CN104983543B - A kind of Intelligent lower limb rehabilitation training aids - Google Patents
A kind of Intelligent lower limb rehabilitation training aids Download PDFInfo
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- CN104983543B CN104983543B CN201510452488.6A CN201510452488A CN104983543B CN 104983543 B CN104983543 B CN 104983543B CN 201510452488 A CN201510452488 A CN 201510452488A CN 104983543 B CN104983543 B CN 104983543B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 30
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- 210000004394 hip joint Anatomy 0.000 claims abstract description 19
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 17
- 230000003387 muscular Effects 0.000 claims abstract description 17
- 208000020442 loss of weight Diseases 0.000 claims abstract description 14
- 210000003423 ankle Anatomy 0.000 claims abstract description 11
- 210000001624 hip Anatomy 0.000 claims abstract description 11
- 210000000689 upper leg Anatomy 0.000 claims abstract description 11
- 210000002082 fibula Anatomy 0.000 claims abstract description 10
- 210000003414 extremity Anatomy 0.000 claims description 31
- 238000011084 recovery Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 15
- 239000003795 chemical substances by application Substances 0.000 claims description 6
- 208000027418 Wounds and injury Diseases 0.000 claims description 5
- 208000005392 Spasm Diseases 0.000 claims description 4
- 239000000812 cholinergic antagonist Substances 0.000 claims description 4
- 230000006378 damage Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 208000014674 injury Diseases 0.000 claims description 4
- 230000001769 paralizing effect Effects 0.000 claims description 4
- 230000002048 spasmolytic effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
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- 230000015572 biosynthetic process Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract 1
- 238000011282 treatment Methods 0.000 description 5
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- 206010033892 Paraplegia Diseases 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
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- 235000008434 ginseng Nutrition 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
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- 210000001364 upper extremity Anatomy 0.000 description 1
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Abstract
nullThe invention belongs to technical field of medical rehabilitation machinery，It is specifically related to a kind of Intelligent lower limb rehabilitation training aids，Agent structure includes control module、Power drive module、Detection module、Ectoskeleton and bascule，Control module is connected with power drive module and detection module electrical information respectively，Power drive module and detection module is embedded is connected on ectoskeleton，Control module includes computer、Servo controller、Control system and control circuit，Power drive module includes four groups of servomotors，Detection module includes muscular strength sensor、Pressure transducer、Velocity sensor and angular transducer，Ectoskeleton is by hip joint、The joint frame that knee joint and ankle joint are constituted with by chest support、Braces、Loss of weight support、Waist bracket、Femur frame、Fibula frame、The skeleton that ankle frame and footrest are constituted connects formation by the way of kinematic pair，Bascule includes hand steered go-cart、Parallel bars and crutches，Its simple in construction，There is good rehabilitation training miscellaneous function.
Description
Technical field:
The invention belongs to technical field of medical rehabilitation machinery, be specifically related to a kind of intelligent lower limb health
Multiple training aids, it is possible to be applicable to the lower limb function because a variety of causes causes and lose or obstacle occurs
Patient, has good rehabilitation training miscellaneous function.
Background technology:
Rehabilitation is one of important content of rehabilitation medicine, is to make disease, wound, residual person's body and mind strong
Health and the important means of " functional rehabilitation ", be also a composition portion of disease, disability Comprehensive Treatment
Point, in practice, rehabilitation is often comprehensively carried out with the clinical treatment such as pharmacotherapy, operative therapy.
Recovering physiotherapy is the important component part of rehabilitation, and recovering physiotherapy has been gathered motion and controlled
Treatment, Occupational therapy, speech therapy, naturopathy, acupuncture, group multiple treatment such as tank, massage
Mode, the exercise therapy that rehabilitation center carries out is by passive exercise therapy, initiative kinesitherapy
With resistive exercise therapy etc., dysfunction and the hypofunction of patient body are played prevention, change
Kind a kind of specific treatment with restitution, the assistive device used has standing bed, shoulder joint to execute
Turn tens of kinds of training aids, style lower extremity power vehicle, loss of weight gait training device, ankle joint training device etc.
Utensil.
