CN105411813A - Wearable bionic exoskeleton mechanical leg rehabilitation device - Google Patents
Wearable bionic exoskeleton mechanical leg rehabilitation device Download PDFInfo
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- CN105411813A CN105411813A CN201511025679.0A CN201511025679A CN105411813A CN 105411813 A CN105411813 A CN 105411813A CN 201511025679 A CN201511025679 A CN 201511025679A CN 105411813 A CN105411813 A CN 105411813A
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- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
Abstract
The invention discloses a wearable bionic exoskeleton mechanical leg rehabilitation device which mainly comprises a trunk support, a thigh support, a crus support, a hip motor, a knee motor, a trunk tilt sensor, a control module and the like, wherein the trunk support is bounded to the upper body of a user; the thigh support is bounded to a thigh of the user, and the crus support is bounded to a crus of the user; a foot support plate is arranged at a sole of the user; the trunk support and the thigh support are connected by the hip motor; the thigh support and the crus support are respectively fixed to a stator and a rotor of the knee motor; the crus support and the foot support plate are in movable connection; the control module is connected with a wrist watch, the trunk tilt sensor, the hip motor, the knee motor and the like. The wearable bionic exoskeleton mechanical leg rehabilitation device can support the whole body of the user, can also be used by users with lower extremity weakness, can enable the users with severe lower extremity to stand up with feet and to walk simply, helps the users relieve atrophy of leg muscles and also aids normal function recovery of the lower extremity.
Description
Technical field
The present invention relates to a kind of convalescence device, particularly relate to a kind of wearable bionic exoskeleton pedipulator convalescence device, walking and rehabilitation for assisting lower extremity paralysis.
Background technology
According to the display of correlation study data, paraplegia user number in the world increases year by year at present, not only causes larger financial burden to user, also result in certain psychological burden simultaneously.Therefore, walking aided and rehabilitation have become an increasingly serious social problem.In recent years, due to various reason (natural disaster such as such as earthquake), the number of China's lower extremity paralysis has reached hundreds thousand of.For the user that those are paralysed completely, pure Drug therapy and operative treatment cannot make the thorough rehabilitation of user, therefore, need the means by rehabilitation engineering to go the function improved or replacement paralytic loses.
Rehabilitation type ectoskeleton is that one is worn on lower limb, drives lower extremity motor function obstacle user corresponding joint to move, reach the machinery of training/compensatory walking function by motor joint.In order to solve the disease such as pressure ulcer and amyotrophy that paralyses patient long-term bed or wheelchair cause, help them to stand and walk, improve its quality of life, and alleviating the financial burden of subscriber household and society, the rehabilitation type ectoskeleton that research and development have high-tech content and independent intellectual property right has very important practical significance with corresponding collaborative ectoskeleton bone Schema control.
Summary of the invention
The object of the invention is to provide a kind of wearable bionic exoskeleton pedipulator convalescence device, and this device makes the user of lower limb leaden paralysis again stand up with the both feet of oneself, simply takes a walk, and user can be helped to slow down the atrophy of leg muscle.
