CN105326624A - Rehabilitation training auxiliary equipment for spatial motion of upper/lower limbs - Google Patents
Rehabilitation training auxiliary equipment for spatial motion of upper/lower limbs Download PDFInfo
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- CN105326624A CN105326624A CN201410400703.3A CN201410400703A CN105326624A CN 105326624 A CN105326624 A CN 105326624A CN 201410400703 A CN201410400703 A CN 201410400703A CN 105326624 A CN105326624 A CN 105326624A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 230
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- 206010019468 Hemiplegia Diseases 0.000 description 2
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Abstract
The invention provides rehabilitation training auxiliary equipment for spatial motion of upper/lower limbs. The equipment is used for assisting in rehabilitation training of the upper and lower limbs of hemiplegic patients and applicable to a passive training mode. Two planar mechanisms are adopted for realizing the spatial motion, so that cost is reduced; a nesting structure is used for transferring motion, three driving motors and reducers are simultaneously mounted in a middle case of a frame, and accordingly weight and size of an operation end are decreased; the requirements on different motion characteristics and tracks are met by adoption of coupler curves. Configuration of the equipment is customized according to motion tracks of rehabilitation training of the patients to realize personalized configuration. On the basis of the basic configuration of rehabilitation equipment, nine different configuration forms can be acquired by combination of different frame forms, transmission parts and operating parts, and different combinations generate different spatial motion tracks and different motion ranges. A RFID (radio frequency identification device) motion track acquisition system comprises a reader-writer, antennas, a group of electronic tags and a data processing module.
Description
Technical Field
The invention relates to an upper limb/lower limb space motion rehabilitation training auxiliary device and a related rehabilitation robot space motion implementation method.
Background
After the occurrence of diseases such as cardiovascular and cerebrovascular diseases, various sequelae are left, and hemiplegia is one of the diseases. Rehabilitation training of patients with hemiplegia, especially timely rehabilitation training in early onset of disease, is of great importance to the rehabilitation of patients. The traditional rehabilitation training is that a rehabilitation teacher guides and assists training of a hand grip of a patient. This mode of training is inefficient and often impossible due to the lack of a qualified rehabilitee. Another way adopted at present is to adopt a rehabilitation robot to assist training, but the training mode is not generally adopted at present, and one reason is that the equipment price is high. The second reason is that the training effect is not ideal due to the lack of pertinence of the training pattern. The third reason is the equipment itself. The space rehabilitation robot designed at present has independent freedom degrees for each component, needs to be configured with a driving motor, is large in size, needs a patient to keep a sitting posture, and causes inconvenience in use and psychological stress of the patient. . Although part of the rehabilitation machine is a plane mechanism, the mechanisms can only do plane motion, the motion of the patient is limited, the rehabilitation training mode is limited, and the requirements of various motion modes in the rehabilitation process of the patient are difficult to meet.
In order to solve the problems, the invention provides the rehabilitation training auxiliary equipment which is simple in structure and diversified in motion mode, and the training equipment can be configured according to the specific rehabilitation training requirements of the patient and can realize the training mode tailored for the patient.
Disclosure of Invention
The invention aims to provide rehabilitation training auxiliary equipment with a simple structure and diversified motion modes, which is configured according to the specific rehabilitation training requirements of patients and can realize a training mode tailored for the patients so as to meet the requirements of different training modes of different patients.
The purpose of the invention is realized by the following technical scheme:
the rehabilitation training robot is structurally simplified based on the planar link mechanism. The modular combined mechanism has three main frame structures, three lower mechanisms, three upper mechanisms and other universal structures, including connecting rod, transmission system and driving system. The design of the overall mechanism is configured according to the specific track requirement, and the upper limb or the lower limb of the human body generates a synchronous motion track curve through the clamping of the lifting rope, so that the aim of rehabilitation training is fulfilled. The invention adopts a hoisting clamping mode to keep a certain distance between the patient and the equipment, thereby being beneficial to the psychological stability. The hoisting belt adopts two forms of a flexible belt and a hard hanging bracket with certain elasticity. The bag belt is suitable for clamping during initial rehabilitation, and the hanger can be used after the application. The patient can lie in bed for rehabilitation training. In addition, the invention comprises the steps of acquiring the personalized patient rehabilitation mode, assisting the patient to carry out rehabilitation training by a rehabilitation teacher, acquiring the patient rehabilitation mode through an RFID (radio frequency identification) motion acquisition and processing system, configuring equipment according to the patient rehabilitation mode and determining the form of the connecting rod curve.
