scheme of optimization, described hip joint mechanism includes the hip joint electricity being arranged on waist support upper bracket
Machine, hip joint motor is in transmission connection thigh connecting plate.
As a kind of technical scheme of optimization, between described waist support and waist support upper bracket, it is 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 includes host computer and embedded computer, embedded
Computer connects sensor and connects host computer by way of wireless or wired；Institute's sensor detecting system includes flesh
Force snesor, myoelectric sensor, angular transducer, pull pressure sensor and limit sensors, muscular strength sensor, myoelectricity senses
Device, angular transducer, pull pressure sensor and limit sensors connect embedded computer jointly.
Due to employing technique scheme, compared with prior art, the present invention has splendid wearable property.Due to spy
Different design, makes one to be combined well with machine, improves and dresses to obtain comfortableness.
Special control thinking, controls deformed limb motion, its stability, balance by strong limb, coordinates higher.Special knee ankle
Even linkage function, when suffering limb motion of knee joint, its ankle-joint also moves together.Robotics is on rehabilitation training equipment
Application, makes the gait of Wearable image training robot more natural.Multivariant waist holder structure, this waist support has up and down, axially turns round
Dynamic, so that patient is walked more natural.
Small volume wearing of the present invention is easy to use, so that Rehabilitation is trained and is not limited by time place, is capable of hemiplegia
The demand of the rehabilitation training of patient's lower limb, including the single motion in each joint, lifts leg, walking, rises and sit back and wait, each motion has three
The pattern of kind, has speed, stride, the adjustable feature of cadence simultaneously, also has collecting training data, display and writing function, tool
There are Rehabilitation Assessment and report output function, there is triple safe safeguard measure and emergency measure.
The invention will be further described with reference to the accompanying drawings and detailed description simultaneously.
Brief description
Fig. 1 is the structural representation of an embodiment of the present invention.
Specific embodiment
Embodiment：
As shown in figure 1, a kind of wearable intelligent healing hemiplegic lower limb image training robot, include footrest machine from bottom to top successively
Structure, leg mechanism and waist support mechanism.Described footrest mechanism includes footrest 1, and the ankle mechanism being in transmission connection with footrest 1.Institute
State leg mechanism and include thigh connecting plate 9 and shank connecting plate 14, closed by knee between thigh connecting plate 9 and shank connecting plate 14
Section mechanism connects.Described waist support mechanism includes waist support 13, and waist support 13 is provided with symmetrical waist support upper bracket 12, and waist support 13
It is provided with hip joint mechanism and thigh connecting plate 9 between.Described ankle mechanism, knee-joint mechanism and hip joint mechanism connect jointly
One controller, controller is connected with sensor detecting system.
In the present embodiment, described ankle mechanism includes the ankle-joint being connected between footrest 1 and shank connecting plate 14, ankle
Ankle-joint gear 2 is provided with joint, ankle-joint gear 2 is in transmission connection ankle-joint link gear.
Described ankle-joint link gear includes linkage connecting rod 4 that is parallel and being fixedly connected on shank connecting plate, and linkage is even
The upper transmission of bar 4 connects knee-joint mechanism, and the bottom of linkage connecting rod is provided with ankle linkage tooth bar 3, and ankle linkage tooth bar 3 is nibbled
Close ankle-joint gear 2.
Described knee-joint mechanism includes 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 linkage connecting rod 4.
It is provided with length adjustment mechanism on described thigh connecting plate.Described length adjustment mechanism includes being arranged on shank connection
Length adjustment plate 7 on plate upper end, and be arranged on the adjustment fixing plate 8 of thigh connecting plate lower end, length adjustment plate 7 and adjusting
It is bolted between fixed plate 8.
Described hip joint mechanism includes the hip joint motor 10 being arranged on waist support upper bracket, and hip joint motor 10 transmission is even
Connect thigh connecting plate.
It is provided with waistline adjustable plate between described waist support 13 and waist support upper bracket 12.Described controller connects knee joint motor
With hip joint motor.
