CN105534679A - Intelligent rehabilitation robot - Google Patents
Intelligent rehabilitation robot Download PDFInfo
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- CN105534679A CN105534679A CN201610007201.3A CN201610007201A CN105534679A CN 105534679 A CN105534679 A CN 105534679A CN 201610007201 A CN201610007201 A CN 201610007201A CN 105534679 A CN105534679 A CN 105534679A
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- rehabilitation robot
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- intelligent rehabilitation
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- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 208000020442 loss of weight Diseases 0.000 claims description 10
- 239000000725 suspension Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 210000003141 lower extremity Anatomy 0.000 description 10
- 230000009471 action Effects 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000009207 exercise therapy Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000006742 locomotor activity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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 together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/50—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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an intelligent rehabilitation robot which comprises a base and a main support installed on the front portion of the base. A pair of auxiliary supports are installed in the middle of the base. A view screen mechanism is installed just in front of the top of the main support. Armrest mechanisms are installed on the tops of the auxiliary supports. Walking mechanisms are installed between the auxiliary supports and the base. Each walking mechanism comprises a pedal and an active guide device. By means of the intelligent rehabilitation robot, active guide is achieved, and patients can positively and optimistically complete rehabilitation training.
Description
Technical field
The present invention relates to a kind of rehabilitation material, be specifically related to a kind of intelligent rehabilitation robot.
Background technology
Rehabilitation medicine is the new branch of science occurred mid-term in 20th century, its object is to alleviate by multiple means such as physiotherapy, exercise therapy, life training, skill training, speech training and psychological counselling and eliminate the dysfunction of patient, the function of health residual fraction is fully played most, make up the afunction with reconstruction patients, reach taking care of oneself of maximum possible, the ability of work and work.According to statistics, the limbs disturbance patient that current China causes due to apoplexy, spinal cord injury and various accident has 8,770,000 people, and wherein more than halfly can improve limb function by training.
Current limbs exercise equipment is carried out passive exercise when patient restraints fight completely mostly, owing to losing the subjective initiative of patient, patient experiences, less than sensation of walking really, can not know training result intuitively, affect confidence, cause training effect not good enough.And ground-engaging element adopts connecting shaft mode, the precision of motor itself can only be leaned on to realize action control, poor stability, self-lock ability is not enough, simultaneously by the restriction of connecting shaft mode, and movement range, and adjustment difficulty is larger.The rehabilitation training effect of patient's locomotor activity cannot be assessed in addition, can only lean on the observe and decide of doctor, cannot Real-Time Monitoring.The rehabilitation trainer device of function of the same race is bulky, and be generally the result of many group single-function devices superposition, linkage is bad.Walking mode classification training, without selecting, can only be carried out under single-mode
Through retrieval, Chinese patent literature CN103417356A discloses a kind of gait rehabilitation training robot, utilize the walking environment that platform provides virtual, wearable lower limb exoskeleton provides hoofing part for patient, there is certain guiding function, but still need by doctor's manual observation training of judgement effect.And ectoskeleton needs to customize according to patient sign, versatility is poor, and on ectoskeleton, the movable joint of many groups needs respective drive motors, causes whole system complex structure, controls difficulty higher, limit it and apply.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of highly versatile, positive guide can be provided to train and the intelligent rehabilitation robot of real-time assessment rehabilitation efficacy.
Technical scheme: for solving the problems of the technologies described above, intelligent rehabilitation robot provided by the invention, comprise base and the main support being installed on base front portion, the middle part of described base is provided with a pair assistant support, described main support top dead ahead is provided with screen mechanism, the top of described assistant support is provided with armrest mechanism, is also provided with walking mechanism between described assistant support and base, and described walking mechanism comprises pedal and active guiding devices.
As preferably, provide top to draw to balance the weak patient of ability, the top of described main support is provided with loss of weight mechanism, and described loss of weight mechanism comprises interconnective traction suspension hook and capstan winch.
As preferably, in order to realize walking process variation, described walking mechanism comprises separate left walking mechanism and right walking mechanism.
