CN106137678A - Adjustable support arm and the method for operating thereof of robot is helped in rehabilitation training - Google Patents
Adjustable support arm and the method for operating thereof of robot is helped in rehabilitation training Download PDFInfo
- Publication number
- CN106137678A CN106137678A CN201610565521.0A CN201610565521A CN106137678A CN 106137678 A CN106137678 A CN 106137678A CN 201610565521 A CN201610565521 A CN 201610565521A CN 106137678 A CN106137678 A CN 106137678A
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- Prior art keywords
- motion
- hip
- platform
- motor
- fixed
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 238000012549 training Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 6
- 230000005021 gait Effects 0.000 claims abstract description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 210000001624 hip Anatomy 0.000 abstract description 39
- 230000000694 effects Effects 0.000 abstract description 7
- 238000004088 simulation Methods 0.000 abstract description 5
- 210000001981 hip bone Anatomy 0.000 abstract description 3
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000007787 solid Substances 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
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
- A61H2201/12—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
- A61H2201/165—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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/085—Crotch
Abstract
The invention discloses a kind of rehabilitation training and help adjustable support arm and the method for operating thereof of robot, this device includes base, crawler type walking machine, balance weight mechanism and motion parts；Motion parts includes, rear shifting movement platform, carry hip motion platform and parallel four-bar type motion platform.Each motion platform is constituted by motor, platform fixed plate, gear train and output.Present invention can be implemented in the rehabilitation trainings to one linear degrees of freedom of hipbone and two revolution frees degree during gait training；Can physiological movement in gait training for the altitude simulation hip, effectively enhancing rehabilitation training effect.
Description
Technical field
The invention belongs to technical field of medical instruments, be specifically related to a kind of multiple degrees of freedom for rehabilitation training and help machine
People.
Background technology
China's Aging Problem is day by day serious, and hemiplegia is the high morbidity in the elderly, therefore for the elderly
Posthemiplegic rehabilitation is particularly important.Hemiplegic patient's gait is normally the mark of rehabilitation, and therefore gait training is in rehabilitation
Status in training is especially pronounced.
Traditional Rehabilitation means for hemiplegic patient need Physical Therapist's hand steered patient hip to carry out gait training, consume a large amount of
Time with muscle power, and cannot ensure abundance training time and enough training strength.Existing gait training rehabilitation sets
Standby often emphasis ambulation training, and have ignored the physiological structure of hip, it is impossible to the kinematics analysis design for hip meets people
The equipment of machine engineering science, thus limit the effect of gait training device.
Content of the invention
In order to solve traditional gait rehabilitation training amount that prior art exists greatly, inefficiency and common rehabilitation equipment
The problems such as training is comprehensive, training mode is single, the present invention, by analyzing hip physiological structure, provides a kind of rehabilitation training to help
The adjustable support arm of robot and method of operating thereof, train one efficient training platform of offer for patient.
Its technical scheme is
The adjustable support arm of robot is helped in a kind of rehabilitation training, including base the 1st, crawler type walking machine the 2nd, motion platform is solid
Determine plate the 4th, support bar the 20th, balance weight mechanism and motion parts.Motion parts include rear shifting movement platform, carry hip motion platform with parallel
Four-bar motion platform.
Balance weight mechanism includes balancing weight 19 and steel wire rope 18；Rear shifting movement platform includes the first motor 3, the first gear train 5
With the first screw slider structure 6；Carry hip motion platform and include that the 15th, the second motor the 14th, the second gear train puies forward hip motion fixed platform 7
With carry hip take-off lever 16；Parallel four-bar type motion platform includes the 3rd motor 11, the 3rd gear train the 12nd, the second screw slider structure
9th, parallel bar the 10th, hinge arrangement the 8th, the first movement output bar 13 and the second movement output bar 17.