Described controller includes host computer and embedded computer, and embedded computer connects sensor and by no
Line or wired mode connect host computer；Institute's sensor detecting system includes muscular strength sensor, myoelectric sensor, angle
Sensor, pull pressure sensor and limit sensors, muscular strength sensor, myoelectric sensor, angular transducer, pull pressure sensor
Jointly connect embedded computer with limit sensors.
The three kinds of motions principle of the present invention：
1：Passive motion-type exercise pattern.Under this pattern, first pass through the strong limb characteristics of motion of sensor detection, including motion speed
Degree, amplitude, the parameter such as type of motion, process through controller, more same motion done by PC control suffering limb, that is, with
Strong limb motion drives the motion of suffering limb, so ensures that patient has preferable balance and harmony in training.This pattern is mainly forged
The joint motion of refining suffering limb, stimulates muscle and nervous system, to improve, recovers muscular strength and effects on neural system.
2：Active movement pattern.Under this pattern, sensor detecting the kinematic parameter of suffering limb, including tension and compression during motion
Power, muscular strength, and speed, are processed by controller, judge type of sports and the parameter of suffering limb, are transported by servo system control suffering limb
Dynamic, this pattern mainly trains patient in the presence of sense of independence, completes rehabilitation training.Purpose is improving the effect of rehabilitation training
Really.
3：Resistance formula motor pattern.Under this pattern, sensor detecting the kinematic parameter of suffering limb, including tension and compression during motion
Power, muscular strength, and speed, are processed by controller, judge type of sports and the parameter of suffering limb, by servo-drive system, suffering limb are moved
Apply certain resistance, to temper and to improve the muscular strength of suffering limb.
During three of the above motor pattern controls, all there is antitetanic safety measure.Relevant physiology in motion process, motion
Parameter detected by sensor, signal transmission is processed to host computer, shown and recorded, the data of record can be looked into
Ask.
The present invention has splendid wearable property.Due to special design, make one to be combined well with machine, improve and wear
Wear to obtain comfortableness.Special control thinking, controls deformed limb motion, its stability, balance by strong limb, coordinates higher.Special
Knee ankle connects linkage function, and when suffering limb motion of knee joint, its ankle-joint also moves together.Robotics is in rehabilitation training equipment
On application, make the gait of Wearable image training robot more natural.Multivariant waist holder structure, this waist support has up and down, axle
To twisting, patient is made to walk more natural.
The present invention is not limited to above-mentioned preferred embodiment, and anyone should learn and make under the enlightenment of the present invention
Structure change, every have with the present invention same or like as technical scheme, belong to protection scope of the present invention.
Claims (7)
1. a kind of wearable intelligent healing hemiplegic lower limb image training robot, includes footrest mechanism, leg mechanism from bottom to top successively
With waist support mechanism it is characterised in that：Described footrest mechanism includes footrest, and the ankle mechanism being in transmission connection with footrest；Described
Leg mechanism includes thigh connecting plate and shank connecting plate, between thigh connecting plate and shank connecting plate by knee-joint mechanism even
Connect；Described waist support mechanism includes waist support, and waist support is provided with symmetrical waist support upper bracket, and between waist support and thigh connecting plate
It is provided with hip joint mechanism；
It is respectively arranged with sensor in described footrest, thigh connecting plate, shank connecting plate, waist support, and all of sensor is altogether
With connecting a controller, controller connects ankle mechanism, knee-joint mechanism and hip joint mechanism；
Described ankle mechanism includes the ankle-joint being connected between footrest and shank connecting plate, and ankle-joint is provided with ankle-joint tooth
Wheel, ankle-joint gear drive connects ankle-joint link gear；
Described ankle-joint link gear includes the linkage connecting rod on parallel shank connecting plate, and the upper transmission of linkage connecting rod connects knee
Articulation mechanism, the bottom of linkage connecting rod is provided with ankle linkage tooth bar, ankle linkage tooth bar engagement ankle-joint gear.
