CN105362043A - Lower limb movement assisting device - Google Patents

Lower limb movement assisting device Download PDF

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Publication number
CN105362043A
CN105362043A CN201510921902.3A CN201510921902A CN105362043A CN 105362043 A CN105362043 A CN 105362043A CN 201510921902 A CN201510921902 A CN 201510921902A CN 105362043 A CN105362043 A CN 105362043A
Authority
CN
China
Prior art keywords
skeleton
joint motor
shank
link
thigh
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.)
Pending
Application number
CN201510921902.3A
Other languages
Chinese (zh)
Inventor
谭峰
Original Assignee
谭峰
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 谭峰 filed Critical 谭峰
Priority to CN201510921902.3A priority Critical patent/CN105362043A/en
Publication of CN105362043A publication Critical patent/CN105362043A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01Constructive details
    • A61H2201/0157Constructive details portable
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164Feet or leg, e.g. pedal
    • A61H2201/1642Holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165Wearable interfaces

Abstract

The invention provides a lower limb movement assisting device. The lower limb movement assisting device is characterized by comprising a wearing skeleton and a support stick, wherein the wearing skeleton comprises a waist fixing frame with a fixing bandage, and a powered artificial limb arranged on one side of the waist fixing frame, the powered artificial limb comprises a thigh skeleton with a fixing bandage, a shank skeleton with a fixing bandage, a sole with a fixing bandage, a hip joint motor and a knee joint motor, the upper end of the thigh skeleton is hinged to the side of the waist fixing frame and is driven by the hip joint motor to swing, the upper end of the shank skeleton is hinged at the lower end of the thigh skeleton and is driven by the knee joint motor to swing, the sole is hinged to the lower end of the shank skeleton and is driven by an ankle joint motor to swing, and the support stick is provided with a control device for controlling the hip joint motor, the knee joint motor and the ankle joint motor to act. Compared with the prior art, the lower limb movement assisting device has the advantages that rehabilitation exercise can be performed at home, the use is convenient, the size is small, and even a patient with the hemiplegic and unconscious lower limb incapable of moving can be helped to walk.