At present, common recovery training appliance for recovery is roughly divided into sleeping seat training device according to purposes, stands
Vertical training device, invalid aids, posture correction prevent the training device of deformity, joint motion
Training device, balance coordination training aids, basic motion training utensil, training auxiliary implement, day
Often ADL training utensil etc., and most popular be extremity recovery training appliance for recovery, but existing
All kinds of upper and lower extremities in technology or extremity auxiliary trainer is had all to there is use inconvenience, automatization's journey
Spend disclosed in the problem, such as Chinese patent 98218683.5 such as low, care-giver's labor intensity is big
A kind of recovery training appliance for recovery lower limbs, it is by arranging guide rail and holder to help patient in bed body
Carry out lower limb exercise training；A kind of lower limb rehabilitation disclosed in Chinese patent 201510016404.4
Training aids, it is connected connection by driving element to drive drive link assembly to realize thigh bar with shank bar
Dynamic, to simulate leg walking movement and to realize the linkage of each joint of lower limb；Chinese patent
201420041470.8 disclosed a kind of Neurology Department recovery training appliance for recovery lower limbs, it passes through bolt
Connect the upper mounted plate that be arranged in parallel and bottom plate, and be provided with the stretcher cleat of pedal, hand
, motor, hang the parts such as knee support, knee pad, to facilitate patient on one's sick bed or other positions
Put the rehabilitation training carrying out each stage；Recovery training appliance for recovery lower limbs in above-mentioned patented technology not only makes
Relatively big by mode limitation, and without effective defencive function, during use, easily patient is caused secondary
Injuries etc., therefore inventor is through concentrating on studies for many years and relating to, and invents a kind of intelligent lower limb
Recovery training appliance for recovery, unites two into one paraplegia training and training hemiparalysis, and has spasmolytic protection control
System and emergency button defencive function, have the most intelligent, automaticity and health giving quality.
Summary of the invention:
It is an object of the invention to the shortcoming overcoming prior art to exist, under design one is intelligent
Limbs rehabilitation training device, has gathered robotics, rehabilitation engineering, computer technology and sensing skill
Arts etc., are suitable to multiclass patient and carry out rehabilitation training and walk help.
To achieve these goals, the Intelligent lower limb rehabilitation training aids body junction of present invention design
Structure includes control module, power drive module, detection module, ectoskeleton and bascule, control
Molding block is connected with power drive module and detection module electrical information respectively, power drive module and
Detection module is embedded to be connected on ectoskeleton, bascule discharge or be placed in ectoskeletal outside
Enclose and maintain balance for user；Control module includes computer, servo controller, control system
And control circuit, for whole training aids being carried out operation control and Information Collecting & Processing；Power
Module is driven to include four groups of servomotors, it is possible to outside driving respectively under control module control action
Joint frame in skeleton and skeleton；Detection module includes muscular strength sensor, pressure transducer, speed
Degree sensor and angular transducer, it is possible to the movable information during training aids is used and patient
Physiologic information carries out detection transmission；Ectoskeleton is made up of hip joint, knee joint and ankle joint
Joint frame with by chest support, braces, loss of weight support, waist bracket, femur frame, fibula frame,
The skeleton that ankle frame and footrest are constituted connects formation by the way of kinematic pair, for suffering from supporting
Person's limbs and assisted movement；Bascule includes hand steered go-cart, parallel bars and crutches, is used for maintaining
Patient is the balance of health when training.
Further, described ectoskeletal agent structure includes that chest support, braces, loss of weight prop up
Frame, waist bracket, hip joint, femur frame, knee joint, fibula frame, ankle joint, ankle frame
And footrest, it is provided with loss of weight support between chest support and waist bracket and can alleviate training aids and wear
The weight of lower body when wearing, braces chest support being provided with stretch is easy to patient when dressing
Fixing, loss of weight support is provided with angular transducer for detecting the movable information of trainer；Hip
The most symmetrical formula of joint, knee joint and ankle joint is arranged, between hip joint and knee joint
And respectively by femur frame and the connection of fibula frame of telescopic structure between knee joint and ankle joint,
The lower section of ankle joint is connected with footrest by ankle frame, and footrest is provided with pressure transducer
For detecting the movable information of trainer；All with one group of servo on each hip joint and knee joint
Motor, each hip joint is provided with velocity sensor for detecting the movable information of trainer,
Muscular strength sensor is installed for detecting the physiologic information of trainer in each knee joint.
Preferably, described Intelligent lower limb rehabilitation training aids has spasmolytic protection and controls function,
When in detection module, muscular strength sensor detects that the active force between limbs of patient and ectoskeleton reaches
During the setting value preset in control module, training aids deconditioning, drive limbs of patient simultaneously
Move towards spasm direction to avoid causing secondary injury.
