CN106109175A - A kind of exoskeleton-type knee joint and ankle joint rehabilitation device - Google Patents
A kind of exoskeleton-type knee joint and ankle joint rehabilitation device Download PDFInfo
- Publication number
- CN106109175A CN106109175A CN201610555752.3A CN201610555752A CN106109175A CN 106109175 A CN106109175 A CN 106109175A CN 201610555752 A CN201610555752 A CN 201610555752A CN 106109175 A CN106109175 A CN 106109175A
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- knee joint
- joint
- ankle joint
- ankle
- ectoskeleton
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 90
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims abstract description 79
- 210000000689 upper leg Anatomy 0.000 claims abstract description 20
- 210000003414 extremity Anatomy 0.000 claims abstract description 13
- 210000003141 lower extremity Anatomy 0.000 claims description 26
- 210000003423 ankle Anatomy 0.000 claims description 9
- 210000002414 leg Anatomy 0.000 claims description 5
- 229920000742 Cotton Polymers 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 claims description 3
- 210000001364 upper extremity Anatomy 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010276 construction Methods 0.000 abstract description 3
- 230000004044 response Effects 0.000 abstract description 2
- 208000034657 Convalescence Diseases 0.000 abstract 1
- 230000032683 aging Effects 0.000 description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000004233 talus Anatomy 0.000 description 3
- 208000024172 Cardiovascular disease Diseases 0.000 description 2
- 208000012902 Nervous system disease Diseases 0.000 description 2
- 230000000386 athletic effect Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 244000309466 calf Species 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 230000002526 effect on cardiovascular system Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 208000013200 Stress disease Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000037231 joint health Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 206010025482 malaise Diseases 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/024—Knee
-
- 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
- A61H1/0266—Foot
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
- A61H2201/0149—Seat or chair
-
- 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
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
-
- 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
- A61H2205/12—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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
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)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a knee joint and ankle joint exoskeleton-type convalescence device, including seat, central control unit, battery and the identical limb member of two structures, central control unit and battery are fixedly mounted on the downside of seat, limb member includes ectoskeleton thigh, ectoskeleton shank, knee joint drives hydraulic cylinder, ankle joint drives motor, knee joint angle sensor and ankle joint angle sensor, utilize the angle signal that knee joint angle sensor detects with ankle joint angle sensor, central control unit controls knee joint and drives hydraulic cylinder to drive the motion of motor with ankle joint.The present invention well realizes and assists the motion of human body lower limbs knee joint and ankle joint, and this device knee joint uses hydraulic-driven simultaneously, it is ensured that driving torque is steady, and ankle joint uses motor to drive, fast response time.This device has simple in construction, operation wearing is convenient, be prone to the feature of driving, and movement effects is good.
Description
Technical field
The invention belongs to medical science auxiliary Therapy study field, be specifically related to a kind of exoskeleton-type knee joint and rehabilitation of anklebone
Device.
Background technology
Along with raising and the progress of modern medical service technology of social life level, China improves constantly, the average life span
Quickly step into aging society.Ending 2010, China's aging population of more than 60 years old, more than 1.78 hundred million, reach total population
13.26%.Meanwhile, the aging population of over-65s are about 1.19 hundred million, account for the 8.87% of total population.On the other hand, along with life
Quickening that movable joint is played and the Hemiplegic Patients that the increase of life stress, cardiovascular and cerebrovascular disease and nervous system disease cause by
Year increases.China's apoplexy (apoplexy) sickness rate the first in the world, the patient of the most about 3/4 has nerve injury in various degree and fortune
Dynamic obstacle.Ever-increasing aging population and apoplexy are lost disease patient and rehabilitation work are proposed severe challenge.
Central nervous system has the plasticity of height.By patient being launched rehabilitation training timely and effectively, Ke Yixian
Write and reduce nervous function damage, reduce the generation of complication, motor function can be rebuild simultaneously, improve the energy of taking care of oneself of patient
Power.Traditional rehabilitation relies primarily on physiatrician and patient implements free-hand rehabilitation training, there is many limitations: (1) can not
Being accurately controlled training parameter, therapeutic effect depends primarily on experience and the level of doctor；(2) doctor treats one to one, rehabilitation
Training effectiveness is low, and doctor's labor intensity is big.