The rehabilitation training robot is characterized in that the rehabilitation training robot structure is completely composed of plane connecting rod basic components and is divided into an upper part mechanism and a lower part mechanism, the upper part mechanism and the lower part mechanism are respectively provided with three types, nine different mechanisms are generated by combining the upper part mechanism and the lower part mechanism, and different space motion track curves are realized by utilizing the diversity of connecting rod curves so as to meet the requirements of different patients. The lower mechanism is provided with a crank sliding block mechanism, a crank rocking block mechanism and a crank rocking bar mechanism, and the upper mechanism is provided with a hinge five-bar mechanism, a double-moving pair five-bar mechanism and a crank rocking bar mechanism. The lower mechanism is vertically arranged, the driving and transmission system of the lower mechanism is arranged in the middle case, the upper mechanism is horizontally arranged, and the driving and transmission system of the upper mechanism is arranged in the middle case and the side link of the lower mechanism, so that the appearance of the equipment is brief.
When the upper mechanism and the lower mechanism are combined, the upper mechanism is horizontally arranged, the lower mechanism is vertically arranged, and a frame of the upper mechanism is arranged on a component of the lower mechanism, so that the spatial movement of the plane mechanism is realized through the combination form.
And acquiring a personalized patient rehabilitation mode, assisting a patient to perform rehabilitation training by a rehabilitation teacher, acquiring the patient rehabilitation mode through the RFID motion acquisition and processing system, configuring equipment according to the acquired patient rehabilitation mode and determining the form of the connecting rod curve.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the design is simple, the cost is low, and the volume is small; 2. can be used for prone position and sitting position, and for rehabilitation of upper limbs and lower limbs, and can realize a motion mode suitable for individual symptoms of patients by clamping one part or two parts; 3. the specific forms and parameters of the two plane mechanisms can be customized according to the specific conditions of the patient, and the personalized motion trail is realized under the condition of not changing the overall structure, so that the personalized rehabilitation training is realized. The connecting rod adopts a porous rod, and the length of the connecting rod mechanism can be adjusted according to a specific motion track, so that one mechanism is configured to realize the combination of a plurality of mechanism parameters to realize different motion curve requirements.
According to an aspect of the present invention, there is provided an upper/lower limb spatial exercise rehabilitation training assistance apparatus characterized by comprising:
a support post of the machine frame is arranged,
a box body for placing the driving and transmission mechanism and the control part,
a lower part mechanism which is used for connecting the lower part mechanism,
an upper mechanism for realizing spatial movement together with the lower mechanism,
an upper mechanism, a lower mechanism motion conversion and connection component,
a lifting belt for supporting and fixing the upper limb or the lower limb of the user at a selected point on the upper mechanism,
wherein,
the stand column and the lower mechanism are respectively provided with three forms, and can be randomly combined into 9 different combinations to adapt to the expected specific movement form and user preference,
therefore, different motion modes can be adopted according to individual requirements, the planar mechanism is used for realizing space motion, and the connecting rod curve compound motion of the planar mechanism is used for realizing complex space motion trail.
Drawings
Fig. 1a-1c show basic configurations of a rehabilitation device according to different embodiments of the invention.
FIGS. 2a-2c illustrate a lower housing and lower mechanism according to one embodiment of the present invention; fig. 2d-2f show a schematic view of the chassis base. Fig. 2g is an apparatus configuration showing different combinations of rack forms and mechanism forms according to an embodiment of the present invention.
Figures 3a-3c show an upper mechanism according to the invention.
Fig. 4a-4b show the upper and lower limb clamping manner in the upper and lower limb space exercise rehabilitation training auxiliary device according to the invention.