The object of the invention is achieved through the following technical solutions:
A kind of wearable bionic exoskeleton pedipulator convalescence device, mainly comprises trunk support, thigh support frame, little leg support, hip motor, hip motor angle sensor, knee motor, knee motor angle sensor, foot bottom pressure sensor, trunk obliquity sensor, control module, watch, crutch, crutch contacts to earth pressure transducer and foot support plate; Wherein, hip motor comprises left lower limb hip motor and right lower limb hip motor; Hip motor angle sensor comprises left lower limb hip motor angle sensor and right lower limb hip motor angle sensor; Knee motor comprises left lower limb knee motor and right lower limb knee motor; Knee motor angle sensor comprises left lower limb knee motor angle sensor and right lower limb knee motor angle sensor; Foot bottom pressure sensor comprises left foot foot bottom pressure sensor and right crus of diaphragm foot bottom pressure sensor; Crutch has two, is respectively the cane and to turn right cane of turning left, and the pressure transducer that contacts to earth comprises contact to earth pressure transducer and cane of turning right of cane of turning left and to contact to earth pressure transducer;
Described trunk support is bundled in user's upper body; Thigh support frame is bundled on user's thigh, and little leg support is bundled on user's shank; Foot support plate is arranged at the bottom of user's foot; Trunk support is connected by hip motor with thigh support frame; Stator and the trunk support of hip motor are fixed, and rotor and the thigh support frame of hip motor are fixed; The stators and rotators of thigh support frame and little leg support difference knee motor is connected; Little leg support is flexibly connected with foot support plate; Under foot support plate, foot bottom pressure sensor is installed;
Described left lower limb hip motor angle sensor and right lower limb hip motor angle sensor are separately positioned on left lower limb hip motor and right lower limb hip motor; Left lower limb knee motor angle sensor and right lower limb knee motor angle sensor arrange on left lower limb knee motor and right lower limb knee motor respectively; Left foot foot bottom pressure sensor and right crus of diaphragm foot bottom pressure sensor are separately positioned in the two foot's gripper shoes of left and right; Cane of turning left contact to earth pressure transducer and turn right cane contact to earth pressure transducer be separately positioned on left and right two crutch lower ends; Trunk inclination sensor is arranged on trunk support;
Contact to earth with watch, hip motor angle sensor, knee motor angle sensor, foot bottom pressure sensor, trunk inclination sensor, crutch respectively pressure transducer, hip motor, knee motor of described control module is connected.
For further with realize the object of the invention, preferably, stator and the trunk support of described hip motor are screwed, and the rotor of hip motor and thigh support frame are by fixing by pulling/inserting structure.
Preferably, described thigh support frame and little the leg support respectively stators and rotators of knee motor are connected and refer to that thigh support frame is connected by knee motor with little leg support, wherein the stator of knee motor and thigh support frame are screwed, and the rotor of knee motor and little leg support are by fixing by pulling/inserting structure.
The stator of hip motor, knee motor is all screwed on thigh support frame, the rotor of hip motor with trunk support by being connected by pulling/inserting structure, the rotor of knee motor with little leg support by being connected by pulling/inserting structure, make donning process very convenient, first little leg support, thigh support frame and trunk support need only be worn respectively by bandage, then by above-mentioned support can being stitched together and can using pulling/inserting structure, be convenient to patient wear voluntarily, the whole help of wearing process and not needing other people.
Trunk support is connected by hip motor with thigh support frame; Stator and the thigh support frame of hip motor are screwed, the rotor of hip motor with trunk support by being connected by pulling/inserting structure; When hip electric machine rotation, be fixed on thigh support frame on stator and be connected to epitrochanterian trunk support by the driven by motor of rotating and produce relative angular movement; Both hip Electric Machine Control relative angular movement.
Preferably, wearable bionic exoskeleton pedipulator convalescence device also comprises voice cue module, and voice cue module is connected with controller.
Preferably, described control module contact to earth pressure transducer, left lower limb hip motor, right lower limb hip motor, left lower limb knee motor and the right lower limb knee motor of pressure transducer, cane of turning right that contact to earth with left lower limb hip motor angle sensor, right lower limb hip motor angle sensor, left lower limb knee motor angle sensor, right lower limb knee motor angle sensor, left foot foot bottom pressure sensor, right crus of diaphragm foot bottom pressure sensor, cane of turning left respectively is connected.
Preferably, cane of turning left described in is held with the right-hand man of cane respectively by user that turn right.
Preferably, described binding is undertaken by bandage
Preferably, described control module is arranged on the back of user.
Preferably, described control module selects i.MX6 serial application processor, adopts USB to carry out, adopts CAN to carry out with the communication of various sensor, adopt less radio-frequency to carry out with the communication of watch with hip motor with communicating of knee motor.
Preferably, described watch is primarily of wireless radio frequency modules and button composition, and wireless radio frequency modules is connected with control module signal.
