CN105816294A - Coordinated gait feedback device and intelligent treading bed employing same - Google Patents
Coordinated gait feedback device and intelligent treading bed employing same Download PDFInfo
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- CN105816294A CN105816294A CN201610141646.0A CN201610141646A CN105816294A CN 105816294 A CN105816294 A CN 105816294A CN 201610141646 A CN201610141646 A CN 201610141646A CN 105816294 A CN105816294 A CN 105816294A
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- China
- Prior art keywords
- lower limb
- bed
- controller
- treading
- pressure transducer
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- 230000005021 gait Effects 0.000 title claims abstract description 21
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 69
- 230000008713 feedback mechanism Effects 0.000 claims abstract description 33
- 210000000038 chest Anatomy 0.000 claims description 21
- 238000005259 measurement Methods 0.000 claims description 19
- 210000000481 breast Anatomy 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000009711 regulatory function Effects 0.000 description 2
- 206010002027 Amyotrophy Diseases 0.000 description 1
- 208000008037 Arthrogryposis Diseases 0.000 description 1
- OYPRJOBELJOOCE-UHFFFAOYSA-N Calcium Chemical compound [Ca] OYPRJOBELJOOCE-UHFFFAOYSA-N 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000001953 Hypotension Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 229910052791 calcium Inorganic materials 0.000 description 1
- 239000011575 calcium Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000036543 hypotension Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 208000011580 syndromic disease Diseases 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- 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
- A61H2201/5005—Control means thereof for controlling frequency distribution, modulation or interference of a driving signal
-
- 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)
- 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 provides a coordinated gait feedback device and an intelligent treading bed employing the same, and aims to solve the problem that a treading device with a treading bed in the prior art is provided with no adjusting function but simply drives a lower limb to move. The coordinated gait feedback device comprises a traction feedback mechanism acting on a chest and a treading feedback mechanism acting on lower limbs; the traction feedback mechanism comprises a chest wrap equipped with pressure sensors, and further comprises a controller used for controlling output force of a lifting piece of the traction feedback mechanism, and the pressure sensors are electrically connected with the controller; the treading feedback mechanism comprises a lower limb driving cylinder and treading devices driven by the lower limb driving cylinder, lower limb pressure sensors are arranged on the treading devices, the output force of the lower limb driving cylinder is controlled by the controller, and the lower limb pressure sensors are electrically connected with the controller. The device not only can record stress on the chest wrap and the treading devices, but also can perform intelligent feedback and adjustment through the controller based on the stress magnitude, so as to generate coordinated gaits similar to a normal human being and improve the rehabilitation efficacy.
Description
Technical field
The present invention relates to rehabilitation medical instrument field, coordinate gait feedback device particularly to a kind of and apply the intelligent of this device to step on step bed.
Background technology
Commonly used standing bed in current lower limb disability patient care and rehabilitation training, standing bed has been the most common a kind of armarium, the such as standing exercise of apoplectic hemiplegia, Patients of Spinal, the patient that can not stand also having some long-term beds uses standing bed also can effectively prevent bed syndrome, such as amyotrophy, calcium loss, hypotension, arthrogryposis etc..
The Chinese patent that publication No. is " CN101933874A " discloses one " vertical-standing lower-limb rehabilitation system ", but its stampede device simply simply drives lower extremity movement, does not has regulatory function.
Summary of the invention
In order to overcome the deficiency of background technology, the present invention provides a kind of intelligent step bed of stepping on coordinated gait feedback device and apply this device, and the device of trampling mainly solving to step on now step bed simply simply drives lower extremity movement, the problem not having regulatory function.
The technical solution adopted in the present invention is:
A kind of coordinate gait feedback device, including feedback mechanism of marking time, described in feedback mechanism of marking time include lower limb driving cylinder stampede device and driven the stampede device stampede device for foot trampling making straight reciprocating motion by described lower limb driving cylinder stampede device；Described stampede device stampede device is provided with lower limb pressure transducer, also includes the controller for controlling lower limb driving cylinder stampede device power output, and described lower limb pressure transducer electrically connects with described controller；Also include tractive feedback mechanism, described tractive feedback mechanism includes the chest measurement dressed for patient's upper body, left breast sensor and right breast sensor it is respectively arranged on the left side and the right side in described chest measurement, and described chest measurement is respectively arranged on the left side and the right side the lifting piece for lifting described chest measurement left and right sides height controlled by described controller, described left breast sensor and right breast sensor electrically connect with described controller.
Described lifting piece is electric pushrod.