As preferably, in order to the crowd of applicable different height uses, between described armrest mechanism and main support, lowering or hoisting gear is installed.
As preferably, to go forward side by side Row sum-equal matrix operation for the ease of doctor's Real Time Observation rehabilitation data, the side of described main support is also provided with auxiliary table, auxiliary table can be installed and control computer and printer etc.
As preferably, in order to the situation that the left and right foot bearing capacity change and single foot impetus that reflect patient in real time distribute, described pedal is provided with pressure transducer.Three pressure transducers of distribution triangular in shape can be adopted, respectively corresponding toe, arch of foot and heel, foot's force-bearing situation of recognition training person, and then automatically be adapted to by the motion amplitude of control system control positive guide mechanism.
As preferably, described active guiding devices comprises the translating device be installed on main support, described translating device is provided with footboard drives device.
As preferably, described active guiding devices comprises the first spiral arm being installed on assistant support by hinged-support, and the second spiral arm be articulated and connected successively and the 3rd spiral arm, the end section of described 3rd spiral arm is by slide mechanism connecting pin pedal, and described pedal is installed on by trace in the chute on base.
As preferably, realize registration and anti-slip auto-lock function in order to what realize walking mechanism, be provided with the power set be in transmission connection with hinged-support in described assistant support, described power set comprise motor and turbine worm reducer structure.
Operation principle: by the positive guide of equipment, completes the action of walking process; Namely the power drive reductor of motor is utilized, and then drive the first spiral arm, the second spiral arm and the 3rd spiral arm to simulate the motion of people's leg by hinged-support, left and right rows walking apparatus coordinates the program that realizes to link under Systematical control, be formed with the trajectory path of walking motion, thus complete the function of positive guide.
Beneficial effect: intelligent rehabilitation robot of the present invention has following significant advantage compared to existing technology:
1, active guiding devices achieves the ability that the action simulation of walking process and positive guide action complete;
2, left and right walking mechanism is separate mechanism, any course of action can be completed, realize walking process variation, paces frequency, step margin (span length's degree), step height, circulation transition radian can be regulated, really realize customized scheme, schema hierarchy training can be carried out: as the training mode that strides, stroll pattern, fast walking modes, mountain-climbing pattern etc.;
3, handrail liftable regulates, and uses with the crowd of applicable different height;
4, loss of weight mechanism is that lower limb standability is not enough, and the weak patient of balanced capacity provides top traction, achieves the function of supplemental training and protection;
5, screen mechanism can be the mode by sight, music, game, forms interactive association, allow patient actively complete rehabilitation training optimistically with patient;
6, active guiding devices adopts turbine and worm technology, realizes registration, anti-slip auto-lock function;
7, the induction apparatus on pedal can reflect the left and right foot bearing capacity change of patient and the situation of single foot impetus distribution in real time, allows doctor and patient learn rehabilitation training result in real time.
Except technical problem, the technical characteristic forming technical scheme and the advantage brought by the technical characteristic of these technical schemes that the present invention recited above solves, the advantage that the other technologies feature comprised in the other technologies problem that intelligent rehabilitation robot of the present invention can solve, technical scheme and these technical characteristics bring, will be described in more detail by reference to the accompanying drawings.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention one;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the partial structurtes schematic diagram of lower limb moving-member in Fig. 1;
Fig. 4 is the structural representation of lower limb frame in the embodiment of the present invention one;
Fig. 5 is the structural representation of the embodiment of the present invention two;
Fig. 6 is the right view of Fig. 5.
In figure: suspention loss of weight parts 1, pillar parts 2, screen bracket component 3, support of table parts 4, base member 5, lower limb moving-member 6, lifting armrest member 7, pedal parts 8, spindle gear 9, connecting rod lifting device 10, main support 11, loss of weight mechanism 12, screen mechanism 13, armrest mechanism 14, auxiliary table 15, walking mechanism 16, Universal active spring 17, hinge 18, pedal 19.
