CN105362036B - Rehabilitation power-assisted pedipulator - Google Patents
Rehabilitation power-assisted pedipulator Download PDFInfo
- Publication number
- CN105362036B CN105362036B CN201510679860.7A CN201510679860A CN105362036B CN 105362036 B CN105362036 B CN 105362036B CN 201510679860 A CN201510679860 A CN 201510679860A CN 105362036 B CN105362036 B CN 105362036B
- Authority
- CN
- China
- Prior art keywords
- shank link
- electric motor
- rehabilitation
- motor assembly
- integrated electric
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
Abstract
The present invention discloses a kind of rehabilitation power-assisted pedipulator, the pedipulator includes telescopic shank link, integrated electric motor assembly module and ankle bearing, the integrated electric motor assembly module is connect with one end of telescopic shank link, the other end of telescopic shank link is connect with ankle bearing, integrated electric motor assembly module is connect with a control module, telescopic shank link both ends are respectively provided with bandage, and integrated electric motor assembly module is controlled by control module, and telescopic shank link is driven to swing.It is an advantage of the invention that structure is simple, the people of lower limb inconvenience can be assisted to be trained treatment, not only improved the working efficiency of power-assisted pedipulator, but also reduce the quality of itself, easily implemented.
Description
Technical field
The present invention relates to a kind of auxiliary instrument of leg rehabilitation training, in particular to a kind of rehabilitation power-assisted pedipulator.
Background technique
Currently, there are many lower limb paralysis or the handicapped people of lower limb in the whole nation, occur in the market for problems
A variety of convalescence devices, but structure is all very complicated or without the single rehabilitation product for carrying out rehabilitation for leg.And
For leg rehabilitation, needs a kind of structure simple and be able to satisfy enough guidance shanks or thigh progress gait training and gait fortune
Dynamic mechanical device proposes to improve the present invention is based on this.
Due in the market mostly both for the rehabilitation training of whole body, and be directed to the training product of leg almost without.
According to the movement characteristic of leg, the movement velocity of leg convalescence device is adjusted, so that it may lower limb inconvenience be assisted to need to carry out rehabilitation
Trained people carries out leg rehabilitation training.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of rehabilitation power-assisted pedipulator specifically for leg rehabilitation.
For the technical problem more than solving, the present invention provides a kind of rehabilitation power-assisted pedipulator, which includes stretching
Contracting formula shank link, integrated electric motor assembly module and ankle bearing, the integrated electric motor assembly module and telescopic shank
One end of connecting rod connects, and the other end of telescopic shank link is connect with ankle bearing, integrated electric motor assembly module and a control
The connection of molding block, telescopic shank link both ends are respectively provided with bandage, and integrated electric motor assembly module is controlled by control module, drive
Telescopic shank link swings.
The integrated electric motor assembly module and telescopic shank link are coaxially connected, or not coaxially connected.
The ankle bearing is also connect with a foot palm part, and foot palm part is equipped with sole sensor-based system, sole sensor-based system and control
The connection of molding block.
The sole sensor-based system is force snesor or acceleration transducer.
The sole sensor-based system is rectangular or round.
The telescopic shank link is using hollow bar structure or using gear & rack structure or using flexible card slot knot
Structure uses flake structure.
The ankle bearing is axle sleeve structure or rolling bearing.
The foot palm part is template or is shoe style.