Relative to prior art, tool of the present invention has the following advantages:
1, special user can be supported.Existing recovery set for lower limbs only plays auxiliary load effect mostly, needs user to have certain lower limbs strength, and ectoskeleton pedipulator convalescence device of the present invention can the whole health of supporting user, and the user of weakness of the lower extremities also can use.For the user of lower limb leaden paralysis, user can be allowed first again to stand up with the both feet of oneself, simply take a walk, possess certain self-care ability, user second can be helped to slow down the atrophy of leg muscle; For lower limb paraparesis user, this walking mode contributes to the recovery of its lower limb normal function.
2, several functions can be realized.Existing recovery set for lower limbs only for the positive action of user provides auxiliary, and ectoskeleton pedipulator convalescence device of the present invention can trigger according to attitudes such as the centre-of gravity shifts of user and drive the health of user to complete to stand, sit down, the action such as walking.
3, triggering mode dual fail-safe.If user does not select the motor pattern such as " standing ", " sitting down " and " walking " by the push-botton operation on watch 12, other body actions can not trigger the standing activities of ectoskeleton pedipulator device; If user is by after push-botton operation selection " walking " pattern, wireless radio frequency modules in watch 12 communicates with control module 11, the pattern that notifies that the latter user have selected " walking ", the latter, immediately according to the data that sensor group gathers, starts real time discriminating user's body attitude and whether meets trigger condition.Once control module 11 detects that the action of user's body attitude meets trigger condition, then send command adapted thereto to group of motors, control group of motors and rotated corresponding actions, trigger " stepping foot ".That is, user both must have selected " walking " pattern by the button of watch 12, and body posture meets again certain trigger condition simultaneously, " can step foot " by Crush trigger lower limb.The false triggering risk of single triggering mode can be avoided like this, improve safety coefficient.
4, user's use safety.Control module 11 is monitored in real time by the data (comprising trunk inclination angle, foot force etc.) of sensor group to user's body attitude and is analyzed, and judges whether above-mentioned data exceed normal range.When user occurs crank or the emergency case such as to fall down, control module 11 can detect that above-mentioned data exceed normal range, at this moment will take counter-measure immediately, guarantees user security.For example, pedipulator can be controlled during crank and stop action, can be given the alarm by voice module 16 when falling down and seek help.
5, safety assurance is high.In convalescence device ambulation control method of the present invention, all states of definition are in the middle of a closed loop, and every other undefined behavior is abnormality, and its stability and safety obtain very large guarantee.In addition, each motor is equipped with mechanical stop limiter, even if motor occurs abnormal to be about to exceed normal angled scope, also can pin by limited device, has stopped motor thus and has exceeded the possibility that normal angled scope causes user's joint injury.
6, it is very convenient to wear.In the frame for movement of convalescence device of the present invention, the stator of hip motor, knee motor is all screwed on thigh support frame, the rotor of hip motor with trunk support by being connected by pulling/inserting structure, the rotor of knee motor with little leg support by being connected by pulling/inserting structure, make donning process very convenient, first little leg support, thigh support frame and trunk support need only be worn respectively by bandage, then by above-mentioned support can being stitched together and can using pulling/inserting structure, be convenient to patient wear voluntarily, the whole help of wearing process and not needing other people.
Accompanying drawing explanation
Fig. 1 is the integral mechanical structure schematic diagram of wearable bionic exoskeleton pedipulator convalescence device.
Fig. 2 is the annexation figure of control module and associated components in Fig. 1.
Fig. 3 (a) is Fig. 1 wearable bionic exoskeleton pedipulator convalescence device forward simplified schematic diagram.
Fig. 3 (b) is Fig. 1 wearable bionic exoskeleton pedipulator convalescence device dextrad simplified schematic diagram.