Fig. 5a-5c show lower and upper mechanism drive and transmission configurations.
Fig. 6A and 6B show the transfer of motion of the upper mechanism driving part according to the present invention.
Figure 7 shows the transfer of motion of the lower mechanism driving member according to the present invention.
Figures 8a-8e show a method of converting the plane motion of the lower mechanism to the plane of motion of the upper mechanism according to the invention.
Detailed Description
The invention uses two plane mechanisms to realize space motion, and uses the connecting rod curve to realize various motion modes and motion tracks, thereby reducing the design and manufacturing cost; the nested structure is adopted to transfer motion, so that two or three driving motors and the speed reducer are simultaneously arranged in the box body in the middle of the rack, the motion transfer mechanism of the operation end is simplified, the weight and the volume of the upper horizontal mechanism are reduced, and the appearance is simple and attractive. The equipment configuration is customized according to the requirements of the rehabilitation training motion mode of the patient, and personalized configuration is realized. As shown in fig. 1a, 1b, a rehabilitation device according to one embodiment of the present invention comprises a frame (110), a box (114), a driving and transmission mechanism (inside the box 114, not shown), lower vertical linkages (111, 112, 113), upper horizontal linkages (121, 122), a linkage curve disc (124), and a harness mounting bracket (123). Wherein a moving member (113) of the lower mechanism is integrally assembled with a frame (121) of the upper mechanism. By adopting different rack forms and mechanism forms, the device can be combined into nine different configuration forms; different movement modes and movement tracks can be obtained by selecting different sling mounting positions. The lower mechanism is combined in a way shown in figures 2a, 2b and 2 c. Different combinations generate different spatial motion tracks and different motion ranges. The motion acquisition and processing system is shown in fig. 1c and comprises RFID electronic tags i1, i2, … … ii and … … in, an antenna a1-a4, an RFIDR/W reader-writer, and a data processing module comprising middleware, a database and an algorithm module.
Fig. 1a-c show the basic configuration of a rehabilitation device according to different embodiments of the present invention, comprising a frame (110), a box (114), a lower vertical mechanism (111, 112, 113), an upper horizontal mechanism (121, 122), a link curve disc (124), a harness (123), a motion capture system (1 c).
Figures 2a-2c illustrate a lower housing and lower mechanism according to one embodiment of the present invention.
As shown in fig. 2a-2c, the lower frame and the lower mechanism have three frame forms, including frame supports (11), (110), 21, 31), boxes (14), (114), 24, 34), and lower four-bar mechanisms (12), (112), 22, 32). A motor (not shown), a reducer (not shown), a transmission (not shown), and a control board (not shown) are placed in the case. The lower mechanism has three forms, including a crank connecting rod mechanism (32), a crank rocker mechanism (22) and a crank slider mechanism (12); and has three forms: the specific structural form of the support 11, 21, 31 is determined according to the movement form and the preference of a user, and all forms are components and are interchangeable. Fig. 2c is mainly suitable for upper limb rehabilitation and rehabilitation training mainly involving horizontal movement. Fig. 2b is suitable for lower limb rehabilitation, and mainly used for rehabilitation training of crus flexion and extension. Fig. 2a is used for rehabilitation training of upper limbs and lower limbs, and is suitable for training mainly with space motion. The power plug (203) is positioned at the position of the cable box (202) of the chassis (211, 221, 231). The electric wires extend to the middle box (14, 24, 34) through the box bases (211, 221, 231) and the hollow bracket (201). The start and stop of the movement is achieved by turning on and off an electromagnetic clutch (not shown), and a motor (not shown) drives the lower mechanism (12, 22, 32) through a transmission (not shown). An electromagnetic clutch (not shown) is provided between the mechanism input shaft and the motor, and during the training process, when the mechanism needs to stop moving for a short time, the clutch is disconnected, and the motor still rotates. In fig. 2a, the upper mechanism frame is a lower mechanism slide (13). In fig. 2b, the upper mechanism frame is a lower mechanism rocker (23) or slider, which is specifically selected according to the motion mode in use: when the motion amplitude is small and the motion track is an approximate arc, a rocker (23) can be used as a frame; when the motion amplitude is large and the motion trail is a non-circular curve, a sliding block (13) can be used as an upper mechanism frame.