Knee joint in the middle of present society and robot for rehabilitation of anklebone, general operation mode is complicated, expensive, transmission
Unstable, be not easy to the shortcomings such as rehabilitation patient's wearing.Therefore, for above-mentioned technical problem, it is necessary to provide a kind of simple in construction,
Knee joint cheap, stable transmission appeals defect with robot for rehabilitation of anklebone with solution.
Summary of the invention
It is an object of the invention to provide a kind of exoskeleton-type knee joint and ankle joint rehabilitation device, this dress for the problems referred to above
Putting the feature taking into full account organization of human body, the kneed motion of this device uses hydraulic-driven, and driving torque is relatively big and stable, ankle
Joint uses motor to drive, and has safety, easy donning, submissive feature.
The technical scheme is that a kind of exoskeleton-type knee joint and ankle joint rehabilitation device, including seat, central authorities' control
Device processed and the identical limb member of two structures；
Two limb member are separately mounted on the front side seat leg of seat；
Described limb member includes that ectoskeleton thigh, ectoskeleton shank, ectoskeleton shank adapter, ankle joint drive electricity
Machine, knee joint drive hydraulic cylinder and pedal；One end of described ectoskeleton thigh and the seat leg of seat are fixing to be connected, the other end and
One end of ectoskeleton shank adapter is rotationally connected, and the other end of ectoskeleton shank adapter is fixed with one end of ectoskeleton shank
Connect；The expansion link of knee joint driving hydraulic cylinder is fixing with the upper end of ectoskeleton shank to be connected, and knee joint drives the end of hydraulic cylinder
Seat midleg big with ectoskeleton is fixing to be connected；Outside ectoskeleton shank adapter, knee joint angle sensor is installed；Dermoskeleton
The other end of bone shank is rotationally connected with one end of pedal adapter, and the other end of pedal adapter is fixing with pedal to be welded；Ankle
The output shaft of joint drive motor is connected with pedal adapter, and ankle joint drives and is provided with ankle joint angle sensing outside motor
Device；
Described central control unit includes information acquisition module, ankle joint control module and knee joint control module；Described
Information acquisition module electrically connects with knee joint angle sensor and ankle joint angle sensor respectively, is used for receiving knee joint and rotates
Angle signal and ankle joint rotational angle signal, and it is delivered to knee joint control module and ankle joint control module respectively, described
Knee joint control module drives hydraulic cylinder to electrically connect with knee joint, drives for controlling knee joint according to knee joint rotational angle signal
The work of hydrodynamic cylinder pressure；Described ankle joint control module drives motor to electrically connect with ankle joint, for according to ankle joint angle of rotation
Degree signal controls ankle joint and drives the work of motor.
In such scheme, described limb member also includes exoskeleton lower limbs holder；Described exoskeleton lower limbs holder is solid
It is scheduled on one end of ectoskeleton thigh；Exoskeleton lower limbs retainer hole is had, the foreleg of seat on described exoskeleton lower limbs holder
Be each passed through exoskeleton lower limbs retainer hole and with exoskeleton lower limbs retainer hole interference fit.
Further, hydraulic cylinder holder is also included；One end of described hydraulic cylinder holder is welded on ectoskeleton thigh
Middle part, the other end drives the base rotation of hydraulic cylinder to be connected with knee joint.
In such scheme, described ectoskeleton thigh and ectoskeleton medial leg are cotton padded coaming.
In such scheme, also include battery；Described battery is arranged on the downside of seat and is electrically connected with central control unit
Connecing, central control unit has start stop switch.
In such scheme, also include the back fixation bar of two end bend；The vertical end of described back fixation bar is respectively
It is fixedly welded on the both sides, backrest top of seat.
In such scheme, also include two handrails；Described handrail is respectively and fixedly installed to the both sides of seat.
The invention has the beneficial effects as follows: compared with prior art, exoskeleton-type knee joint of the present invention and ankle joint health
Apparatus for coating can well realize and assist the motion of human body lower limbs knee joint and ankle joint, and this mechanism can realize helping patient to live
Movable joint and the basic function alleviating medical personnel's labor intensity.This device knee joint uses hydraulic-driven simultaneously, it is ensured that transmission
Moment is steady, and ankle joint uses motor to drive, fast response time.This device has simple in construction, operation is dressed conveniently, is prone to drive
Dynamic feature, movement effects is good.Thus some intrinsic dress trouble, the lacking of complex operation to overcome existing healing robot
Point, is more applicable for satisfying social needs.The present invention is in the hemiplegia helping cardiovascular and cerebrovascular disease and nervous system disease to be caused
The rehabilitation of patient has important effect.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment of the present invention；
Fig. 2 is the limb member structural representation of an embodiment of the present invention；
Fig. 3 is the central control unit module frame figure of an embodiment of the present invention.