Shown in figure: trunk support 1, thigh support frame 2, little leg support 3, hip motor 4, hip rotary angle transmitter 5, knee motor 6, knee rotary angle transmitter 7, foot bottom pressure sensor 8, trunk obliquity sensor 9, bandage 10, control module 11, watch 12, crutch 13, contact to earth pressure transducer 14, foot support plate 15, voice module 16, left lower limb hip motor angle sensor 5_1, right lower limb hip motor angle sensor 5_2, left lower limb knee motor angle sensor 7_1, right lower limb knee motor angle sensor 7_2, left foot foot bottom pressure sensor 8_1, right crus of diaphragm foot bottom pressure sensor 8_2, trunk inclination sensor 9, cane of turning left contacts to earth pressure transducer 14_1, cane of turning right contacts to earth pressure transducer 14_2, left lower limb hip motor 4_1, right lower limb hip motor 4_2, left lower limb knee motor 6_1, right lower limb knee motor 6_2.
Specific implementation
For understanding the present invention better, below in conjunction with accompanying drawing, the present invention is further illustrated, but embodiment does not form limiting the scope of the present invention.
Fig. 1 is the integral mechanical structure schematic diagram of wearable bionic exoskeleton pedipulator convalescence device.As shown in Figure 1, wearable bionic exoskeleton pedipulator convalescence device mainly comprises trunk support 1, thigh support frame 2, little leg support 3, hip motor 4, hip motor angle sensor 5, knee motor 6, knee motor angle sensor 7, foot bottom pressure sensor 8, trunk obliquity sensor 9, control module 11, watch 12, crutch 13, the pressure transducer 14 that contacts to earth, foot support plate 15 and voice cue module 16; Wherein, hip motor 4 comprises left lower limb hip motor 4_1 and right lower limb hip motor 4_2; Hip motor angle sensor 5 comprises left lower limb hip motor angle sensor 5_1 and right lower limb hip motor angle sensor 5_2; Knee motor 6 comprises left lower limb knee motor 6_1 and right lower limb knee motor 6_2; Knee motor angle sensor 7 comprises left lower limb knee motor angle sensor 7_1 and right lower limb knee motor angle sensor 7_2; Foot bottom pressure sensor 8 comprises left foot foot bottom pressure sensor 8_1 and right crus of diaphragm foot bottom pressure sensor 8_2; The pressure transducer 14 that contacts to earth comprises contact to earth pressure transducer 14_1 and cane of turning right of cane of turning left and to contact to earth pressure transducer 14_2; Crutch 13 has two, and the right-hand man respectively by user holds.
Trunk support 1 is bundled in user's upper body; Thigh support frame 2 is bundled on user's thigh, and little leg support 3 is bundled on user's shank; Foot support plate 15 is arranged at the bottom of user's foot; Described binding is undertaken by bandage 10; Trunk support 1 is connected by hip motor 4 with thigh support frame 2; Stator and the thigh support frame 2 of hip motor 4 are screwed, the rotor of hip motor 4 with trunk support 1 by being connected by pulling/inserting structure; When hip motor 4 rotates, be fixed on thigh support frame on stator 2 and be connected to epitrochanterian trunk support 1 by the driven by motor of rotating and produce relative angular movement; Relative angular movement both hip motor 4 controls; Thigh support frame 2 is screwed with the stator of knee motor 6, and the rotor of little leg support 3 and knee motor 6 is by being connected by pulling/inserting structure; Knee motor 6 is connected to thigh support frame 2 with little leg support 3 and relative angular movement both controlling; Little leg support 3 is flexibly connected with foot support plate 15.Foot support plate 15 subjects the weight of user's body, and foot bottom pressure sensor 8 installed by foot support plate 15; The signal representative that foot bottom pressure sensor produces puts on it effectively, and its force value depends on the attitude of user.