Further, crawler type walking machine 2 is fixed on base 1；Motion parts is connected with base 1 by support bar 20；Join
Heavy-duty machine structure is connected with base 1 by balancing weight 19, is connected with motion platform by steel wire rope 18.
Further, the first motor 3 is fixed in motion platform fixed plate 4, drives the first leading screw sliding by the first gear train 5
Block structure 6 seesaws, and the first screw slider structure 6 is fixed on and carries in hip motion fixed platform 7, so that it is flat to seesaw
Platform seesaws；
Second motor 14 is fixed on and carries in hip motion fixed platform 7, is directly driven by the second gear train 15 and proposes hip output
Bar 16 turns round by a small margin around sagittal axis on frontal plane, completes to propose hip motion；
3rd motor 11 is fixed in hip motion fixed platform 7, drives the second screw slider knot by the 3rd gear train 12
Structure 9 and the first movement output bar 13 seesaw, movement output bar 13 drives symmetry side by hinge arrangement 8 and parallel bar 10 again
Complete rotary motion to the second movement output bar 17 at horizontal plane, form parallelogram lindage.
Further, balance weight mechanism is connected with motion platform by steel wire rope 18, and provides pulling force by balancing weight 19, effect
It in whole motion platform, has been effectively accomplished the effect exempting from weight.
Further, this device may be implemented in during gait training to one linear degrees of freedom of hipbone and two revolutions
The rehabilitation training of the free degree, physiological movement in gait training for the altitude simulation hip, effectively strengthen rehabilitation training effect.
The method of operating of the adjustable support arm of robot is helped in a kind of rehabilitation training, comprises the following steps:
First fixed hip with bandage by instruction person, be connected on the first movement output bar 13 and the second movement output bar 17；
When implementing by instruction person's gait training, coordinating crawler type walking machine 2, motor is operated under torque mode: the first motor 3
The first screw slider structure 6 is driven to drive hip to seesaw by the first gear train 5；Second motor 14 passes through the second gear train
15 direct drives carry hip take-off lever 16 and turn round by a small margin around sagittal axis on frontal plane, complete to propose hip motion；3rd motor 11 leads to
Crossing the 3rd gear train 12 drives parallelogram lindage to drive hip to complete rotary motion at horizontal plane.
Compared with prior art, beneficial effects of the present invention:
One, has a linear degrees of freedom and the rehabilitation training of two revolution frees degree, and altitude simulation hip is in gait
Physiological movement in training；Its two, symmetrical expression exempts from heavy-duty machine structure, to mitigate burden during patient's gait training；Its three, the rotation of device
Turn center and the pivot of human hip overlaps, can be with the rehabilitation training of altitude simulation body gait training.
Brief description
Fig. 1 is the structural representation of the adjustable support arm that robot is helped in a kind of rehabilitation training of the present invention；Wherein, the 1st, the end
Seat；2nd, crawler type walking machine；3rd, the first motor；4th, motion platform fixed plate；5th, the first gear train；6th, the first screw slider knot
Structure；7th, hip motion fixed platform is put forward；8th, hinge arrangement；9th, the second screw slider structure；10th, parallel bar；11st, the 3rd motor；12、
3rd gear train；13rd, the first movement output bar；14th, the second motor；15th, the second gear train；16th, hip take-off lever is carried；17th, second
Movement output bar；18th, steel wire rope；19th, balancing weight；20th, support bar.
Detailed description of the invention
With detailed description of the invention, the present invention is described in more detail below in conjunction with the accompanying drawings.
With reference to Fig. 1, the adjustable support arm of robot is helped in a kind of rehabilitation training of the embodiment of the present invention, including the 1st, base is carried out
Belt walking machine the 2nd, motion platform fixed plate the 4th, support bar the 20th, balance weight mechanism and motion parts.Motion parts includes side-to-side movement
Platform, rear shifting movement platform, carry hip motion platform and parallel four-bar type motion platform.