In figure: 1, seat；2, back fixation bar；3, handrail；4, central control unit；4-1, information acquisition module；4-2、
Ankle joint control module；4-3, knee joint control module；5, exoskeleton lower limbs holder；6, ectoskeleton thigh；7, ectoskeleton is little
Lower limb；8, pedal；9, battery；10, knee joint angle sensor；11, ectoskeleton shank adapter；12, ankle joint drives motor；
13, knee joint drives hydraulic cylinder；14, hydraulic cylinder holder；15, start stop switch；16, exoskeleton lower limbs retainer hole；17, ankle closes
Joint angular transducer；18, pedal adapter.
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention
It is not limited to this.
Fig. 1 show a kind of embodiment of exoskeleton-type knee joint of the present invention and ankle joint rehabilitation device, described
Exoskeleton-type knee joint and ankle joint rehabilitation device are identical with two structures including seat 1, central control unit 4, battery 9
Limb member.Described seat 1 mainly includes two back fixation bars 2 and two handrails 3；The vertical end of back fixation bar 2 is respectively
Being fixedly welded on the both sides, backrest top of seat 1, the end of back fixation bar 2 is bending, plays person back fixation
Effect.Handrail 3 is respectively and fixedly installed to the both sides of seat 1；Described battery 9 is fixedly mounted on seat with central control unit 4
Downside, battery 9 electrically connects with central control unit 4, and central control unit 4 has start stop switch 15.
As in figure 2 it is shown, described limb member include exoskeleton lower limbs holder 5, ectoskeleton thigh 6, ectoskeleton shank 7,
Ectoskeleton shank adapter 11, ankle joint drive motor 12, knee joint to drive hydraulic cylinder 13, hydraulic cylinder holder 14 and pedal 8；
Described exoskeleton lower limbs holder 5 is fixed on one end of ectoskeleton thigh 6；Dermoskeleton is had on described exoskeleton lower limbs holder 5
Bone fixing apparatus for lower limbs hole 16, the foreleg of seat 1 be each passed through exoskeleton lower limbs retainer hole 16 and with exoskeleton lower limbs holder
Hole 16 interference fit.During work, described ectoskeleton thigh 6 binds together with human thigh；Another of described ectoskeleton thigh 6
The one end with ectoskeleton shank adapter 11 is held to be rotationally connected, at the degree of freedom that junction only one of which rotates, it is ensured that people
The kneed rotation of body；The other end of ectoskeleton shank adapter 11 is fixing with one end of ectoskeleton shank 7 to be connected；Knee joint is driven
The expansion link of hydrodynamic cylinder pressure 13 is fixing with the upper end of ectoskeleton shank 7 to be connected, and knee joint drives base and the hydraulic pressure of hydraulic cylinder 13
One end of cylinder holder 14 is rotationally connected, and the other end of hydraulic cylinder holder 14 is fixing with the middle part of ectoskeleton thigh 6 to be connected；Knee joint
The expansion link athletic meeting of joint drive hydraulic cylinder 13 drives the rotation of ectoskeleton shank 7；Pacify outside ectoskeleton shank adapter 11
Equipped with knee joint angle sensor 10；Described central control unit 4 drives hydraulic pressure with knee joint angle sensor 10 and knee joint
Cylinder 13 electrically connects, and the knee joint rotational angle signal detected is passed to central control unit 4 by knee joint angle sensor 10,
Central control unit 4 controls knee joint according to the angular turn signal detected and drives the work of hydraulic cylinder 13；Ectoskeleton shank 7
One end of the other end and pedal adapter 18 be rotationally connected, the other end of pedal adapter 18 is fixing with pedal 8 to be welded；Ankle closes
Joint drives the output shaft of motor 12 to be connected with pedal adapter 18, and ankle joint drives and is provided with ankle joint angle biography outside motor 12
Sensor 17, operationally, human calf binds together with ectoskeleton shank 7, and foot is placed on above pedal 8, ectoskeleton shank 7
Rotation can drive the rotation of human calf, and ankle joint drives the athletic meeting of motor 12 to drive the rotation of pedal adapter 18, and then
Drive the motion of pedal 8 so that model of human ankle rotates along with the motion of pedal 8；Central control unit 4 respectively with ankle joint
Angular transducer 10 and ankle joint drive motor 12 to electrically connect, the ankle joint angle of rotation that ankle joint angle sensor 17 will detect
Degree signal passes to central control unit 4, and central control unit 4 controls ankle according to the ankle joint rotational angle signal detected and closes
Joint drives the work of motor 12.