Superior effect of the invention is:
1) present invention uses integral machine electrical component module, realizes and carries out rehabilitation to patient, because of integrated electrical equipment unit
Part module is small in size, and light, and the weight of leg, greatly facilitates the rehabilitation training of leg when not will increase patients ' recovery training；
2) present invention also adds the rehabilitation trainings of ankle part, and the power of leg is perceived by the sensor-based system of foot palm part
Amount, to adjust the speed of integral machine electrical component module, reaches optimal physical training condition；
3) present invention, which realizes a simple structure, can assist the people of lower limb inconvenience to be trained treatment, both mention
The high working efficiency of power-assisted pedipulator, and the quality of itself is reduced, the configuration of the present invention is simple is easily implemented；
4) integrated electric motor assembly module of the invention, greatly reduces the weight of rehabilitation power-assisted pedipulator, enhances reality
With property and operability；
5) integrated electric motor assembly module of the invention has a variety of interchangeable electric machine assembly forms, according to different legs
The suitable electric machine assembly module of dimensional configurations；
6) sole sensing system of the invention can adjust rehabilitation auxiliary force according in rehabilitation training in real time
And movement velocity；
7) various binding modes band forms of the invention select different gaiter forms according to different persons, or select similar leg
The shell of type is as constraint.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is two-dimension plane structure schematic diagram of the invention；
Fig. 2 is three-dimensional planar structural schematic diagram of the invention；
Figure label explanation
1-integrated electric motor assembly module；2-bandages；
3-telescopic shank links；4-ankle bearings；
5-sole sensor-based systems；6-foot palm parts.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
The embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Fig. 1 shows two axial plane structural schematic diagrams of the embodiment of the present invention, and Fig. 2 shows three axis of the embodiment of the present invention
Planar structure schematic diagram.As depicted in figs. 1 and 2, the present invention provides a kind of rehabilitation power-assisted pedipulator, which includes flexible
Formula shank link 3, integrated electric motor assembly module 1 and ankle bearing 4, the integrated electric motor assembly module 1 with it is telescopic small
One end of leg connecting rod 3 connects, and the other end of telescopic shank link 3 is connect with ankle bearing 4, integrated electric motor assembly module 1
It is connect with a control module, telescopic 3 both ends of shank link are respectively provided with bandage 2, and bandage 2 is used to patient's leg that bandage waits for train
Portion, integrated electric motor assembly module 1 are controlled by control module, and telescopic shank link 3 is driven to swing.
The integrated electric motor assembly module 1 is coaxially connected with telescopic shank link 3, or not coaxially connected.Such as
Shown in Fig. 1 and Fig. 2, integrated electric motor assembly module 1 is not coaxially connected with telescopic shank link 3.
The ankle bearing 4 is also connect with a foot palm part 6, and foot palm part 6 is equipped with sole sensor-based system 5, sole sensor-based system 5
It is connect with control module.As depicted in figs. 1 and 2, the foot palm part 6 is template.
The sole sensor-based system 5 is force snesor or acceleration transducer.
The sole sensor-based system 5 is rectangular or round.
As depicted in figs. 1 and 2, the telescopic shank link 3 is using hollow bar structure.Certainly, telescopic shank connects
Bar 3 can also be used gear & rack structure or using flexible notch or using flake structure.
The telescopic shank link 3 is had using gear & rack structure are as follows: shank link is divided into two sections, upper section roller gear
It is connected with electric machine assembly module 1, lower section is rack gear, controls electric machine assembly module 1 by control module, and then drive roller gear
It is rolled in rack gear, to realize the Telescopic of shank link.The same hollow bar structure of rehabilitation training and effect of this structure
Equally.
The telescopic shank link 3 uses notch are as follows: shank link is divided into two sections, and two sections are happily ellipse
When adjusting upper-lower section position suitable, with pin card master, the Telescopic of shank link can be realized in circular trough.This structure
Rehabilitation training and effect with hollow bar structure as.
The telescopic shank link 3 uses flake structure are as follows: shank link is divided into online two sections of the thin plates, and the thin plate is opened
There are many circular holes to be screwed circular hole corresponding when being adjusted to suitable position by adjusting the position of the thin plate
Realize the Telescopic of shank link.The rehabilitation training of this structure and effect with hollow bar structure as.
The ankle bearing 4 is axle sleeve structure or rolling bearing.
The axle sleeve structure are as follows: ankle and sole junction are cooperated using axis and sleeve pure rolling, realize rotating function, from
And sole is driven to carry out rehabilitation training.
The rolling bearing structure are as follows: in ankle with sole junction using nested rolling bearing in hole, rolling bearing band
Moving axis, and then sole movement is driven, realize sole rehabilitation training.
The foot palm part 6 can also be shoe style.