Description

Lower extremity movement auxiliary device
Technical field:
The present invention relates to a kind of care appliance.
Background technology
The illness such as apoplexy, myeleterosis, peripheral nerve injury make patient's lower extremity paralysis, autonomous difficulty, patient is caused to be in sitting and lying state for a long time, the complication such as easy generation decubital ulcer, pulmonary infection, lower limb vein thrombus, bring financial burden painful and heavy greatly to the household of patient and treatment patient.In order to make patient's hemiplegia lower limb walking-function early recovery, people take multiple medical procedure, a kind for the treatment of means is wherein auxiliary exercise treatment means, by the facility that some are auxiliary, the limbs of patient's hemiplegia to be reactivated ability by exercise, this treatment means, not serious for those hemiplegias, also have the lower limb of consciousness and certain mobility, very effective, and the time spent is not long, but, serious a little for those hemiplegias, lose consciousness and the lower limb of mobility, it is then limited efficiency, even if those recover the patient of lower limb exercise ability by auxiliary exercise, during exercise, the rehabilitation center of specialty must be arrived, expensive large-scale rehabilitation appliances are used to carry out, like this, not only bring very large inconvenience to patient, and, also heavy medical expense escort burden is brought to patient.
Summary of the invention
Goal of the invention of the present invention be to provide a kind of can carry out at home reconditioning, even if the lower limb body of patient's hemiplegia easy to use, that volume is little loses consciousness stiff, also can help the lower extremity movement auxiliary device of walking.
The present invention realizes like this, comprise wearing skeleton, support cane, wearing skeleton comprises the waist fixed mount with fixing bandage, be arranged on the powered prosthesis of waist fixed mount side, powered prosthesis comprises the thigh skeleton with fixing bandage, with the Leg bones of fixing bandage, with the foot plate of fixing bandage, hip joint motor, knee joint motor, thigh skeleton upper end thereof is in waist fixed mount side and swung by hip joint driven by motor, Leg bones upper end thereof is in the lower end of thigh skeleton and swung by knee joint driven by motor, sole is hinged on the lower end of Leg bones and drives swing by ankle joint motor, support on cane and be provided with control hip joint motor, knee joint motor, the control device of ankle joint motor action.
During use, by fixing bandage by waist fixed mount, thigh skeleton, Leg bones, sole is separately fixed at the waistline of patient, thigh, shank, on foot, when needing to walk about, first, patient's hand-held supports cane coordinates the lower limb with mobility of patient to be supported by patient body, then, patient controls to dress skeleton action by the control device supported on cane, wearing skeleton is made to drive patient not have the lower limb of mobility to walk to move a step according to the stride of setting, then, patient's hand-held supports cane coordinates wearing skeleton to be supported by patient body, then, the lower limb with mobility step a step, repeat above-mentioned action, patient is made to realize walking about, when needs are taken exercise and do not had the lower limb of mobility, health is first fixed by supporter or seat by patient, and then, control to dress skeleton action by the control device supported on cane, drive does not have the lower limb of mobility to do the action of walking about.
Here, sole is driven by ankle joint motor.
Here, be provided with stride detector, stride detector comprises the thick link with bandage be hinged on the waist fixed mount opposite side relative with powered prosthesis, be hinged on the shank link with bandage of thick link lower end, the plate object with bandage of hinged shank link lower end, the pin joint of waist fixed mount and thick link is provided with thigh pendulum angle detector, the pin joint of thick link and shank link is provided with shank angle of oscillation detector, thigh pendulum angle detector, the signal of telecommunication of shank angle of oscillation detector exports and is connected with the signal of telecommunication input of control device.
During use, what powered prosthesis is fixed on patient does not have on the lower limb of mobility, stride detector is fixed on the lower limb with mobility of patient, when patient walks, according to the stride of lower limb with mobility, the action of powered prosthesis can be controlled, makes there is no the lower limb of mobility under the drive of powered prosthesis, also corresponding stride is stepped, to ensure that patient can walk about smoothly, reposefully.
Between shank link and plate object, be provided with foot pendulum angle detector, the signal of telecommunication of foot pendulum angle detector exports and is connected with the signal of telecommunication input of control device.
Here, supporting cane is travel(l)ing rest, and travel(l)ing rest comprises shelf, is arranged at least three power wheels of the drive shelf of bottom shelf surrounding motion, and waist fixed mount is connected on the top of the shelf by suspender belt or connecting rod.
During work, under control of the control means, the stride of walking about according to patient moves travel(l)ing rest, prevents patient from walk process, losing center of gravity and fall.
The present invention compared with the prior art, even if having can carry out at home reconditioning, the lower limb body of patient's hemiplegia easy to use, that volume is little loses consciousness stiff, also can help the advantage of walking.
Accompanying drawing illustrates:
Fig. 1 is the structural representation that the embodiment of the present invention 1 dresses skeleton;
Fig. 2 is the structural representation that the embodiment of the present invention 1 supports cane;
Fig. 3 is the using state figure of the embodiment of the present invention 1;
Fig. 4 is the structural representation that the embodiment of the present invention 2 dresses skeleton;
Fig. 5 is the using state figure of the embodiment of the present invention 2.
Detailed description of the invention:
Now in conjunction with the accompanying drawings and embodiments the present invention is described in further detail:
Embodiment 1: as Fig. 1, shown in 2, the present invention includes and dress skeleton a, support cane b, wearing skeleton a comprises the waist fixed mount 2 with fixing bandage 1, be arranged on the powered prosthesis c of waist fixed mount 2 side, powered prosthesis c comprises the thigh skeleton 4 with fixing bandage 3, with the Leg bones 6 of fixing bandage 5, with the sole 8 of fixing bandage 7, hip joint motor 9, knee joint motor 10, ankle joint motor 11, thigh skeleton 4 upper end thereof is in waist fixed mount 2 side and drive swing by hip joint motor 9, Leg bones 6 upper end thereof is in the lower end of thigh skeleton 4 and drive swing by knee joint motor 10, sole 8 is hinged on the lower end of Leg bones 6 and drives swing by ankle joint motor 11, support on cane b and be provided with control hip joint motor 9, knee joint motor 10, the control device 12 of ankle joint motor 11 action.
Thigh skeleton 4, Leg bones 6 are the telescopic bars with telescoping mechanism 19.Like this, the length of thigh skeleton 4, Leg bones 6 can regulate according to the length of the shank of human body, thigh.
As shown in Figure 3, during use, by fixing bandage 1, 3, 5, 7 by waist fixed mount, thigh skeleton, Leg bones, sole is separately fixed at the waistline of patient, thigh, shank, on foot, when needing to walk about, first, patient's hand-held supports cane b coordinates the lower limb 13 with mobility of patient to be supported by patient body, then, patient controls to dress skeleton a action by the control device 12 supported on cane b, wearing skeleton a is made to drive patient not have the lower limb 14 of mobility to walk to move a step according to the stride of setting, then, patient's hand-held supports cane b coordinates wearing skeleton a to be supported by patient body, then, the lower limb 13 with mobility step a step, repeat above-mentioned action, patient is made to realize walking about.
As shown in Figure 4, be provided with stride detector d, stride detector d comprises the thick link d2 with bandage d1 be hinged on waist fixed mount 2 opposite side relative with powered prosthesis c, be hinged on the shank link d4 with bandage d3 of thick link d2 lower end, the plate object d6 with bandage d5 of hinged shank link d4 lower end, waist fixed mount 2 with the pin joint of thick link d2 are provided with thigh pendulum angle detector d7, the pin joint of thick link d2 and shank link d4 is provided with shank angle of oscillation detector d8, thigh pendulum angle detector d7, the signal of telecommunication of shank angle of oscillation detector d8 exports and is connected with the signal of telecommunication input of control device 12.
Between shank link d4 and plate object d6, be provided with foot pendulum angle detector d9, the signal of telecommunication of foot pendulum angle detector d9 exports and is connected with the signal of telecommunication input of control device 12.
Thick link d2, shank link d4 are the telescopic bars of the d10 with telescoping mechanism.
As shown in Figure 5, supporting cane b is travel(l)ing rest, travel(l)ing rest b comprise surrounding with at least three legs 15 shelf 16, be arranged on shelf 16 leg 15 bottom power wheel 21, shelf 16 is positioned at above gravity center of human body, and waist fixed mount 2 is connected on shelf 16 by suspender belt or connecting rod 17.
Be provided with handrail 18 below shelf 16, help power-assisted to facilitate patient by hands 20.
During use, what powered prosthesis c is fixed on patient does not have on the lower limb 14 of mobility, stride detector d is fixed on the lower limb with mobility 13 of patient, when patient walks, according to the stride of lower limb 13 with mobility, the action of powered prosthesis c can be controlled, makes there is no the lower limb 14 of mobility under the drive of powered prosthesis c, also corresponding stride is stepped, to ensure that patient can walk about smoothly, reposefully.