Preferably, described Intelligent lower limb rehabilitation training aids has exercise intensity control function, outward
The movement velocity of skeleton drive limbs of patient and amplitude are by the control system preset in control module
System is adjusted, and needs to realize the regulation of exercise intensity according to patient's difference.
Preferably, described Intelligent lower limb rehabilitation training aids has anti-control function of falling, and works as inspection
Survey angular transducer in module and detect when the body inclination of patient reaches predetermined angle, control mould
In block, control system sends deconditioning order and produces alarm signal to point out related personnel.
Preferably, described Intelligent lower limb rehabilitation training aids has safety control function, controls mould
Block, power drive module, detection module, ectoskeleton and bascule are respectively equipped with software limit
Position, electronic limit, parameter are spacing, mechanical position limitation and emergency button, reach when training aids uses
To any of the above-described spacing, the control system in control module all can send deconditioning order to close
Close training aids, or sufferers themselves closes training aids by the emergency button arranged on bascule.
Further, described Intelligent lower limb rehabilitation training aids in use, or is worn on paraplegia
On limbs of patient, limbs are driven to carry out passive type rehabilitation training under the effect of control system；Or
Be worn on hemiplegic patient's limbs, by control system make patient carry out active, passive type and
/ or resistance formula rehabilitation training.
The present invention compared with prior art, both can be suitably used for the passive type rehabilitation instruction of paralytic patient
Practice, can be suitably used for again the active and passive of hemiplegic patient and resistance formula is trained, it is possible to according to lower limb
The requirement of rehabilitation training, completes lower limb hip joint flexing, abduction, kneed stretching, extension, ankle pass
The dorsiflex of joint/balance of standing, Walking, Reduction of Students' Study Load Walking etc., and all have anti-in training
Spasm protection controls, and the equal size of movement velocity, motion amplitude is adjustable, is provided with machine during training
Tool is spacing, software limit, electronic limit and emergency button defencive function, and has anti-control of falling
System, warning function, information gathering and Function of Evaluation etc..
Accompanying drawing illustrates:
Fig. 1 is the Intelligent lower limb rehabilitation training aids nucleus module schematic diagram that the present invention relates to.
Fig. 2 is ectoskeletal agent structure in the Intelligent lower limb rehabilitation training aids that the present invention relates to
Principle schematic.
Detailed description of the invention:
Below by embodiment and combine accompanying drawing the present invention is described further.
Embodiment:
Intelligent lower limb rehabilitation training aids agent structure (as shown in Figure 1) that the present embodiment relates to
Including control module 1, power drive module 2, detection module 3, ectoskeleton 4 and balance dress
Putting 5, control module 1 is connected with power drive module 2 and detection module 3 electrical information respectively,
Power drive module 2 and detection module 3 is embedded is connected on ectoskeleton 4, bascule 5
Discharge or be placed in ectoskeletal peripheral maintenance for user to balance；Control module 1 includes calculating
Machine, servo controller, control system and control circuit, for operating whole training aids
Control and Information Collecting & Processing；Power drive module 2 includes four groups of servomotors, it is possible in control
The joint frame in ectoskeleton 4 and skeleton is driven respectively under molding block 1 control action；Detection module
3 include muscular strength sensor, pressure transducer, velocity sensor and angular transducer, it is possible to right
Movable information and patient physiological information during training aids use carry out detection transmission；Ectoskeleton
4 are connected by the way of kinematic pair by joint frame and skeleton and to be formed, it is possible to realize limbs of patient
Support and assisted movement, joint frame includes hip joint 10, knee joint 12, ankle joint 14,
Skeleton include chest support 6, braces 7, loss of weight support 8, waist bracket 9, femur frame 11,
Fibula frame 13, ankle frame 15 and footrest 16；Bascule 5 include hand steered go-cart, parallel bars and
Crutches, for maintain patient training time health balance, and be provided with on bascule 5 should
Anxious switch can the on/off of controlled training device；Described Intelligent lower limb recovery training appliance for recovery uses
Time entirety be worn on paralytic patient limbs, under the effect of control system drive limbs carry out by
Dynamic formula rehabilitation training, or be worn on hemiplegic patient's limbs, make patient carry out by control system
Active, passive type and/or resistance formula rehabilitation training.