Shell mechanisms that are multiple, or using similar leg type can be set in the bandage 2.
The course of work of the invention: rehabilitation power-assisted pedipulator and people's leg are fixed by bandage 2, driven by control module
Integrated electric motor assembly module 1 works, and integrated electric motor assembly module 1 drives telescopic shank link 3 to carry out gait motion.Foot
Ankle bearing 4 can carry out rehabilitation state feedback with moving sole on foot palm part 6, and the information of feedback will be sensed by sole is
System 5 feeds back to control module and carries out rehabilitation state adjusting.Setting is realized by the retarder that integrated electric motor assembly module 1 embeds
Reduction ratio, reach the demand of leg training gait.
Integrated electric motor assembly module 1 can be chosen at work according to the actual size of auxiliary leg, can tear open at any time
It unloads, facilitates installation.
Telescopic shank link 3 is connected by the present invention by bandage 2 with the patient leg to train, and then passes through one
Change electric machine assembly module 1 and drive telescopic shank link 3, drives telescopic shank to connect according to the training gait that control module issues
Bar 3 swings, and achievees the purpose that rehabilitation training.
In order to increase the comfort in rehabilitation training, the present invention is equipped with foot plate support part, i.e. foot palm part 6.Health
The people that refreshment is practiced pedals foot palm part according to oneself physical training condition, with sole, and the sole sensor-based system 5 on foot palm part is by this force information
Control module is passed to, and then the speed for adjusting integrated electric motor assembly module 1 reaches to adjust the size of rehabilitation auxiliary force
To optimal physical training condition.
The foregoing is merely preferred embodiments of the invention, are not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of the present invention within.
Claims (6)
1. a kind of rehabilitation power-assisted pedipulator, it is characterised in that: the pedipulator is by telescopic shank link, integrated electric motor assembly mould
Block, control module, ankle bearing and foot palm part connected to it, sole sensor-based system composition, the integrated electric motor assembly mould
Block is connect with one end of telescopic shank link, and the other end of telescopic shank link is connect with ankle bearing, the foot palm part
Equipped with sole sensor-based system, sole sensor-based system is connect with control module, and control module is connect with integrated electric motor assembly module,
The strength of sole sensor-based system perception leg is simultaneously sent to control module, and integrated electric motor assembly module is controlled by control module,
Telescopic shank link is driven to swing, control module adjusts the movement velocity of integrated electric motor assembly module, to adjust
The size of rehabilitation auxiliary force.
2. rehabilitation power-assisted pedipulator according to claim 1, it is characterised in that: the ankle bearing be axle sleeve structure or
It is rolling bearing, sole is driven to carry out rehabilitation training.
3. rehabilitation power-assisted pedipulator according to claim 1 or 2, it is characterised in that: the telescopic shank link uses
Hollow bar structure uses gear & rack structure or uses flexible notch or use flake structure.
4. rehabilitation power-assisted pedipulator according to claim 1, it is characterised in that: telescopic shank link both ends, which are respectively provided with, ties up
Band.
5. rehabilitation power-assisted pedipulator according to claim 1, it is characterised in that: the sole sensor-based system is power sensing
Device or acceleration transducer.