Left lower limb hip motor angle sensor 5_1 and right lower limb hip motor angle sensor 5_2 is separately positioned on left lower limb hip motor 4_1 and right lower limb hip motor 4_2; Left lower limb knee motor angle sensor 7_1 and right lower limb knee motor angle sensor 7_2 arranges on left lower limb knee motor 6_1 and right lower limb knee motor 6_2 respectively; Left foot foot bottom pressure sensor 8_1 and right crus of diaphragm foot bottom pressure sensor 8_2 is separately positioned in the two foot's gripper shoes 15 of left and right; Cane of turning left contact to earth pressure transducer 14_1 and turn right cane contact to earth pressure transducer 14_2 be separately positioned on left and right two crutch 13 lower ends.Trunk inclination sensor 9 is arranged on trunk support 1.
As shown in Figure 2, contact to earth with watch 12, hip motor angle sensor 5, knee motor angle sensor 7, foot bottom pressure sensor 8, trunk inclination sensor 9, crutch respectively pressure transducer 14, hip motor 4, knee motor 6 of control module 11 is connected.Watch 12 is used for manually selecting motor pattern; Trunk obliquity sensor 9 detects the angle of inclination of user's trunk; Knee motor angle sensor 7 is in order to detect the corner of knee motor 6 corner; Hip motor angle sensor 5 is in order to detect hip motor 4 corner; Foot bottom pressure sensor 8 detects sole pressure size; Crutch 13, for body support, keeps balance etc. during walking; The pressure transducer 14 that contacts to earth detects crutch 13 pressure size.Control module 11 is arranged on the back of user.Specifically, control module 11 contact to earth pressure transducer 14_2, left lower limb hip motor 4_1, right lower limb hip motor 4_2, left lower limb knee motor 6_1 and the right lower limb knee motor 6_2 of pressure transducer 14_1, cane of turning right that contact to earth with watch 12, left lower limb hip motor angle sensor 5_1, right lower limb hip motor angle sensor 5_2, left lower limb knee motor angle sensor 7_1, right lower limb knee motor angle sensor 7_2, left foot foot bottom pressure sensor 8_1, right crus of diaphragm foot bottom pressure sensor 8_2, trunk inclination sensor 9, cane of turning left respectively is connected.Hip motor angle sensor 5, knee motor angle sensor 7, foot bottom pressure sensor 8, trunk inclination sensor 9 and the crutch pressure transducer 14 that contacts to earth forms the various sensor of the present invention.
The stator of hip motor 5, knee motor 7 is all screwed on thigh support frame 2, the rotor of hip motor 5 with trunk support 1 by being connected by pulling/inserting structure, the rotor of knee motor 7 with little leg support 3 by being connected by pulling/inserting structure, make donning process very convenient, first little leg support 3, thigh support frame 2 and trunk support 1 need only be worn respectively by bandage, then by above-mentioned support can being stitched together and can using pulling/inserting structure, be convenient to patient wear voluntarily, the whole help of wearing process and not needing other people.
Control module 11 can select the i.MX6 serial application processor of Freescale company, USB is adopted to carry out with hip motor 4 with communicating of knee motor 6, except contacting to earth except the communication of pressure transducer 14 adopts less radio-frequency and carry out with watch 12 and crutch, CAN is all adopted to carry out with the communication of other various sensors.
Watch 12 is primarily of wireless radio frequency modules and button composition, and wireless radio frequency modules is used for communicating with control module 11, and button is used for selecting " standing ", " sitting down " and " walking " motor pattern.