2. wearable intelligent healing hemiplegic lower limb image training robot according to claim 1 it is characterised in that：Described knee closes
Section mechanism includes the knee joint motor being arranged on shank connecting plate or thigh connecting plate, and knee joint motor is connected with and sets
Put the knee joint cam on shank connecting plate or thigh connecting plate, knee joint cam drive connects linkage connecting rod.
3. wearable intelligent healing hemiplegic lower limb image training robot according to claim 2 it is characterised in that：Described thigh
Length adjustment mechanism is provided with connecting plate；The length that described length adjustment mechanism includes being arranged on shank connecting plate upper end is adjusted
Section plate, and it is arranged on the adjustment fixing plate of thigh connecting plate lower end, pass through bolt between length adjustment plate and adjustment fixing plate
Connect.
4. wearable intelligent healing hemiplegic lower limb image training robot according to claim 3 it is characterised in that：Described hip closes
Section mechanism includes the hip joint motor that is arranged on waist support upper bracket, and hip joint motor is in transmission connection thigh connecting plate.
5. wearable intelligent healing hemiplegic lower limb image training robot according to claim 4 it is characterised in that：Described waist support
It is provided with waistline adjustable plate and waist support upper bracket between.
6. wearable intelligent healing hemiplegic lower limb image training robot according to claim 5 it is characterised in that：Described control
Device connects knee joint motor and hip joint motor.
7. wearable intelligent healing hemiplegic lower limb image training robot according to claim 6 it is characterised in that：Described control
Device includes host computer and embedded computer, and embedded computer connects sensor and by way of wireless or wired
Connect host computer；Sensor in described footrest, thigh connecting plate, shank connecting plate, waist support includes muscular strength sensing respectively
Device, myoelectric sensor, angular transducer, pull pressure sensor and limit sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410335941.0A CN104083268B (en) | 2014-07-15 | 2014-07-15 | Wearable intelligent hemiplegia lower limb rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410335941.0A CN104083268B (en) | 2014-07-15 | 2014-07-15 | Wearable intelligent hemiplegia lower limb rehabilitation training robot |
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| Publication Number | Publication Date |
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| CN104083268A CN104083268A (en) | 2014-10-08 |
| CN104083268B true CN104083268B (en) | 2017-02-08 |
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| CN201410335941.0A Expired - Fee Related CN104083268B (en) | 2014-07-15 | 2014-07-15 | Wearable intelligent hemiplegia lower limb rehabilitation training robot |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105476817A (en) * | 2016-01-13 | 2016-04-13 | 何平 | Mechanical leg controlled through thoughts of user and rehabilitation walking method |
| CN105943312B (en) * | 2016-06-15 | 2018-08-31 | 华中科技大学 | One kind driving integrated hip joint healing auxiliary device based on sensing |
| 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 |
| 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 |
| CN111449899B (en) * | 2020-03-26 | 2022-05-31 | 浙江大学 | Pelvis correction rehabilitation training robot for rehabilitation training |
| 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 |
| CN115253185B (en) * | 2022-04-14 | 2024-08-23 | 中南大学湘雅医院 | Traction device for knee joint rehabilitation training |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013049658A1 (en) * | 2011-09-28 | 2013-04-04 | Northeastern University | Lower extremity exoskeleton for gait retraining |
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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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Effective date of registration: 20160824 Address after: 710065 Shaanxi city of Xi'an province high tech Zone Feng Hui Road No. 18 Tang Feng International Plaza first building 4 unit 12 layer 41202. Applicant after: SHAANXI XINDAILU ELECTRONIC TECHNOLOGY CO.,LTD. Address before: 710071 Shaanxi high tech Zone in Xi'an City, Feng Hui Nan Lu Tang Feng International D No. 18 block 12 layer Applicant before: XI'AN TANGCHENG ELECTRONIC MEDICAL EQUIPMENT INSTITUTE |
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