Fig. 2d, 2e, 2f are schematic diagrams of the rack chassis, the chassis (211, 221, 231) is an equipment chassis, supporting the whole equipment, 201 is a hollow tube, 202 is a cable box position, 203 is an electric wire, and 204,205,206 are auxiliary supports. According to one embodiment, the base is provided with a groove, and the cable is placed in the groove.
Fig. 2g is an equipment configuration showing different combinations of rack forms (rack 1, rack 2, rack 3) and mechanism forms according to an embodiment of the invention.
Figures 3a-3c show an upper mechanism according to the invention.
As shown in fig. 3a-3c, the spatial movement of the rehabilitation device according to one embodiment of the present invention is achieved by two planar linkages together. Wherein, upper portion mechanism is horizontal link mechanism, has three kinds of forms: the system comprises a single-degree-of-freedom four-bar mechanism (310), a 2-degree-of-freedom hinge five-bar mechanism (320) and a 2-degree-of-freedom two-moving pair five-bar mechanism (330). The specific form is selected according to the rehabilitation exercise mode to be performed. Generally, the reciprocating mode selects the upper mechanism (311, 312, 313) shown in fig. 3a and the upper mechanism (321, 324, 325) shown in fig. 3b, and the circular mode selects the upper mechanism (331, 324) shown in fig. 3 c. Reference numerals 313, 324, 325 denote the support sling locations.
In figures 3a-3c, the position of the sling (313, 324, 325) is determined according to the rehabilitation trajectory.
Fig. 4a-4b show the upper and lower limb clamping manner in the upper and lower limb space exercise rehabilitation training auxiliary device according to the invention.
As shown in fig. 4a-4b, the rehabilitation device according to one embodiment of the invention uses a lifting clamp to keep the patient at a distance from the device. Wherein the lifting belt (415) adopts one of a flexible belt and a hard hanger with certain elasticity, and in use, the upper limb or the lower limb of a user is supported by the bracket (414) and is fixed on the upper mechanism (311, 321, 331) through the lifting belt (415) and is fixed on the upper mechanism (313, 324, 325) (figures 3a-3 c). During the initial rehabilitation, the upper limb or the lower limb is clamped by the bracket (414), and the sling (415) can be directly used after the rehabilitation is applied. The patient can lie in bed for rehabilitation training. A control system (not shown) is housed within the housing (14, 24, 34) and is operable to select the speed and trajectory of movement, as well as the duration and number of exercises, via a control panel (416). The front of the device is provided with a digital indicator (412) which displays the number of times and time of training.
Fig. 5a-5c show lower and upper mechanism drive and transmission configurations.
As shown in fig. 5a to 5c, in the rehabilitation apparatus according to one embodiment of the present invention, the motors and reducers are enclosed in the middle case (14), and in order to avoid excessive heat generation, the three motors (521, 531, 541) and reducers (522, 532, 542) are installed in a space staggered manner (see fig. 5a) and a heat dissipation fan (not shown) is installed. The lower mechanism is driven by a lower mechanism motor (521), decelerated by a decelerator (522), and transmitted to the lower motion mechanism, i.e., the drive shaft (12, 22, 32) (525), through a drive belt (523) and a bevel gear assembly (524).
The upper mechanism motor (531) is mounted in the frame mid-box (14) and therefore requires motion to be transferred from the lower to the upper mechanism (311, 321, 331). Since the shafts of the upper mechanism drivers (301, 302, 303, 304) are moving, it is necessary to transmit the motor motion to the shafts of the upper mechanism drivers through the lower mechanism members. The upper mechanism drive and transmission system is disposed within the housing (14) and within the lower mechanism link assembly (535, 543). When the upper mechanism is a four-bar mechanism, the degree of freedom is 1, one-way driving is needed, the motion of the upper mechanism is driven by a motor (531), and the motion is transmitted to a relative rotating shaft (536) of a crank and a connecting rod of the lower mechanism through a speed reducer (532), a bevel gear transmission device (533) and a transmission belt (534) and then further converted into horizontal motion.