Balance weight mechanism includes balancing weight 19 and steel wire rope 18；Rear shifting movement platform includes the first motor 3, the first gear train 5
With the first screw slider structure 6；Carry hip motion platform motion platform and include that the 15th, the second motor the 14th, the second gear train carries hip and move
Fixed platform 7 and carry hip take-off lever 16；Parallel four-bar type motion platform includes the 3rd motor 11, the 3rd gear train the 12nd, second
Thick stick slide block structure the 9th, parallel bar the 10th, hinge arrangement the 8th, the first movement output bar 13 and the second movement output bar 17.
As improving further, crawler type walking machine 2 is fixed on base 1；Motion parts is by support bar 20 and base 1
It is connected；Balance weight mechanism is connected with base 1 by balancing weight 19, is connected with motion platform by steel wire rope 18.
As improving further, the first motor 3 is fixed in motion platform fixed plate 4, drives by the first gear train 5
One screw slider structure 6 seesaws, and the first screw slider structure 6 is fixed on and carries in hip motion fixed platform 7, so that front
Rear motion platform seesaws；
Second motor 14 is fixed on and carries in hip motion fixed platform 7, is directly driven by the second gear train 15 and proposes hip output
Bar 16 turns round by a small margin around sagittal axis on frontal plane, completes to propose hip motion；
3rd motor 11 is fixed in hip motion fixed platform 7, drives the second screw slider knot by the 3rd gear train 12
Structure 9 and the first movement output bar 13 seesaw, movement output bar 13 drives symmetry side by hinge arrangement 8 and parallel bar 10 again
Complete rotary motion to the second movement output bar 17 at horizontal plane, form parallelogram lindage.
As improving further, balance weight mechanism is connected with motion platform by steel wire rope 18, and is provided by balancing weight 19
Pulling force, acts on whole motion platform, has been effectively accomplished the effect exempting from weight.
As improving further, this device may be implemented in during gait training to one linear degrees of freedom of hipbone and
The rehabilitation training of two revolution frees degree, physiological movement in gait training for the altitude simulation hip, effectively strengthen rehabilitation training
Effect.
When using the present invention, first fixed hip with bandage by instruction person, be connected to the first movement output bar 13 and the second fortune
On dynamic take-off lever 17；
When implementing by instruction person's gait training, coordinating crawler type walking machine 2, motor is operated under torque mode: the first motor 3
The first screw slider structure 6 is driven to drive hip to seesaw by the first gear train 5；Second motor 14 passes through the second gear train
15 direct drives carry hip take-off lever 16 and turn round by a small margin around sagittal axis on frontal plane, complete to propose hip motion；3rd motor 11 leads to
Crossing the 3rd gear train 12 drives parallelogram lindage to drive hip to complete rotary motion at horizontal plane.
The above, the only present invention preferably detailed description of the invention, protection scope of the present invention is not limited to this, any ripe
Know those skilled in the art in the technical scope of present disclosure, the letter of the technical scheme that can become apparent to
Altered or equivalence are replaced and are each fallen within protection scope of the present invention.
Claims (5)
1. a rehabilitation training helps the adjustable of robot to help arm, it is characterised in that: include base (1), crawler type walking machine
(2), motion platform fixed plate (4), support bar (20), balance weight mechanism and motion parts；
Described motion parts includes rear shifting movement platform, carries hip motion platform and parallel four-bar type motion platform；
Described balance weight mechanism includes balancing weight (19) and steel wire rope (18)；Described rear shifting movement platform includes the first motor (3), the
One gear train (5) and the first screw slider structure (6)；Described carry hip motion platform motion platform include the second motor (14),
Two gear trains (15), carry hip motion fixed platform (7) and carry hip take-off lever (16)；Described parallel four-bar type motion platform includes
Three motors (11), the 3rd gear train (12), the second screw slider structure (9), parallel bar (10), hinge arrangement (8), the first motion
Take-off lever (13) and the second movement output bar (17).