Described lower limb pressure transducer includes left lower extremity pressure transducer and right lower extremity pressure transducer, described stampede device includes that left stampede device and right stampede device, described left lower extremity pressure transducer and right lower extremity pressure transducer are correspondingly arranged on described left stampede device and right stampede device and and described controller electrical connection.
Described lower limb driving cylinder is cylinder.
Described cylinder front end is additionally provided with regulation valve.
One is intelligent steps on step bed, including bed body, described bed body is additionally provided with above-mentioned a kind of coordination gait feedback device.
Described bed body includes lathe bed and the underframe being mutually flexibly connected, and described stampede device is located at the bottom of described lathe bed.
Described lathe bed one end is hinged with described underframe, and the other end connects to be had for by the second upright for described lathe bed driving cylinder.
Described underframe includes the adjustable shelf that can raise, and described adjustable shelf upper end is located at by described lathe bed.
The invention has the beneficial effects as follows: the present invention provides a kind of and coordinates gait feedback device and apply the intelligent of this device to step on step bed, including acting on the tractive feedback mechanism of chest and acting on the feedback mechanism of marking time of lower limb, tractive feedback mechanism includes the chest measurement being provided with pressure transducer, also including the controller for controlling tractive feedback mechanism power output, chest measurement pressure transducer is electrically connected with the controller；Feedback mechanism of marking time includes lower limb driving cylinder and the stampede device driven by lower limb driving cylinder, and stampede device is provided with lower limb pressure transducer, and controller controls lower limb driving cylinder power output, and lower limb pressure transducer is electrically connected with the controller.It is possible not only to record the traction force of chest measurement and being stressed of foot stampede device, and its controller can also be according to the size being stressed by regulating lifting piece and the power output of lower limb driving cylinder of tractive feedback mechanism, intelligence is adjustable, produce the coordination gait close to normal person, reach good rehabilitation efficacy.
Accompanying drawing explanation
Fig. 1 is the schematic front view of one embodiment of the invention.
Fig. 2 be one embodiment of the invention be arranged on intelligent step on step bed schematic front view.
Fig. 3 be one embodiment of the invention be arranged on intelligent step on step bed schematic side view.
Fig. 4 is the FB(flow block) of the feedback mechanism of marking time of the present invention.
Fig. 5 is the FB(flow block) of the tractive feedback mechanism of the present invention.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings: as shown in the figure, a kind of coordination gait feedback device, including feedback mechanism of marking time, described feedback mechanism of marking time includes lower limb driving cylinder 1 and is driven the stampede device 2 for foot trampling making straight reciprocating motion by described lower limb driving cylinder 1, described stampede device 2 is provided with lower limb pressure transducer, also include that the controller for controlling lower limb driving cylinder 1 power output, described lower limb pressure transducer electrically connect with described controller；As preferably, described stampede device 2 can be post tubbiness and its barrel of wall is made up of soft retractable material, can carry out stretching to be closely affixed with shank by electric control；Bottom described stampede device 2 and bucket wall is equipped with lower limb pressure transducer, lower limb driving cylinder is driven by power source, repeats no more for prior art, the when of use, the lower limb of patient are placed on stampede device, further can be fixed by chest measurement, naturally it is also possible to stampede device is made similar footwear shape；Recorded the power of the leg of patient by lower limb pressure transducer, the power that patient legs is autonomous is stronger when, reduced the power output of lower limb driving cylinder by controller；Relative, the when that power that patient legs is autonomous being less, the power output of lower limb driving cylinder is increased by controller, the regulation of intelligence can be realized, strong adaptability, the present invention provides a kind of and coordinates gait feedback device and apply the intelligent of this device to step on step bed, including acting on the tractive feedback mechanism of chest and acting on the feedback mechanism of marking time of lower limb, tractive feedback mechanism includes the chest measurement being provided with pressure transducer, also including the controller for controlling tractive feedback mechanism power output, chest measurement pressure transducer is electrically connected with the controller；Feedback mechanism of marking time includes lower limb driving cylinder and the stampede device driven by lower limb driving cylinder, and stampede device is provided with lower limb pressure transducer, and controller controls lower limb driving cylinder power output, and lower limb pressure transducer is electrically connected with the controller.It is possible not only to record the traction force of chest measurement and being stressed of foot stampede device, and its controller can also be according to the size being stressed by regulating lifting piece and the power output of lower limb driving cylinder of tractive feedback mechanism, intelligence is adjustable, produce the coordination gait close to normal person, reach good rehabilitation efficacy.