Claims (9)

1. lower extremity movement auxiliary device ,it is characterized in that comprising wearing skeleton, support cane, wearing skeleton comprises the waist fixed mount with fixing bandage, be arranged on the powered prosthesis of waist fixed mount side, powered prosthesis comprises the thigh skeleton with fixing bandage, with the Leg bones of fixing bandage, with the foot plate of fixing bandage, hip joint motor, knee joint motor, thigh skeleton upper end thereof is in waist fixed mount side and swung by hip joint driven by motor, Leg bones upper end thereof is in the lower end of thigh skeleton and swung by knee joint driven by motor, sole is hinged on the lower end of Leg bones and drives swing by ankle joint motor, support on cane and be provided with control hip joint motor, knee joint motor, the control device of ankle joint motor action.
2. lower extremity movement auxiliary device according to claim 1, it is characterized in that being provided with stride detector, stride detector comprises the thick link with bandage be hinged on the waist fixed mount opposite side relative with powered prosthesis, be hinged on the shank link with bandage of thick link lower end, the plate object with bandage of hinged shank link lower end, the pin joint of waist fixed mount and thick link is provided with thigh pendulum angle detector, the pin joint of thick link and shank link is provided with shank angle of oscillation detector, thigh pendulum angle detector, the signal of telecommunication of shank angle of oscillation detector exports and is connected with the signal of telecommunication input of control device.
3. lower extremity movement auxiliary device according to claim 2, it is characterized in that sole is driven by ankle joint motor, between shank link and plate object, be provided with foot pendulum angle detector, the signal of telecommunication of foot pendulum angle detector exports and is connected with the signal of telecommunication input of control device.
4. the lower extremity movement auxiliary device according to claim 1 or 2 or 3, it is characterized in that supporting cane is travel(l)ing rest, travel(l)ing rest comprises shelf, is arranged at least three power wheels of the drive shelf of bottom shelf surrounding motion, and waist fixed mount is connected on the top of the shelf by suspender belt or connecting rod.
5. lower extremity movement auxiliary device according to claim 4, is characterized in that being provided with handrail below shelf.
6. the lower extremity movement auxiliary device according to claim 1 or 2 or 3 or 5, is characterized in that thigh skeleton, Leg bones is telescopic bar with telescoping mechanism.
7. lower extremity movement auxiliary device according to claim 4, is characterized in that thigh skeleton, Leg bones is telescopic bar with telescoping mechanism.
8. the lower extremity movement auxiliary device according to Claims 2 or 3 or 5, it is characterized in that thick link, shank link be with telescoping mechanism telescopic bar.
9. lower extremity movement auxiliary device according to claim 4, it is characterized in that thick link, shank link be with telescoping mechanism telescopic bar.
CN201510921902.3A 2015-12-14 2015-12-14 Lower limb movement assisting device Pending CN105362043A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510921902.3A CN105362043A (en) 2015-12-14 2015-12-14 Lower limb movement assisting device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510921902.3A CN105362043A (en) 2015-12-14 2015-12-14 Lower limb movement assisting device