Detailed description of the invention
embodiment one
The intelligent rehabilitation robot of the present embodiment as depicted in figs. 1 and 2, comprise pillar parts 2, be arranged on the suspention loss of weight parts 1 of pillar parts 2 top cross-bar, be arranged on the screen bracket component 3 in the middle part of pillar parts 2 and support of table parts 4, and the base member 5 of bottom, base member 5 is provided with lower limb moving-member 6, lifting armrest member 7 and pedal parts 8.
As shown in Figure 3, lower limb moving-member comprises spindle gear 9 and connecting rod lifting device 10, and the top of lowering or hoisting gear has pushing rod sleeve and stabilizer.Lowering or hoisting gear and pedal are connected, and wherein pushing rod sleeve and pedal are hinged, and stabilizer is supported on the bottom of pedal.
As shown in Figure 4, lowering or hoisting gear can also be used for connecting lower limb frame, and this lower limb frame comprises the Universal active spring 17 matched with trainer's crotch point, the hinge 18 corresponding with knee joint position, and for the pedal 19 of fixed foot portion.
embodiment two
The intelligent rehabilitation robot of the present embodiment as shown in Figure 4 and Figure 5, comprises the main support 11 be installed on base, and main support is provided with loss of weight mechanism 12, screen mechanism 13 and auxiliary table 15 from top to bottom successively.Loss of weight mechanism 12 is installed on the top of main support 11, is positioned at directly over patient, is stood, and regulate length and pull strength by capstan winch when training by the traction assisting patients of traction suspension hook to the shoulder of patient.Screen mechanism 13 is installed on main support 11 top, and is positioned at the dead ahead of patients head, can simulate some real scenes in the training process, as taken a walk, jogging, mountain-climbing etc., patient also can be allowed to carry out some interactive games by step operation.The side of main support is also provided with auxiliary table, and the control device on auxiliary table is connected with above-mentioned each mechanism controls.The pedal of inclination is installed at base afterbody, convenient shift the wheelchair of trainer onto main support before and be fixed and train.
Be provided with a pair assistant support at the middle part of base, assistant support be provided with armrest mechanism 14, be provided with lowering or hoisting gear between itself and assistant support, the crowd that can be applicable to different height uses.
Walking mechanism 16 is installed between assistant support and base, and comprise separate left walking mechanism and right walking mechanism, left and right walking mechanism includes active guiding devices and pedal.One group of pressure transducer being installed on the footrests, position after in before respectively bottom corresponding sole, the situation that left and right foot bearing capacity change and single foot impetus for reflecting patient in real time distribute, allowing doctor and patient learn rehabilitation training result in real time.
During use, bipod is placed on left and right pedal by the support of weight reducing device and armrest system by patient respectively, utilize power drive one group of spiral arm simulation leg action of motor, realize the front and back action of foot, lower limb, by turbine and worm, Timing Belt with coordinate and rotate, realize the action of pedal circumference lifting, both associate cooperation and realize program interlock, be formed with the trajectory path of walking motion, achieve the object of positive guide.
With above-mentioned according to preferred embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from the technology of the present invention thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content in description, must determine its technical scope according to right.
Claims (8)
1. an intelligent rehabilitation robot, comprise base and the main support being installed on base front portion, it is characterized in that: the middle part of described base is provided with a pair assistant support, described main support top dead ahead is provided with screen mechanism, the top of described assistant support is provided with armrest mechanism, also be provided with walking mechanism between described assistant support and base, described walking mechanism comprises pedal and active guiding devices.
2. intelligent rehabilitation robot according to claim 1, is characterized in that: the top of described main support is provided with loss of weight mechanism, and described loss of weight mechanism comprises interconnective traction suspension hook and capstan winch.
3. intelligent rehabilitation robot according to claim 1, is characterized in that: described walking mechanism comprises separate left walking mechanism and right walking mechanism.
4. intelligent rehabilitation robot according to claim 1, is characterized in that: be provided with lowering or hoisting gear between described armrest mechanism and assistant support.
5. intelligent rehabilitation robot according to claim 1, is characterized in that: the side of described main support is provided with auxiliary table.
6. intelligent rehabilitation robot according to claim 1, is characterized in that: described pedal is provided with pressure transducer.