" standing " is control wearable bionic exoskeleton pedipulator convalescence device, make its from sitting posture state to parallel midstance steadily, security transformation; When user uses watch have selected " standing " motor pattern after, to stand trigger condition if body posture does not meet, control module initiates a message to voice module, the latter's reminding user adjustment attitude, until control module detects that user meets trigger condition of standing; User guides adjustment body posture according to the concrete operations in voice message;
" sitting down " is control wearable bionic exoskeleton pedipulator convalescence device, make its from parallel midstance to sitting posture state steadily, security transformation; When user uses watch have selected " sitting down " motor pattern after, to sit down trigger condition if body posture does not meet, control module initiates a message to voice module, the latter's reminding user adjustment attitude, until control module detects that user meets trigger condition of sitting down; User guides adjustment body posture according to the concrete operations in voice message;
" walking " controls wearable bionic exoskeleton pedipulator convalescence device, makes its brought forward user under different standing state stablize, walk safely, utilize wearable bionic exoskeleton pedipulator convalescence device to drive patients with paralyzed lower limbs walking; In normal walking process, user can switch in two states, comprising: both feet are parallel stands and state after the last foot of a foot, and the second state comprises left foot and front to stand and right crus of diaphragm is front being stood.In the present invention, " gait initialize process " is user's conversion of state after the last foot of a foot from the parallel standing state of both feet; " gait maintenance process " is user from " before left foot after right crus of diaphragm " state to " before right crus of diaphragm after left foot " state or from " before right crus of diaphragm after left foot " state to the conversion of " before left foot after right crus of diaphragm " state.A complete walking process, by " gait initialize process ", is then the circulation of " gait maintenance process ", finally along with the termination of " gait maintenance process ", namely regains the forward foot in a step and recovers double-legged parallel standing state and terminate.After a user have selected " walking " pattern by watch 12, control system 11 begins through the foot bottom pressure sensor 8 at trunk obliquity sensor 9 and foot support plate place and the crutch pressure transducer 14 that contacts to earth and detects whether user leans forward, whether center of gravity moves; If at the appointed time within T, user reaches forward, and movement that center of gravity is turned right, then the pressure of right crus of diaphragm sole can increase, and the pressure of left foot then can reduce, and obliquity sensor 9 and pressure transducer 8 collect signal and transfer data to control module 11.The data that control module 11 transmits according to the pressure transducer 8 receiving obliquity sensor 9 and sole, judge that system current state meets switching condition, just can be successfully completed gait and initialize; Control module 11 controls left lower limb hip motor 4_1, right lower limb hip motor 4_2, left lower limb knee motor 6_1, right lower limb knee motor 6_2 according to the speed set and angular turn, thigh support frame 2 and little leg support 3 is driven to step left or right foot, system can record current state immediately for " stepping a left side (right side) foot ", next carries out the maintenance of gait; If the change of obliquity sensor and double-legged pressure transducer size at the appointed time do not detected in T simultaneously, the i.e. data that transmit according to obliquity sensor 9 and pressure transducer 8 of control module 11, judgement system current state does not meet switching condition, then the initialized process of gait stops, and user continues to maintain double-legged parallel standing state.After user successfully steps left or right foot, user is in left or right foot in front attitude, before stepping a new step, namely, before stepping the right side or left foot, control module 11 continues through whether the trunk that obliquity sensor 9, pressure transducer 8 and the sensor 14 that contacts to earth detect user leans forward, whether center of gravity offsets; If at the appointed time in T, user's upper body tilts and by center of gravity sidesway to left (or right) foot, obliquity sensor 9 and pressure transducer 8 collect signal and transfer data to control module 11; The data that control module 11 transmits according to obliquity sensor 9 and pressure transducer 8, judgement system current state is met switching condition, now, control hip motor and knee motor according to the speed set and angular turn, drive thigh support frame and little leg support to step forward the right side (or left) foot by control module;
If in gait initialization and gait maintenance process, by the data that sensor returns, control module 11 judges that system does not meet normal stand attitude condition (user is in fall attitude or other undefined attitudes), then system can stop gait initialize process or gait to maintain process immediately, and the warning devices of system also can give the alarm.Such as, the parameters such as force value, trunk inclination value or motor corner value exceed above-mentioned normal range and reach 1s, and be namely determined as " abnormality ", control module 11 will perform protective measure to user, until receive further instruction to remove " abnormality ".These protective measures include but not limited to: during user's crank, control motor stalls, or rotate backward and make user again become sitting posture again; When user falls down, control voice module 16 and give the alarm to ask other people to rescue.