In the present invention, as shown in Figure 5, also include tractive feedback mechanism, described tractive feedback mechanism includes the chest measurement 5 dressed for patient's upper body, left breast sensor and right breast sensor it is respectively arranged on the left side and the right side in described chest measurement 5, and described chest measurement 5 is respectively arranged on the left side and the right side the lifting piece for lifting described chest measurement 5 left and right sides height controlled by described controller, described left breast sensor and right breast sensor electrically connect with described controller.As an embodiment, tractive feedback mechanism can include that left and right health uses two symmetrical steel wires to be connected with bandage, when left and right health occurs, left and right pressure is measured asymmetric by left breast sensor and right breast sensor (being pressure transducer), difference according to pressure provides the size of pulling force, realize health is pulled by lifting piece again, body bilateral is made to keep balance, simple in construction, easy to use, cost is relatively low, here pressure differential can be that the pressure differential walked of human body normal row is as a standard value, just start more than controller when this pressure differential to adjust.
In the present invention, as it can be seen, described lifting piece is electric pushrod.Electric pushrod uses YNT-01, for DC MOTOR CONTROL.Simple in construction, using effect is good.
In the present invention, as shown in Figure 4, described lower limb pressure transducer includes left lower extremity pressure transducer and right lower extremity pressure transducer (i.e. foot pressure acquisition in left and right in figure), described stampede device 2 includes that left stampede device and right stampede device, described left lower extremity pressure transducer and right lower extremity pressure transducer are correspondingly arranged on described left stampede device and right stampede device and and described controller electrical connection.As preferably, left lower extremity pressure transducer and right lower extremity pressure transducer are correspondingly arranged on described left stampede device and the bottom of right stampede device and bucket wall, the data of controller part main processing pressure sensor (including left lower extremity pressure transducer, right lower extremity pressure transducer, left breast sensor and right breast sensor), control signal is given according to pressure condition, control to the three-dimensional thrust size with patient left and right lower limb, dynamic coordinate is controlled with this, control electric pushrod to the pulling force of patient's bandage, the further balance keeping patient body simultaneously；Controller can use Arduinouno to complete whole control.Controller gathers pressure size the most in turn, and often group pressure acquisition frequency is 100Hz, i.e. 10ms gathers a pressure.The motion of feedback mechanism of marking time can use air compressor machine through air relief valve, then the size through governor valve control thrust, the control of regulation valve is completed by controller.
In the present invention, as it can be seen, described lower limb driving cylinder 1 is cylinder.May be otherwise employing oil hydraulic cylinder etc., easy to control, price is relatively low, and using effect is good.
In the present invention, as it can be seen, described cylinder front end is additionally provided with regulation valve.The power output of cylinder can be regulated, easy to use.
One is intelligent steps on step bed, including bed body 4, described bed body 4 is additionally provided with above-mentioned a kind of coordination gait feedback device.
In the present invention, as it can be seen, described bed body 4 includes lathe bed 6 and the underframe 7 being mutually flexibly connected, described stampede device is located at the bottom of described lathe bed 6.Lathe bed can be movable relative to underframe, it is achieved height, or/and the regulation of angle, uses convenient.
In the present invention, as it can be seen, described lathe bed 6 one end is hinged with described underframe 7, the other end connects to be had for by the second upright for described lathe bed 6 driving cylinder 61.Needs lathe bed is upright when, hinged lathe bed is promoted to make it erect by the second driving cylinder, it is achieved the rotary function of bed body, simple in construction, easy to use.
In the present invention, as it can be seen, described underframe 7 includes that the adjustable shelf 9 that can raise, described lathe bed 6 are located at described adjustable shelf 9 upper end.Realize the function that bed body can raise, simple in construction, use convenient.
Embodiment is not construed as limitation of the present invention, but any spiritual improvements introduced based on the present invention, all should be within protection scope of the present invention.
Claims (9)
1. coordinate a gait feedback device, including feedback mechanism of marking time, it is characterised in that feedback mechanism of marking time described in: includes lower limb driving cylinder (1) and driven the stampede device for foot trampling (2) making straight reciprocating motion by described lower limb driving cylinder (1)；Described stampede device (2) is provided with lower limb pressure transducer, also includes the controller for controlling lower limb driving cylinder (1) power output, and described lower limb pressure transducer electrically connects with described controller；
Also include tractive feedback mechanism, described tractive feedback mechanism includes the chest measurement (5) dressed for patient's upper body, left breast sensor and right breast sensor it is respectively arranged on the left side and the right side in described chest measurement (5), and described chest measurement (5) is respectively arranged on the left side and the right side the lifting piece for lifting described chest measurement (5) left and right sides height controlled by described controller, described left breast sensor and right breast sensor electrically connect with described controller.