When the upper mechanism is a five-rod mechanism, the mechanism has two degrees of freedom, two-way driving is needed, one way of driving is realized by the mode, the other way of driving is driven by a motor (541), and the motion is transmitted to a rocker and a connecting rod rotating shaft (546) through a speed reducer (542), a bevel gear (544) and a transmission belt (545) and then is further converted into horizontal motion.
Mode of motion transmission
The lower mechanism is driven by a motor 521, is decelerated by a speed reducer 522, and transmits motion to a lower mechanism crank (535) through a rotating shaft (525) by steering and belt transmission (523) through two pairs of bevel gears (526, 527), the upper mechanism is driven by 2 motors (531, 541) and speed reducers (532, 542) with the same type, the motion is transmitted to a lower crank socket shaft (533) and a rocker socket shaft (544) by reversing through the bevel gears (551, 552), and is transmitted to a shaft (536) through a belt (534), when the upper mechanism is a four-bar mechanism, the motor 551 transmits the motion to an upper mechanism crank (301) through the speed reducer 532, the bevel gears (551), the shaft (533), the belt transmission 534 and the shaft (536), when the upper mechanism is a five-bar mechanism, one driving part (302 or 304) transmits the motion in the mode, and the other driving part (303 or 305) transmits the motion in a similar mode, motion is transferred by motor 532 through reducer 542, bevel gear 552, shaft 544, belt drive (545), shaft (546) to the upper mechanism drive (303 or 305). All motors and speed reducers as well as bevel gears and lower mechanism belt drives are arranged in a middle box body (14) of the frame, and the motion of the upper mechanism (310, 320, 330) is transmitted by a lower mechanism crank assembly (535) and a rocker assembly (543). . According to one embodiment of the invention, the belt drives are housed in respective crank and rocker assemblies
Fig. 6A and 6B show the transfer of motion of the upper mechanism driving part according to the present invention.
According to one embodiment of the invention, the movement of the upper mechanism is driven by the movement of the side links and the link connecting shafts of the lower mechanism. The vertical plane motion is converted into horizontal plane motion by a bevel gear, and then the motion can be transmitted to a horizontal link mechanism through belt transmission or directly transmitted to an upper horizontal link mechanism, so that the size of a frame of the upper mechanism is adjusted.
As shown in fig. 6A and 6B, in one embodiment according to the present invention, the transmission is: the motion of the motor (531) reaches the upper mechanism connecting frame rod (621) through the speed reducer (532), the electromagnetic clutch (603), the bevel gear transmission mechanism (533), the shaft assembly (605) -the transmission belt (534), the shaft assembly (536), the bevel gear transmission mechanism (609), the upper mechanism shaft assembly (610) -the transmission belt (622). Wherein the belt drive (534) is embedded inside the lower mechanism crank (or side link) assembly (535), according to one embodiment of the present invention.
In another embodiment according to the invention, the transmission is: the upper mechanism side link (621) is directly sleeved on the vertical shaft (610) without passing through an upper transmission belt (622).
Figure 7 shows the transfer of motion of the lower mechanism driving member according to the present invention.
The reciprocating motion of the lower four-bar mechanism is realized by the two four-bar mechanisms, and the continuous rotation of the motor is converted into the reciprocating motion of the driving part of the lower mechanism. According to one embodiment of the invention, as shown in fig. 7, motion is transmitted to the shaft assembly (701) through a pulley (702) by a drive belt (523) and to the lower mechanism tie rod assembly (535) by a bevel gear transmission (527), a connecting rod (704). The motion transmission mode is as follows: the device comprises a motor (521), a speed reducer (522), a belt transmission (523), a bevel gear (527), a connecting rod (704), a lower mechanism connecting rod (535) and a lower mechanism four-bar mechanism (413). Two serial four-bar mechanisms are adopted to realize the reciprocating swing motion of the lower mechanism, and the swing range of the upper connecting bar mechanism is enlarged through reverse serial connection.