2. the adjustable support arm people helping robot is practiced in refreshment according to claim 1, it is characterised in that: described crawler type
Walking machine (2) is fixed on base (1)；Motion parts is connected with base (1) by support bar (20)；Balance weight mechanism passes through counterweight
Block (19) is connected with base (1), is connected with motion platform by steel wire rope (18).
3. the adjustable support arm helping robot is practiced in refreshment according to claim 1, it is characterised in that: described first motor
(3) it is fixed in motion platform fixed plate (4), transport before and after driving the first screw slider structure (6) by the first gear train (5)
Dynamic, the first screw slider structure (6) is fixed on and carries on hip motion fixed platform (7), so that transport before and after the platform that seesaws
Dynamic；
Described second motor (15) is fixed on and carries on hip motion fixed platform (7), is directly driven by the second gear train (15) and carries
Hip take-off lever (16) turns round by a small margin around sagittal axis on frontal plane, completes to propose hip motion；
Described 3rd motor (11) is fixed on hip motion fixed platform (7), drives the 3rd leading screw by the 3rd gear train (12)
Slide block structure (9) seesaws with the first movement output bar (13), movement output bar (13) again by hinge arrangement (8) with parallel
Bar (10) drives symmetry direction the second movement output bar (17) to complete rotary motion at horizontal plane, forms parallelogram lindage.
4. the adjustable support arm helping robot is practiced in refreshment according to claim 1, it is characterised in that: described balance weight mechanism
It is connected with motion platform by steel wire rope (18), and provide pulling force by balancing weight (19).
5. the method for operating of the adjustable support arm of robot is helped in the rehabilitation training described in a claim 1, it is characterised in that
Comprise the following steps:
First fixed hip with bandage by instruction person, be connected on the first movement output bar (13) and the second movement output bar (17)；
When implementing by instruction person's gait training, coordinating crawler type walking machine (2), motor is operated under torque mode: the first motor (3) passes through
First gear train (5) drives a screw slider structure (6) to drive hip to seesaw；Second motor (14) passes through the second gear train
(15) directly drive and carry hip take-off lever (16) and turn round by a small margin around sagittal axis on frontal plane, complete to propose hip motion；3rd motor
(11) parallelogram lindage is driven to drive hip to complete rotary motion at horizontal plane by the 3rd gear train (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610565521.0A CN106137678B (en) | 2016-07-18 | 2016-07-18 | The adjustable support arm and its operating method of robot are helped in rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610565521.0A CN106137678B (en) | 2016-07-18 | 2016-07-18 | The adjustable support arm and its operating method of robot are helped in rehabilitation training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106137678A true CN106137678A (en) | 2016-11-23 |
| CN106137678B CN106137678B (en) | 2018-06-26 |
Family
ID=58059593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610565521.0A Active CN106137678B (en) | 2016-07-18 | 2016-07-18 | The adjustable support arm and its operating method of robot are helped in rehabilitation training |
Country Status (1)
| Country | Link |
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| CN (1) | CN106137678B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| CN102961231A (en) * | 2009-08-05 | 2013-03-13 | 广州一康医疗设备实业有限公司 | Gait rehabilitation training robot |
| EP2671559A1 (en) * | 2011-03-02 | 2013-12-11 | University of Tsukuba | Ambulation training device and ambulation training system |
| CN105392461A (en) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | Apparatus for automated walking training |
-
2016
- 2016-07-18 CN CN201610565521.0A patent/CN106137678B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102961231A (en) * | 2009-08-05 | 2013-03-13 | 广州一康医疗设备实业有限公司 | Gait rehabilitation training robot |
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| EP2671559A1 (en) * | 2011-03-02 | 2013-12-11 | University of Tsukuba | Ambulation training device and ambulation training system |
| CN105392461A (en) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | Apparatus for automated walking training |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106137678B (en) | 2018-06-26 |
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