7. intelligent rehabilitation robot according to claim 4, it is characterized in that: described active guiding devices comprises the first spiral arm being installed on assistant support by hinged-support, and the second spiral arm be articulated and connected successively and the 3rd spiral arm, the end section of described 3rd spiral arm is by slide mechanism connecting pin pedal, and described pedal is installed on by trace in the chute on base.
8. intelligent rehabilitation robot according to claim 7, is characterized in that: be provided with the power set be in transmission connection with hinged-support in described assistant support, described power set comprise motor and turbine worm reducer structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007201.3A CN105534679B (en) | 2016-01-07 | 2016-01-07 | intelligent rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007201.3A CN105534679B (en) | 2016-01-07 | 2016-01-07 | intelligent rehabilitation robot |
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| Publication Number | Publication Date |
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| CN105534679A true CN105534679A (en) | 2016-05-04 |
| CN105534679B CN105534679B (en) | 2019-01-01 |
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| CN201610007201.3A Active CN105534679B (en) | 2016-01-07 | 2016-01-07 | intelligent rehabilitation robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107930029A (en) * | 2017-12-19 | 2018-04-20 | 刘坤 | It is multi-functional to sit station movement auxiliary and rehabilitation training machine device people |
| CN110051502A (en) * | 2019-03-13 | 2019-07-26 | 广东工业大学 | A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback |
| CN112826695A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Double-foot end actuating mechanism for lower limb rehabilitation training device |
| WO2021169352A1 (en) * | 2020-02-29 | 2021-09-02 | 华南理工大学 | Wearable mobile robot for lower limb rehabilitation training |
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| CN2558375Y (en) * | 2002-08-14 | 2003-07-02 | 哈尔滨工程大学 | Lower extremity recovery training robot |
| US6666831B1 (en) * | 1999-08-20 | 2003-12-23 | The Regents Of The University Of California | Method, apparatus and system for automation of body weight support training (bwst) of biped locomotion over a treadmill using a programmable stepper device (psd) operating like an exoskeleton drive system from a fixed base |
| CN102665827A (en) * | 2009-10-12 | 2012-09-12 | 马东纳康复医院 | Improved rehabilitation and exercise machine |
| CN103251420A (en) * | 2013-04-26 | 2013-08-21 | 哈尔滨工程大学 | Pedal for detecting foot applied force and foot applied force detection device |
| CN204106483U (en) * | 2014-06-27 | 2015-01-21 | 力伽实业股份有限公司 | Rehabilitation composite sport machine |
| CN205434279U (en) * | 2016-01-07 | 2016-08-10 | 南京康龙威康复医学工程有限公司 | Recovered robot of intelligence |
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2016
- 2016-01-07 CN CN201610007201.3A patent/CN105534679B/en active Active
Patent Citations (7)
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| US6666831B1 (en) * | 1999-08-20 | 2003-12-23 | The Regents Of The University Of California | Method, apparatus and system for automation of body weight support training (bwst) of biped locomotion over a treadmill using a programmable stepper device (psd) operating like an exoskeleton drive system from a fixed base |
| US20020022554A1 (en) * | 2000-02-22 | 2002-02-21 | Borsheim John T. | Bi-lateral body weight support system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107930029A (en) * | 2017-12-19 | 2018-04-20 | 刘坤 | It is multi-functional to sit station movement auxiliary and rehabilitation training machine device people |
| CN107930029B (en) * | 2017-12-19 | 2022-11-11 | 吉林大学 | Multifunctional sitting-standing exercise assisting and rehabilitation exercise training robot |
| CN110051502A (en) * | 2019-03-13 | 2019-07-26 | 广东工业大学 | A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback |
| WO2021169352A1 (en) * | 2020-02-29 | 2021-09-02 | 华南理工大学 | Wearable mobile robot for lower limb rehabilitation training |
| CN112826695A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Double-foot end actuating mechanism for lower limb rehabilitation training device |
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| Publication number | Publication date |
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| CN105534679B (en) | 2019-01-01 |
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