It is cotton padded coaming inside described ectoskeleton thigh 6 and ectoskeleton shank 7, increases user comfort.
As it is shown on figure 3, described central control unit 4 includes information acquisition module 4-1, ankle joint control module 4-2 and knee joint
Joint control module 4-3；Described information acquisition module 4-1 respectively with knee joint angle sensor 10 and ankle joint angle sensor
17 electrical connections, are used for receiving knee joint rotational angle signal and ankle joint rotational angle signal, and are delivered to knee joint control respectively
Molding block 4-3 and ankle joint control module 4-2, described knee joint control module 4-3 drives hydraulic cylinder 13 to electrically connect with knee joint,
After to knee joint rotational angle signal processing, control knee joint and drive the work of hydraulic cylinder 13；Described ankle joint controls mould
Block 4-2 drives motor 12 to electrically connect with ankle joint, after to ankle joint rotational angle signal processing, controls ankle joint and drives electricity
The work of machine 12.
The work process of the present invention is as follows:
When human body lower limbs is when doing rehabilitation exercise, being bound together with exoskeleton lower limbs by human body lower limbs, foot is placed on pedal 8
Above, pressing the start stop switch 15 in central control unit 4, after switching on power, knee joint angle sensor 10 will detect
Knee joint rotational angle signal passes to central control unit 4, the knee joint rotational angle letter that central control unit 4 will detect
Number process after, control knee joint drive hydraulic cylinder 13 motion, after knee joint is retracted to certain angle, central control unit 4
The knee joint rotational angle signal received from knee joint angle induction apparatus 10, controls knee joint and drives the expansion link of hydraulic cylinder 13
Stretch, and then drive the ectoskeleton shank 7 driving hydraulic cylinder 13 expansion link to be fixed together with knee joint to do stretching；
When the knee joint angle of rotation that central control unit 4 after knee extension to certain angle receives from knee joint angle sensor 10
Degree signal, controls knee joint and drives the expansion link of hydraulic cylinder 13 to shrink, and then drive drives the flexible of hydraulic cylinder 13 with knee joint
The ectoskeleton shank 7 that bar is fixed together does contractile motion, drives the rotation of human body knee joint with this.Ankle joint angle passes
The ankle joint rotational angle signal detected passes to central control unit 4 by sensor 17, and central control unit 4 will detect
After angle signal processes, control ankle joint and drive the rotating forward of motor 12, drive model of human ankle to rotate forward, i.e. pedal adapter 18 carries
Dynamic pedal 8 rotates forward, and after ankle joint just forwards certain angle to, central control unit 4 connects according to from ankle joint angle sensor 17
The ankle joint rotational angle signal received, controls ankle joint and drives motor 12 to invert；After ankle joint is inverted to certain angle, in
Centre controls device 4 and drives according to the ankle joint rotational angle signal received from ankle joint angle induction apparatus 17, control ankle joint
Motor 12 rotates forward, the motion driving model of human ankle with this, reaches the effect of moving human body ankle joint.
The present invention drives hydraulic cylinder 13 and ankle joint to drive motor 12 to move by knee joint, closes human body knee joint with ankle
Joint produces auxiliary torque, drives the motion of human body knee joint and ankle joint, reaches the purpose in moving human body joint, it is achieved promote health
The purpose of the function of multiple patient legs.
It is to be understood that, although this specification describes according to each embodiment, but the most each embodiment only comprises one
Individual independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art should will say
Bright book can also form those skilled in the art permissible through appropriately combined as an entirety, the technical scheme in each embodiment
Other embodiments understood.
The a series of detailed description of those listed above is only for illustrating of the possible embodiments of the present invention,
They also are not used to limit the scope of the invention, all Equivalent embodiments made without departing from skill of the present invention spirit or change
Should be included within the scope of the present invention.