The agent structure of ectoskeleton 4 in the Intelligent lower limb recovery training appliance for recovery related in the present embodiment
(as shown in Figure 2) include chest support 6, braces 7, loss of weight support 8, waist bracket 9,
Hip joint 10, femur frame 11, knee joint 12, fibula frame 13, ankle joint 14, ankle frame
15 and footrest 16, being provided with loss of weight support 8 between chest support 6 and waist bracket 9 can
Alleviate the weight of lower body when training aids is dressed, chest support 6 is provided with telescopic braces 7
It is easy to fix when patient dresses, loss of weight support 8 is provided with angular transducer for detecting training
The movable information of person；Hip joint 10, knee joint 12 and ankle joint 14 are the most symmetrical
Formula is arranged, and divides between hip joint 10 and knee joint 12 and between knee joint 12 and ankle joint 14
Do not connected by the femur frame 11 of telescopic structure and fibula frame 13, the lower section of ankle joint 14
It is connected with footrest 16 by ankle frame 15, footrest 16 is provided with the pressure being placed in ground
Force transducer；All with one group of servomotor on each hip joint 10 and knee joint 12, each
Velocity sensor is installed for detecting the movable information of trainer on hip joint 10, each knee joint
Muscular strength sensor is installed for detecting the physiologic information of trainer on joint 12；Overall dermoskeleton
Bone 4 can drive patient's lower extremity movement under the effect of control module 1.
The Intelligent lower limb rehabilitation training aids that the present embodiment relates to, also has spasmolytic protection and controls
Function, exercise intensity control function, anti-control function and the safety control function of falling, and work as detection
In module 3, muscular strength sensor detects that the active force between limbs of patient and ectoskeleton 4 reaches control
During the default setting value of molding block 1 Chinese physician, training aids deconditioning, drive patient simultaneously
Limbs move towards spasm direction to avoid causing secondary injury；Ectoskeleton 4 drives limbs of patient
Movement velocity and amplitude by control module 1 preset control system be adjusted, in order to
Need the size realizing exercise intensity adjustable according to patient's difference；When in detection module 3, angle passes
Sensor detects when the body inclination of patient reaches predetermined angle, control system in control module 1
Send deconditioning order and produce alarm signal to point out associated care personnel；Control module 1,
Power drive module 2, detection module 3, ectoskeleton 4 and bascule 5 are respectively equipped with soft
Part is spacing, electronic limit, parameter are spacing, mechanical position limitation and emergency button, when training aids uses
Time reach any of the above-described spacing, the control system in control module 1 all can send deconditioning life
Order is to close training aids, or sufferers themselves closes instruction by the emergency button on bascule 5
Practice device.
The training of described passive type refer to the limbs paralytic patient and/or hemiplegic patient without muscular strength or
When muscular strength is less, made each joint in ectoskeleton 4 by the control system in control module 1
Frame and skeleton, under the driving of power drive module 2, drive limbs of patient to do flexing, outer respectively
Exhibition, stretching, extension, dorsiflex, stand, the training such as walking；Otherwise for hemiplegic patient, passive type is instructed
Practice the ginseng also including that the healthy limb detected by pressure transducer in detection module 3 is moved
Count and control ill limbs and do the training campaign of same action；Passive type training can stimulate patient
Motorial reconstruction, to reach to assist therapeutic purposes.
Described active training refers to first by muscular strength sensor detection patient's limb in detection module 3
The movable information of body, then start ectoskeleton after control system analysis in control module 1, judgement
4 with auxiliary limbs of patient motion, thus strengthens patient's muscular strength consciously；This kind of training method
It is applicable to muscular strength and reaches the hemiplegic patient of 2-3 level；The training of described resistance formula refers to when patient's muscular strength
When reaching more than 3 grades, on the basis of active training, in control module 1, control system is passed through
Start ectoskeleton 4 and the limbs of patient certain resistance of applying is carried out assisted movement, to improve further
The muscular strength of patient.