Figures 8a-8e show a method of converting the plane motion of the lower mechanism to the plane of motion of the upper mechanism according to the invention.
Since the two linkages move in the vertical and horizontal planes, respectively, it is necessary to switch the direction of movement (fig. 8 a). According to one embodiment of the invention, two forms are adopted according to the speed of the required speed: bevel gear drive (fig. 8b), and worm gear drive (fig. 8c), the latter for slow speed motor rehabilitation, especially for elderly people. The bevel gear transmission form adopts two installation forms: directly drives the driving part of the upper horizontal mechanism, or drives the driving part of the upper horizontal mechanism through the transmission of a primary belt, and the difference between the driving part and the driving part is that the sizes of the frames are different.
According to one embodiment of the present invention, as shown in FIG. 8a, the upper and lower mechanisms are connected by a linkage assembly (411). The lower mechanism drive rod assembly (535) and lower mechanism driven rod assembly (543) and lower mechanism link assembly (411) transfer motion to the upper mechanism link lever (drive piece) (301 or 302 or 304) (fig. 3a-3 c).
Fig. 8b shows a vertical plane motion to horizontal plane motion conversion device according to the present invention, where motion is transferred to the horizontal motion of the upper mechanism side link (driving member) (301 or 302 or 303, fig. 3a-3c) by a pair of bevel gears (812) and a drive belt (622).
Fig. 8c shows the use of a worm gear drive (822, 821, 823) to convert vertical planar motion to horizontal planar motion of the drive belt (622) according to the present invention.
Fig. 8d shows the upper mechanism side link integrated with the lower mechanism link assembly (411) according to the present invention, and side links (301 and 306). The configuration of the belt (622) is determined based on the length of the frame.
Fig. 8e shows the lower housing and shaft assembly (841, 842) according to the invention. The shaft 841 is rotated by a belt drive (534) (see fig. 5b) on which the lower mechanism member 535 idles. The shaft 842 is rotated by a belt drive (545) (see fig. 5c, right) on which the lower mechanism member 543 idles. .
According to the rehabilitation exercise requirements of patients, the invention realizes space motion by two plane mechanisms, and the structure comprises: the device comprises a lower vertical plane connecting rod, an upper horizontal plane connecting rod, a driving motor, a speed reducer, a transmission system, a control system and a motion acquisition system.
The rehabilitation training aid according to the invention can perform the following working modes:
(1) a rehabilitation teacher holds the limbs of the patient to do applicability rehabilitation movement according to the mobility of the patient, and the movement track is recorded by the sensor and the camera;
(2) reproducing the spatial motion track of the patient through an algorithm;
(3) calculating the required input motion with 2 or 3 degrees of freedom;
(4) the motor drives 2 degrees of freedom or 3 degrees of freedom to realize the preset rehabilitation training motion trail.
(5) The design of the mechanism, according to different rehabilitation motion trail requirements, designs three forms of racks, three forms of lower mechanisms, three forms of upper horizontal mechanisms and three forms of lower mechanism and upper mechanism motion conversion devices;
(6) the upper limb or the lower limb is clamped by the hanger for movement.
The invention has the advantages and beneficial effects that:
the invention realizes space motion by utilizing two plane link mechanisms, and has the following advantages:
(1) the design is simple, the cost is low, and the volume is small;
(2) can be used for prone position and sitting position, and for rehabilitation of upper limbs and lower limbs, and can realize a motion mode suitable for individual symptoms of patients by clamping one part or two parts;
(3) the specific forms and parameters of the two plane mechanisms can be customized according to the specific conditions of the patient, and the personalized motion trail is realized under the condition of not changing the overall structure, so that the personalized rehabilitation training is realized. The connecting rod adopts a porous rod, and the length of the connecting rod mechanism can be adjusted according to a specific motion track, so that one mechanism is configured to realize the combination of a plurality of mechanism parameters to realize different motion curve requirements.
The implementation mode is as follows: the robot adopts a modular combination scheme, three main body frame structures, three lower mechanisms and three upper mechanisms, and other parts adopt a universal structure and comprise a connecting rod, a transmission system and a driving system. The overall mechanism design is configured according to specific track requirements, and 9 configurations are provided.