A kind of coordination gait feedback device the most according to claim 1, it is characterised in that: described lifting piece is electric pushrod.
A kind of coordination gait feedback device the most according to claim 2, it is characterized in that: described lower limb pressure transducer includes left lower extremity pressure transducer and right lower extremity pressure transducer, described stampede device (2) includes that left stampede device and right stampede device, described left lower extremity pressure transducer and right lower extremity pressure transducer are correspondingly arranged on described left stampede device and right stampede device and and described controller electrical connection.
A kind of coordination gait feedback device the most according to claim 1, it is characterised in that: described lower limb driving cylinder (1) is cylinder.
A kind of coordination gait feedback device the most according to claim 4, it is characterised in that: described cylinder front end is additionally provided with regulation valve.
6. intelligent step on a step bed, including bed body (4), it is characterised in that: be additionally provided with in described bed body (4) as described in claim 1-5 any one claim a kind of coordinates gait feedback device.
One the most according to claim 6 is intelligent steps on step bed, it is characterised in that: described bed body (4) includes lathe bed (6) and the underframe (7) being mutually flexibly connected, and described stampede device is located at the bottom of described lathe bed (6).
One the most according to claim 7 is intelligent steps on step bed, it is characterised in that: described lathe bed (6) one end is hinged with described underframe (7), and the other end connects to be had for by the second driving cylinder (61) upright for described lathe bed (6).
One the most according to claim 8 is intelligent steps on step bed, it is characterised in that: described underframe (7) includes the adjustable shelf (9) that can raise, and described adjustable shelf (9) upper end is located at by described lathe bed (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610141646.0A CN105816294A (en) | 2016-03-14 | 2016-03-14 | Coordinated gait feedback device and intelligent treading bed employing same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610141646.0A CN105816294A (en) | 2016-03-14 | 2016-03-14 | Coordinated gait feedback device and intelligent treading bed employing same |
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| Publication Number | Publication Date |
|---|---|
| CN105816294A true CN105816294A (en) | 2016-08-03 |
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| CN201610141646.0A Pending CN105816294A (en) | 2016-03-14 | 2016-03-14 | Coordinated gait feedback device and intelligent treading bed employing same |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6685658B1 (en) * | 1999-04-07 | 2004-02-03 | Balgrist/Schweiz. Paraplegikerzentrum | Device and method for a locomotion therapy |
| JP2005192695A (en) * | 2004-01-05 | 2005-07-21 | Sakai Medical Co Ltd | Walking training apparatus and control method of walking training apparatus |
| CN101933874A (en) * | 2009-07-01 | 2011-01-05 | 广州一康医疗设备实业有限公司 | Vertical-standing lower-limb rehabilitation system |
| WO2011065673A2 (en) * | 2009-11-30 | 2011-06-03 | 경희대학교 산학협력단 | User-customized gait rehabilitation device |
| CN102225034A (en) * | 2011-04-25 | 2011-10-26 | 中国科学院合肥物质科学研究院 | Gait rehabilitation training robot control system |
| CN202620484U (en) * | 2012-03-02 | 2012-12-26 | 王俊华 | Gait rehabilitation training robot |
| CN204033706U (en) * | 2014-09-03 | 2014-12-24 | 张有国 | A kind of loss of weight balance rehabilitation training device |
-
2016
- 2016-03-14 CN CN201610141646.0A patent/CN105816294A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6685658B1 (en) * | 1999-04-07 | 2004-02-03 | Balgrist/Schweiz. Paraplegikerzentrum | Device and method for a locomotion therapy |
| JP2005192695A (en) * | 2004-01-05 | 2005-07-21 | Sakai Medical Co Ltd | Walking training apparatus and control method of walking training apparatus |
| CN101933874A (en) * | 2009-07-01 | 2011-01-05 | 广州一康医疗设备实业有限公司 | Vertical-standing lower-limb rehabilitation system |
| WO2011065673A2 (en) * | 2009-11-30 | 2011-06-03 | 경희대학교 산학협력단 | User-customized gait rehabilitation device |
| CN102225034A (en) * | 2011-04-25 | 2011-10-26 | 中国科学院合肥物质科学研究院 | Gait rehabilitation training robot control system |
| CN202620484U (en) * | 2012-03-02 | 2012-12-26 | 王俊华 | Gait rehabilitation training robot |
| CN204033706U (en) * | 2014-09-03 | 2014-12-24 | 张有国 | A kind of loss of weight balance rehabilitation training device |
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Application publication date: 20160803 |