Publications (1)

Publication Number Publication Date
CN105362043A true CN105362043A (en) 2016-03-02

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109106560A (en) * 2018-08-20 2019-01-01 烟台知兴知识产权咨询服务有限公司 A kind of medical rehabilitation walking aid device
CN109172288A (en) * 2018-10-08 2019-01-11 巴中职业技术学院 A kind of wearable running gear for lower limb rehabilitation training

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2730338Y (en) * 2004-08-10 2005-10-05 浙江大学 Wearable lower limb dermoskeleton for walking use
CN101810533A (en) * 2010-03-08 2010-08-25 上海交通大学 Walking aid exoskeleton rehabilitation robot
CN101947180A (en) * 2010-10-29 2011-01-19 天津友爱康复医疗设备有限公司 Auxiliary standing training device
CN102440891A (en) * 2011-10-17 2012-05-09 上海大学 Anti-destabilization framework type walking assisting legs
CN103054692A (en) * 2013-01-29 2013-04-24 苏州大学 Wearable lower limb exoskeleton walking-assisted robot
CN103370039A (en) * 2011-02-23 2013-10-23 株式会社村田制作所 Walking assist apparatus
CN103735386A (en) * 2013-11-15 2014-04-23 北京航空航天大学 Wearable lower limb exoskeleton rehabilitation robot
CN103892989A (en) * 2014-04-16 2014-07-02 崔建忠 Lower limb rehabilitation training robot and training method thereof
CN203954118U (en) * 2014-06-03 2014-11-26 王维 A kind of human body single lower limb ESD
CN204016770U (en) * 2014-06-09 2014-12-17 浙江工业大学 Lower limb rehabilitation is assisted ectoskeleton
CN104812352A (en) * 2012-10-09 2015-07-29 罗马生物医学大学 Robotic device for assistance and rehabilitation of lower limbs
CN104825311A (en) * 2015-05-04 2015-08-12 台州学院 Special lower limb exoskeleton for hemiplegic patient, using method thereof and stability validation method
CN104869970A (en) * 2012-12-11 2015-08-26 埃克苏仿生公司 Reconfigurable exoskeleton

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2730338Y (en) * 2004-08-10 2005-10-05 浙江大学 Wearable lower limb dermoskeleton for walking use
CN101810533A (en) * 2010-03-08 2010-08-25 上海交通大学 Walking aid exoskeleton rehabilitation robot
CN101947180A (en) * 2010-10-29 2011-01-19 天津友爱康复医疗设备有限公司 Auxiliary standing training device
CN103370039A (en) * 2011-02-23 2013-10-23 株式会社村田制作所 Walking assist apparatus
CN102440891A (en) * 2011-10-17 2012-05-09 上海大学 Anti-destabilization framework type walking assisting legs
CN104812352A (en) * 2012-10-09 2015-07-29 罗马生物医学大学 Robotic device for assistance and rehabilitation of lower limbs
CN104869970A (en) * 2012-12-11 2015-08-26 埃克苏仿生公司 Reconfigurable exoskeleton
CN103054692A (en) * 2013-01-29 2013-04-24 苏州大学 Wearable lower limb exoskeleton walking-assisted robot
CN103735386A (en) * 2013-11-15 2014-04-23 北京航空航天大学 Wearable lower limb exoskeleton rehabilitation robot
CN103892989A (en) * 2014-04-16 2014-07-02 崔建忠 Lower limb rehabilitation training robot and training method thereof
CN203954118U (en) * 2014-06-03 2014-11-26 王维 A kind of human body single lower limb ESD
CN204016770U (en) * 2014-06-09 2014-12-17 浙江工业大学 Lower limb rehabilitation is assisted ectoskeleton
CN104825311A (en) * 2015-05-04 2015-08-12 台州学院 Special lower limb exoskeleton for hemiplegic patient, using method thereof and stability validation method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109106560A (en) * 2018-08-20 2019-01-01 烟台知兴知识产权咨询服务有限公司 A kind of medical rehabilitation walking aid device
CN109172288A (en) * 2018-10-08 2019-01-11 巴中职业技术学院 A kind of wearable running gear for lower limb rehabilitation training

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Application publication date: 20160302