Claims (7)
1. an exoskeleton-type knee joint and ankle joint rehabilitation device, it is characterised in that include seat (1), central control unit
(4) limb member that with two structures are identical；
Two limb member are separately mounted on the front side seat leg of seat (1)；
Described limb member includes that ectoskeleton thigh (6), ectoskeleton shank (7), ectoskeleton shank adapter (11), ankle joint drive
Galvanic electricity machine (12), knee joint drive hydraulic cylinder (13) and pedal (8)；One end of described ectoskeleton thigh (6) and the seat of seat (1)
Chair lower limb is fixing to be connected, and the other end is rotationally connected with one end of ectoskeleton shank adapter (11), ectoskeleton shank adapter (11)
One end of the other end and ectoskeleton shank (7) fixing be connected；The expansion link of knee joint driving hydraulic cylinder (13) is little with ectoskeleton
The upper end of lower limb (7) is fixing to be connected, and the base of knee joint driving hydraulic cylinder (13) is fixing with the middle part of ectoskeleton thigh (6) to be connected；
Ectoskeleton shank adapter (11) outside is provided with knee joint angle sensor (10)；The other end of ectoskeleton shank (7) and foot
The one end pedaling adapter (18) is rotationally connected, and the other end of pedal adapter (18) is fixing with pedal (8) to be welded；Ankle joint drives
The output shaft of motor (12) is connected with pedal adapter (18), and ankle joint drives motor (12) outside to be provided with ankle joint angle and passes
Sensor (17)；
Described central control unit (4) includes that information acquisition module (4-1), ankle joint control module (4-2) and knee joint control
Module (4-3)；Described information acquisition module (4-1) respectively with knee joint angle sensor (10) and ankle joint angle sensor
(17) electrical connection, is used for receiving knee joint rotational angle signal and ankle joint rotational angle signal, and is delivered to knee joint respectively
Control module (4-3) and ankle joint control module (4-2), described knee joint control module (4-3) drives hydraulic cylinder with knee joint
(13) electrical connection, drives the work of hydraulic cylinder (13) for controlling knee joint according to knee joint rotational angle signal；Described ankle closes
Joint control module (4-2) drives motor (12) to electrically connect with ankle joint, closes for controlling ankle according to ankle joint rotational angle signal
Joint drives the work of motor (12).
A kind of exoskeleton-type knee joint the most according to claim 1 and ankle joint rehabilitation device, it is characterised in that under described
Limb parts also include exoskeleton lower limbs holder (5)；Described exoskeleton lower limbs holder (5) is fixed on ectoskeleton thigh (6)
One end；Having exoskeleton lower limbs retainer hole (16) on described exoskeleton lower limbs holder (5), the foreleg of seat (1) is worn respectively
Cross exoskeleton lower limbs retainer hole (16) and with exoskeleton lower limbs retainer hole (16) interference fit.
Exoskeleton-type knee joint the most according to claim 2 and ankle joint rehabilitation device, it is characterised in that also include hydraulic pressure
Cylinder holder (14)；One end of described hydraulic cylinder holder (14) is welded on the middle part of ectoskeleton thigh (6), and the other end closes with knee joint
Joint drives the base rotation of hydraulic cylinder (13) to connect.
Exoskeleton-type knee joint the most according to claim 1 and ankle joint rehabilitation device, it is characterised in that described ectoskeleton
Thigh (6) is cotton padded coaming with ectoskeleton shank (7) inner side.
A kind of exoskeleton-type knee joint the most according to claim 1 and ankle joint rehabilitation device, it is characterised in that also include
Battery (9)；Described battery (9) is arranged on the downside of seat (1) and electrically connects with central control unit (4), central control unit
(4) there is start stop switch (15).
Exoskeleton-type knee joint the most according to claim 1 and ankle joint rehabilitation device, it is characterised in that also include two
The back fixation bar (2) of end bend；The vertical end of described back fixation bar (2) is fixedly welded on the backrest of seat (1) respectively
Both sides, top.
Exoskeleton-type knee joint the most according to claim 1 and ankle joint rehabilitation device, it is characterised in that also include two
Handrail (3)；Described handrail (3) is respectively and fixedly installed to the both sides of seat (1).
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| CN201610555752.3A CN106109175A (en) | 2016-07-15 | 2016-07-15 | A kind of exoskeleton-type knee joint and ankle joint rehabilitation device |
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| CN201610555752.3A Pending CN106109175A (en) | 2016-07-15 | 2016-07-15 | A kind of exoskeleton-type knee joint and ankle joint rehabilitation device |
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Application publication date: 20161116 |