Claims (10)
1. An upper limb/lower limb space exercise rehabilitation training auxiliary device, characterized by comprising:
a frame support (11, 21, 31),
a housing (14, 24, 34) for housing the drive and transmission mechanism and control portion,
a lower mechanism (12, 22, 32),
an upper linkage (310, 320, 330) for spatial movement in cooperation with the lower linkage (12, 22, 32),
an upper mechanism and a lower mechanism motion conversion and connection frame (13, 23, 33),
a sling (414, 415) for holding and securing a user's upper or lower limb at a selected point (313, 324, 325) on the upper four-bar mechanism (310, 320, 330),
wherein,
the frame supports (11, 21, 31) and the lower mechanisms (12, 22, 32) are respectively in three forms, and can be randomly combined into 9 different combinations to adapt to the specific movement form and the preference of users,
therefore, different motion modes can be adopted according to individual requirements, the planar mechanism is used for realizing space motion, and the connecting rod curve (312) of the planar mechanism is used for realizing complex space motion trail.
2. The upper/lower limb spatial motor rehabilitation training aid of claim 1, wherein the upper mechanism housing is selected from one of the following forms:
-the upper mechanism frame is integral (13) with the lower slider-crank mechanism slide to accommodate the larger amplitude of motion and the non-circular curve of the motion trajectory,
-the upper mechanism frame is integral (23) with the lower mechanism crank rocker mechanism rocker to accommodate small motion amplitudes and motion trajectories that are approximately circular arcs.
-the upper mechanism frame is integral (33) with the lower crank-rocker mechanism link to accommodate the increased amplitude of motion.
3. The upper/lower limb spatial motor rehabilitation training aid of claim 1, wherein the upper mechanism can be selected from one of three forms: a single-degree-of-freedom four-bar mechanism (310), a two-degree-of-freedom hinge five-bar mechanism (320), and a two-degree-of-freedom five-bar mechanism (330) with two moving pairs,
wherein,
the single degree-of-freedom four-bar mechanism (310) is used for reciprocating motion and includes a hinged four-bar mechanism (311, 312, 313),
the two-degree-of-freedom hinge five-bar mechanism (320) is used for reciprocating motion and comprises hinge five-bar mechanisms (321, 324, 325),
the two-degree-of-freedom five-rod mechanism (330) with two moving pairs is used for circular motion and comprises five-rod mechanisms (331, 324) with moving pairs.
4. The upper/lower limb spatial motor rehabilitation training aid of claim 3, characterized in that
The four-bar hinge mechanism (310), the five-bar hinge mechanism (320) and the five-bar mechanism (330) with the moving pair are driven by first and second upper driving motors (531 and 541) through first and second speed reducers (532 and 542) and are all placed inside the box body.
Wherein
First and second upper drive motors (531, 541) are mounted in the middle box (14) of the boxes (14, 24, 34).
5. The upper/lower limb spatial motor rehabilitation training aid of claim 4, characterized in that
The hinged four-bar mechanism is a single-degree-of-freedom four-bar mechanism (310) which needs to be driven all the way, the motion of the hinged four-bar mechanism is driven by a first upper driving motor (531) through a first speed reducer (532),
the hinge five-bar mechanism and the five-bar mechanism with the sliding pair are driven by two paths, wherein one path of driving is driven by a first upper driving motor (531) through a first speed reducer (532), and the other path of driving is driven by a second upper driving motor (541) through a second speed reducer (542).
6. The upper/lower limb spatial motor rehabilitation training aid of claim 1, characterized in that
The three forms of lower mechanism (12, 22, 32) include a crank linkage (32), a crank rocker mechanism (22), a slider-crank mechanism (12) for accommodating specific desired forms of motion and user preferences.
7. The upper/lower limb spatial motor rehabilitation training aid of claim 6, characterized in that
The reciprocating swing motion of the lower mechanisms (12, 22, 32) is realized by adopting two four-bar mechanisms connected in series, and the swing range of the upper link mechanism is enlarged by connecting the four-bar mechanisms in series in the opposite direction.