The present invention has the following advantages:
1, triggering mode dual fail-safe.In gait initialize process, namely user is from from when selling the first step after sitting on station, if user does not select " walking " isotype by the push-botton operation on watch 12, then its body action can not trigger the walking motion of ectoskeleton pedipulator device; After user selects " walking " pattern by push-botton operation, wireless radio frequency modules in watch 12 communicates with control module 11, the pattern that notifies that the latter user have selected " walking ", the latter, immediately according to the data that sensor group gathers, starts real time discriminating user's body attitude and whether meets trigger condition.Once control module 11 detects that the action of user's body attitude meets trigger condition, then send command adapted thereto to group of motors, control group of motors and rotated corresponding actions, trigger " stepping foot ".That is, when stepping the first step, user both must have selected " walking " pattern by the button of watch 12, and body posture meets again certain trigger condition simultaneously, " can step foot " by Crush trigger lower limb.The false triggering risk of single triggering mode can be avoided like this, improve safety coefficient.
2, user's use safety.Control module 11 is monitored in real time by the data (comprising trunk inclination angle, foot force etc.) of sensor group to user's body attitude and is analyzed, and judges whether above-mentioned data exceed normal range.When user occurs crank or the emergency case such as to fall down, control module 11 can detect that above-mentioned data exceed normal range, at this moment will take counter-measure immediately, guarantees user security.For example, pedipulator can be controlled during crank and stop action, can be given the alarm by voice module 16 when falling down and seek help.
3, special user can be supported.Existing recovery set for lower limbs only plays auxiliary load effect mostly, needs user to have certain lower limbs strength, and ectoskeleton pedipulator convalescence device of the present invention can the whole health of supporting user, and the user of weakness of the lower extremities also can use.
4, several functions can be realized.Existing recovery set for lower limbs only for the positive action of user provides auxiliary, and ectoskeleton pedipulator convalescence device of the present invention can trigger according to attitudes such as the centre-of gravity shifts of user and drive the health of user to complete to stand, sit down, the action such as walking.
5, safety assurance is high.In convalescence device ambulation control method of the present invention, all states of definition are in the middle of a closed loop, and every other undefined behavior is abnormality, and its stability and safety obtain very large guarantee.In addition, each motor is equipped with mechanical stop limiter, even if motor occurs abnormal to be about to exceed normal angled scope, also can pin by limited device, has stopped motor thus and has exceeded the possibility that normal angled scope causes user's joint injury.
6, it is very convenient to wear.In the frame for movement of convalescence device of the present invention, hip motor 5, the stator of knee motor 7 is all screwed on thigh support frame 2, the rotor of hip motor 5 with trunk support 1 by being connected by pulling/inserting structure, the rotor of knee motor 7 with little leg support 3 by being connected by pulling/inserting structure, make donning process very convenient, first need only wear little leg support 3 respectively by bandage, thigh support frame 2 and trunk support 1, then by above-mentioned support can being stitched together and can using pulling/inserting structure, be convenient to patient wear voluntarily, the whole help of wearing process and not needing other people.