Claims (3)
1. an Intelligent lower limb rehabilitation training aids, it is characterized in that agent structure includes control module, power drive module, detection module, ectoskeleton and bascule, control module is connected with power drive module and detection module electrical information respectively, power drive module and detection module is embedded is connected on ectoskeleton, bascule discharge or be placed in and ectoskeletal peripheral maintain balance for user；Control module includes computer, servo controller, control system and control circuit, for whole training aids carries out operation control and Information Collecting & Processing；Power drive module includes four groups of servomotors, it is possible to drive the joint frame in ectoskeleton and skeleton under control module control action respectively；Detection module includes muscular strength sensor, pressure transducer, velocity sensor and angular transducer, it is possible to movable information and patient physiological information during using training aids carry out detection transmission；Ectoskeleton is that the joint frame being made up of hip joint, knee joint and ankle joint is connected by the way of kinematic pair with the skeleton being made up of chest support, braces, loss of weight support, waist bracket, femur frame, fibula frame, ankle frame and footrest and is formed, and is used for supporting limbs of patient and assisted movement；Bascule includes hand steered go-cart, parallel bars and crutches, for maintaining patient's balance of health when training；
Described Intelligent lower limb rehabilitation training aids has spasmolytic protection and controls function; when in detection module, muscular strength sensor detects that the active force between limbs of patient and ectoskeleton reaches the setting value preset in control module; training aids deconditioning, drives limbs of patient to move towards spasm direction to avoid causing secondary injury simultaneously；Having exercise intensity and control function, ectoskeleton drives the movement velocity of limbs of patient and amplitude to be adjusted by the control system preset in control module, needs to realize the regulation of exercise intensity according to patient's difference；Having anti-control function of falling, when in detection module, angular transducer detects that the body inclination of patient reaches predetermined angle, in control module, control system sends deconditioning order and produces alarm signal to point out related personnel；There is safety control function, control module, power drive module, detection module, ectoskeleton and bascule be respectively equipped with software limit, electronic limit, parameter be spacing, mechanical position limitation and emergency button, reach any of the above-described spacing when training aids uses, control system in control module all can send deconditioning order to close training aids, or sufferers themselves closes training aids by the emergency button arranged on bascule.
2. according to the Intelligent lower limb rehabilitation training aids described in claim 1, it is characterized in that ectoskeletal agent structure includes chest support, braces, loss of weight support, waist bracket, hip joint, femur frame, knee joint, fibula frame, ankle joint, ankle frame and footrest, it is provided with loss of weight support between chest support and waist bracket and can alleviate the weight of lower body when training aids is dressed, the braces being provided with stretching on chest support is easy to fix when patient dresses, and loss of weight support is provided with angular transducer for detecting the movable information of trainer；The most symmetrical formula of hip joint, knee joint and ankle joint is arranged, femur frame and fibula frame by telescopic structure is connected respectively between hip joint with knee joint and between knee joint and ankle joint, the lower section of ankle joint is connected with footrest by ankle frame, footrest is provided with pressure transducer for detecting the movable information of trainer；All with one group of servomotor on each hip joint and knee joint, each hip joint is provided with velocity sensor for detecting the movable information of trainer, each knee joint is provided with muscular strength sensor for detecting the physiologic information of trainer.
3. according to the Intelligent lower limb rehabilitation training aids described in claim 1, it is characterised in that during use, Intelligent lower limb recovery training appliance for recovery is worn on paralytic patient limbs, drives limbs to carry out passive type rehabilitation training under the effect of control system；Or Intelligent lower limb recovery training appliance for recovery is worn on hemiplegic patient's limbs, make patient carry out active, passive type and/or resistance formula rehabilitation training by control system.
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| CN201510452488.6A CN104983543B (en) | 2015-07-29 | 2015-07-29 | A kind of Intelligent lower limb rehabilitation training aids |
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| CN201510452488.6A CN104983543B (en) | 2015-07-29 | 2015-07-29 | A kind of Intelligent lower limb rehabilitation training aids |
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2015
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102309393A (en) * | 2010-07-06 | 2012-01-11 | 赵奇 | Exoskeleton type upper limb rehabilitation robot |
| CN103153356A (en) * | 2010-09-17 | 2013-06-12 | 艾克索仿生技术公司 | Human machine interface for human exoskeleton |
| CN103330635A (en) * | 2013-06-26 | 2013-10-02 | 中国科学院合肥物质科学研究院 | Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying |
| CN104027218A (en) * | 2014-06-05 | 2014-09-10 | 电子科技大学 | Rehabilitation robot control system and method |
| CN104224498A (en) * | 2014-09-24 | 2014-12-24 | 哈尔滨工业大学 | Exoskeleton robot system and kinematics extremity detection-based control method |
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