8. The upper/lower limb spatial motor rehabilitation training aid of claim 1, characterized by further comprising:
the RFID system is used for collecting the real motion trail of the rehabilitation training of the patient to determine the motion mode,
the acquisition system comprises a reader-writer, an antenna, a group of electronic tags and a data processing module.
9. The upper/lower limb spatial motor rehabilitation training aid according to claim 3,
by utilizing the diversity of the link curves of the link mechanisms, a set of different spatial motions is realized by a combination of the horizontal link mechanism including the first to third upper motion mechanisms and the vertical link mechanism including the lower mechanism.
10. The upper/lower limb spatial motor rehabilitation training aid according to claim 3,
the four-bar linkage mechanism, the five-bar linkage mechanism, the transmission and driving part containing the five-bar linkage mechanism and the lower mechanism are all arranged in the box body in the middle of the frame, the motion of the four-bar linkage mechanism (310), the five-bar linkage mechanism (320) and the five-bar linkage mechanism (330) containing the moving pair is transmitted by the crank assembly (535) and the rocker assembly (543) of the lower mechanism, and the transmission belts (534, 545) are packaged in the corresponding crank (535) and rocker (543) assemblies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410400703.3A CN105326624B (en) | 2014-08-14 | 2014-08-14 | Upper limbs/lower limb spatial movement rehabilitation training auxiliary equipment |
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| CN105326624B CN105326624B (en) | 2017-07-07 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199789A (en) * | 2018-10-18 | 2019-01-15 | 长春工业大学 | Upper limb end guiding type rehabilitation structure based on I type gear planar five-bar mechanism |
| CN111228747A (en) * | 2020-02-12 | 2020-06-05 | 李华想 | A crooked trainer for arm muscle joint resumes |
| CN116035864A (en) * | 2023-02-03 | 2023-05-02 | 中国人民解放军海军特色医学中心 | Multifunctional lumbar muscle exercise assisting device and method for patients with lumbago and backache |
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| CN101006958A (en) * | 2007-01-23 | 2007-08-01 | 四川大学 | Ankle joint rehabilitation training device |
| CN200973803Y (en) * | 2006-09-28 | 2007-11-14 | 陈晓华 | Instrument for limb recovery |
| CN201044808Y (en) * | 2006-12-22 | 2008-04-09 | 武汉大学 | Rehabilitation training device |
| WO2010079862A1 (en) * | 2009-01-12 | 2010-07-15 | Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) | Wearable robot for assisting muscular strength of lower extremity |
| CN202982553U (en) * | 2012-12-28 | 2013-06-12 | 王继文 | Body-building bed |
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| CN200973803Y (en) * | 2006-09-28 | 2007-11-14 | 陈晓华 | Instrument for limb recovery |
| CN201044808Y (en) * | 2006-12-22 | 2008-04-09 | 武汉大学 | Rehabilitation training device |
| CN101006958A (en) * | 2007-01-23 | 2007-08-01 | 四川大学 | Ankle joint rehabilitation training device |
| WO2010079862A1 (en) * | 2009-01-12 | 2010-07-15 | Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) | Wearable robot for assisting muscular strength of lower extremity |
| CN202982553U (en) * | 2012-12-28 | 2013-06-12 | 王继文 | Body-building bed |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199789A (en) * | 2018-10-18 | 2019-01-15 | 长春工业大学 | Upper limb end guiding type rehabilitation structure based on I type gear planar five-bar mechanism |
| CN111228747A (en) * | 2020-02-12 | 2020-06-05 | 李华想 | A crooked trainer for arm muscle joint resumes |
| CN116035864A (en) * | 2023-02-03 | 2023-05-02 | 中国人民解放军海军特色医学中心 | Multifunctional lumbar muscle exercise assisting device and method for patients with lumbago and backache |
| CN116035864B (en) * | 2023-02-03 | 2024-07-23 | 中国人民解放军海军特色医学中心 | Multifunctional lumbar muscle exercise assisting device and method for patients with lumbago and backache |
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| CN105326624B (en) | 2017-07-07 |
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