Above embodiment is only for illustration of the present invention; and be not limitation of the present invention; the those of ordinary skill of relevant technical field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all equivalent technical schemes also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.Above embodiment is only for illustration of the present invention; and be not limitation of the present invention; those skilled in the art; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all equivalent technical schemes also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (10)
1. a wearable bionic exoskeleton pedipulator convalescence device, it is characterized in that, mainly comprise trunk support, thigh support frame, little leg support, hip motor, hip motor angle sensor, knee motor, knee motor angle sensor, foot bottom pressure sensor, trunk obliquity sensor, control module, watch, crutch, crutch contact to earth pressure transducer and foot support plate; Wherein, hip motor comprises left lower limb hip motor and right lower limb hip motor; Hip motor angle sensor comprises left lower limb hip motor angle sensor and right lower limb hip motor angle sensor; Knee motor comprises left lower limb knee motor and right lower limb knee motor; Knee motor angle sensor comprises left lower limb knee motor angle sensor and right lower limb knee motor angle sensor; Foot bottom pressure sensor comprises left foot foot bottom pressure sensor and right crus of diaphragm foot bottom pressure sensor; Crutch has two, is respectively the cane and to turn right cane of turning left, and the pressure transducer that contacts to earth comprises contact to earth pressure transducer and cane of turning right of cane of turning left and to contact to earth pressure transducer;
Described trunk support is bundled in user's upper body; Thigh support frame is bundled on user's thigh, and little leg support is bundled on user's shank; Foot support plate is arranged at the bottom of user's foot; Trunk support is connected by hip motor with thigh support frame; Stator and the trunk support of hip motor are fixed, and rotor and the thigh support frame of hip motor are fixed; The stators and rotators of thigh support frame and little leg support difference knee motor is connected; Little leg support is flexibly connected with foot support plate; Under foot support plate, foot bottom pressure sensor is installed;
Described left lower limb hip motor angle sensor and right lower limb hip motor angle sensor are separately positioned on left lower limb hip motor and right lower limb hip motor; Left lower limb knee motor angle sensor and right lower limb knee motor angle sensor arrange on left lower limb knee motor and right lower limb knee motor respectively; Left foot foot bottom pressure sensor and right crus of diaphragm foot bottom pressure sensor are separately positioned in the two foot's gripper shoes of left and right; Cane of turning left contact to earth pressure transducer and turn right cane contact to earth pressure transducer be separately positioned on left and right two crutch lower ends; Trunk inclination sensor is arranged on trunk support;
Contact to earth with watch, hip motor angle sensor, knee motor angle sensor, foot bottom pressure sensor, trunk inclination sensor, crutch respectively pressure transducer, hip motor, knee motor of described control module is connected.
2. wearable bionic exoskeleton pedipulator convalescence device according to claim 1, is characterized in that, stator and the trunk support of described hip motor are screwed, and the rotor of hip motor and thigh support frame are by fixing by pulling/inserting structure.
3. wearable bionic exoskeleton pedipulator convalescence device according to claim 1 and 2, it is characterized in that, described thigh support frame and little the leg support respectively stators and rotators of knee motor are connected and refer to that thigh support frame is connected by knee motor with little leg support, wherein the stator of knee motor and thigh support frame are screwed, and the rotor of knee motor and little leg support are by fixing by pulling/inserting structure.
4. wearable bionic exoskeleton pedipulator convalescence device according to claim 1, is characterized in that, wearable bionic exoskeleton pedipulator convalescence device also comprises voice cue module, and voice cue module is connected with control module.
5. the wearable bionic exoskeleton pedipulator convalescence device according to claim 1 or 4, it is characterized in that, described control module contact to earth pressure transducer, left lower limb hip motor, right lower limb hip motor, left lower limb knee motor and the right lower limb knee motor of pressure transducer, cane of turning right that contact to earth with left lower limb hip motor angle sensor, right lower limb hip motor angle sensor, left lower limb knee motor angle sensor, right lower limb knee motor angle sensor, left foot foot bottom pressure sensor, right crus of diaphragm foot bottom pressure sensor, cane of turning left respectively is connected.
6. the wearable bionic exoskeleton pedipulator convalescence device according to any one of claim 1-4, is characterized in that, described in turn left cane and cane of turning right hold respectively by the right-hand man of user.
7. the wearable bionic exoskeleton pedipulator convalescence device according to any one of claim 1-4, it is characterized in that, described binding is undertaken by bandage.
8. wearable bionic exoskeleton pedipulator convalescence device according to claim 5, it is characterized in that, described control module is arranged on the back of user.
9. wearable bionic exoskeleton pedipulator convalescence device according to claim 1, it is characterized in that, described control module selects i.MX6 serial application processor, USB is adopted to carry out with hip motor with communicating of knee motor, except contacting to earth except the communication of pressure transducer adopts less radio-frequency and carry out with watch and crutch, CAN is all adopted to carry out with the communication of other various sensors.
10. wearable bionic exoskeleton pedipulator convalescence device according to claim 1, is characterized in that, described watch is primarily of wireless radio frequency modules and button composition, and wireless radio frequency modules is connected with control module signal.
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