6. rehabilitation power-assisted pedipulator according to claim 5, it is characterised in that: the sole sensor-based system be it is rectangular or
It is round.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510679860.7A CN105362036B (en) | 2015-10-20 | 2015-10-20 | Rehabilitation power-assisted pedipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510679860.7A CN105362036B (en) | 2015-10-20 | 2015-10-20 | Rehabilitation power-assisted pedipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105362036A CN105362036A (en) | 2016-03-02 |
| CN105362036B true CN105362036B (en) | 2019-01-25 |
Family
ID=55365005
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510679860.7A Active CN105362036B (en) | 2015-10-20 | 2015-10-20 | Rehabilitation power-assisted pedipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105362036B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108433856B (en) * | 2018-03-06 | 2020-02-28 | 青岛大学附属医院 | Special orthopaedic medical rehabilitation instrument for tibiofibula traction reduction |
| CN109316320A (en) * | 2018-11-13 | 2019-02-12 | 董凡 | A kind of rehabilitation auxiliary walking device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7731670B2 (en) * | 2007-02-02 | 2010-06-08 | Honda Motor Co., Ltd. | Controller for an assistive exoskeleton based on active impedance |
| KR100946186B1 (en) * | 2008-02-19 | 2010-03-08 | 연세대학교 산학협력단 | Robotic assisted orthosis for lower extremity |
| CN103037827B (en) * | 2010-03-17 | 2015-02-11 | 丰田自动车株式会社 | Leg assistance device |
| EP2554150B1 (en) * | 2010-04-02 | 2015-03-04 | Toyota Jidosha Kabushiki Kaisha | Walking aid device |
| EP2583657B1 (en) * | 2010-06-21 | 2015-02-18 | Toyota Jidosha Kabushiki Kaisha | Leg support device |
| CN102327173B (en) * | 2011-09-29 | 2013-05-22 | 上海交通大学 | Wearable exoskeleton lower limb rehabilitation robot |
| CN103610569B (en) * | 2013-11-28 | 2015-12-09 | 中山大学 | A kind of wearable lower limb power assisting device and control method thereof |
| CN205094936U (en) * | 2015-10-20 | 2016-03-23 | 中国电子科技集团公司第二十一研究所 | Recovered helping hand mechanical legs |
-
2015
- 2015-10-20 CN CN201510679860.7A patent/CN105362036B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105362036A (en) | 2016-03-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230414381A1 (en) | Powered gait assistance systems | |
| CN104869970B (en) | Reconfigurable ectoskeleton | |
| CN101810533B (en) | Walking aid exoskeleton rehabilitation robot | |
| CN106901947B (en) | Wearable lower limb exoskeleton assisted walking robot mechanism | |
| CN105125380B (en) | Ankle rehabilitation device | |
| CN103230335B (en) | Novel electric walking trainer | |
| CN205145027U (en) | Seat movable low limbs ectoskeleton rehabilitation training device | |
| CN205007219U (en) | Recovered adjustable mechanical legs of hip joint width for robot | |
| CN205126722U (en) | Low limbs function rehabilitation training robot | |
| CN106539662A (en) | Lower limb function recovery exercising robot | |
| CN102614066A (en) | Wearable and convertible passive and active movement training robot: apparatus and method | |
| CN103610569A (en) | Wearable lower limb power-assisting device and control method thereof | |
| CN105167959A (en) | Multifunctional gait rehabilitation training device | |
| CN205163560U (en) | Multi -functional gait rehabilitation training device | |
| CN105396262A (en) | Rehabilitation robot capable of conducting multi-angle adjustment and cooperative training of upper and lower limbs | |
| CN104398367A (en) | Electric pressure-reducing hip joint/knee joint recovery exerciser | |
| CN102641195A (en) | Bed type lower limb external skeleton recovery robot | |
| CN104856842A (en) | Foot wheel driving paraplegia walking aided external skeleton | |
| CN205073233U (en) | Recovered robot of low limbs is with rotatable formula ectoskeleton mechanical legs | |
| CN105362036B (en) | Rehabilitation power-assisted pedipulator | |
| CN102688135B (en) | Upper and lower limb rehabilitation training device with variable rod length | |
| CN106693284B (en) | A kind of lower limb rehabilitation training medical robot with function of riding instead of walk | |
| CN206334071U (en) | A kind of lower-limb muscular strength trainer | |
| CN205094936U (en) | Recovered helping hand mechanical legs | |
| CN205924401U (en) | Tilting training system that marks time |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220824 Address after: 16th Floor, No. 647, East Longhua Road, Huangpu District, Shanghai, 200023 Patentee after: China Electronics Technology robot Co.,Ltd. Address before: 200233, No. 30 Rainbow Road, Shanghai, Xuhui District Patentee before: NO.21 RESEARCH INSTITUTE OF CHINA ELECTRONICS TECHNOLOGY Group Corp. |
|
| TR01 | Transfer of patent right |