CN106137678B - The adjustable support arm and its operating method of robot are helped in rehabilitation training - Google Patents
The adjustable support arm and its operating method of robot are helped in rehabilitation training Download PDFInfo
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- CN106137678B CN106137678B CN201610565521.0A CN201610565521A CN106137678B CN 106137678 B CN106137678 B CN 106137678B CN 201610565521 A CN201610565521 A CN 201610565521A CN 106137678 B CN106137678 B CN 106137678B
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- 238000012549 training Methods 0.000 title claims abstract description 43
- 238000011017 operating method Methods 0.000 title claims abstract description 6
- 230000005021 gait Effects 0.000 claims abstract description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims 1
- 210000001624 hip Anatomy 0.000 abstract description 38
- 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
- 238000005516 engineering process Methods 0.000 description 3
- 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
- 238000010586 diagram Methods 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 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
- 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
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)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses the adjustable support arm and its operating method that robot is helped in a kind of rehabilitation training, which includes pedestal, crawler type walking machine, balance weight mechanism and motion parts；Motion parts include, rear movement moving platform, carry hip motion platform and parallel four-bar type motion platform.Each motion platform is made of motor, platform fixed plate, gear set and output terminal.Present invention can be implemented in the rehabilitation trainings to one linear degrees of freedom of hipbone and two revolution degree of freedom during gait training；It can physiological movement of the altitude simulation hip in gait training, effectively enhancing rehabilitation training effect.
Description
Technical field
The invention belongs to the field of medical instrument technology, and in particular to a kind of multiple degrees of freedom for rehabilitation training helps machine
People.
Background technology
China's Aging Problem getting worse, 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, therefore gait training is in rehabilitation
Status in training is especially pronounced.
The hand steered patient's hip of Physical Therapist is needed to carry out gait training the Traditional Rehabilitation means of hemiplegic patient, consumed a large amount of
Time and muscle power, and can not ensure sufficient training time and enough training strength.Existing gait training rehabilitation is set
It is standby often to focus on 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, so as to limit the effect of gait training device.
Invention content
In order to solve big traditional gait rehabilitation training amount of the existing technology, inefficiency and common rehabilitation equipment
The problems such as training is not comprehensive, training mode is single, the present invention provide a kind of rehabilitation training and help by analyzing hip physiological structure
The adjustable support arm and its operating method of robot provide an efficient training platform for patient's training.
Its technical solution is
The adjustable support arm of robot is helped in a kind of rehabilitation training, solid including pedestal 1, crawler type walking machine 2, motion platform
Fixed board 4, supporting rod 20, balance weight mechanism and motion parts.Motion parts include rear movement moving platform, carry hip motion platform with it is parallel
Four-bar motion platform.
Balance weight mechanism includes clump weight 19 and steel wire rope 18；Movement moving platform includes the first motor 3, first gear group 5 afterwards
With the first screw slider structure 6；Hip motion platform is carried to include the second motor 14, second gear group 15, put forward hip movement fixed platform 7
With carry hip output rod 16；Parallel four-bar type motion platform includes third motor 11, third gear set 12, the second screw slider structure
9th, parallel bar 10, hinge arrangement 8, the first movement output bar 13 and the second movement output bar 17.
Further, crawler type walking machine 2 is fixed on pedestal 1；Motion parts are connected by supporting rod 20 with pedestal 1；Match
Heavy-duty machine structure is connected by clump weight 19 with pedestal 1, is connected by steel wire rope 18 with motion platform.
Further, the first motor 3 is fixed in motion platform fixed plate 4, the first leading screw is driven to slide by first gear group 5
Block structure 6 moves forward and backward, and the first screw slider structure 6, which is fixed on, to be carried in hip movement fixed platform 7, so that moving forward and backward flat
Platform moves forward and backward；
Second motor 14, which is fixed on, to be carried in hip movement fixed platform 7, is directly driven by second gear group 15 and is proposed hip output
Bar 16 turns round by a small margin on frontal plane around sagittal axis, and completion proposes hip movement；
Third motor 11, which is fixed on, to be carried in hip movement fixed platform 7, and the second screw slider is driven by third gear set 12
9 and first movement output bar 13 of structure moves forward and backward, the first movement output bar 13 is driven again by hinge arrangement 8 and parallel bar 10
The second movement output of symmetry direction bar 17 completes rotary motion in horizontal plane, forms parallelogram lindage.
Further, balance weight mechanism is connected by steel wire rope 18 with motion platform, and is passed through clump weight 19 and provided pulling force, effect
In entire motion platform, it is effectively accomplished the effect for exempting from weight.
Further, which turns round one linear degrees of freedom of hipbone and two during may be implemented in gait training
The rehabilitation training of degree of freedom, physiological movement of the altitude simulation hip in gait training effectively enhance rehabilitation training effect.
The operating method of the adjustable support arm of robot is helped in a kind of rehabilitation training, is included the following steps：
Hip is fixed with bandage first by instruction person, is connected on the first movement output bar 13 and the second movement output bar 17；
When implementing by instruction person's gait training, cooperation crawler type walking machine 2, motor is operated under torque mode：First motor 3
Drive the first screw slider structure 6 that hip is driven to move forward and backward by first gear group 5；Second motor 14 passes through second gear group
15 direct drives carry hip output rod 16 and are turned round by a small margin around sagittal axis on frontal plane, and completion proposes hip movement；Third motor 11 is logical
Crossing third gear set 12 drives parallelogram lindage that hip is driven to complete rotary motion in horizontal plane.
Compared with prior art, beneficial effects of the present invention：
First, gathering around the rehabilitation training there are one linear degrees of freedom and two revolution degree of freedom, altitude simulation hip is in gait
Physiological movement in training；Second, symmetrical expression exempts from heavy-duty machine structure, to mitigate burden during patient's gait training；Third, the rotation of device
The rotation center for turning center and human hip overlaps, the rehabilitation training that can be trained with altitude simulation body gait.
Description of the drawings
Fig. 1 is the structure diagram for the adjustable support arm that robot is helped in a kind of rehabilitation training of the present invention；Wherein, 1, bottom
Seat；2nd, crawler type walking machine；3rd, the first motor；4th, motion platform fixed plate；5th, first gear group；6th, the first screw slider knot
Structure；7th, hip movement fixed platform is put forward；8th, hinge arrangement；9th, the second screw slider structure；10th, parallel bar；11st, third motor；12、
Third gear set；13rd, the first movement output bar；14th, the second motor；15th, second gear.
Specific embodiment
The present invention is described in more detail with specific embodiment 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 pedestal 1, is carried out
Belt walking machine 2, motion platform fixed plate 4, supporting rod 20, balance weight mechanism and motion parts.Motion parts include side-to-side movement
Platform, carries hip motion platform and parallel four-bar type motion platform at rear movement moving platform.
Balance weight mechanism includes clump weight 19 and steel wire rope 18；Movement moving platform includes the first motor 3, first gear group 5 afterwards
With the first screw slider structure 6；Hip motion platform is carried to include the second motor 14, second gear group 15, put forward hip movement fixed platform 7
With carry hip output rod 16；Parallel four-bar type motion platform includes third motor 11, third gear set 12, the second screw slider structure
9th, parallel bar 10, hinge arrangement 8, the first movement output bar 13 and the second movement output bar 17.
As a further improvement, crawler type walking machine 2 is fixed on pedestal 1；Motion parts pass through supporting rod 20 and pedestal 1
It is connected；Balance weight mechanism is connected by clump weight 19 with pedestal 1, is connected by steel wire rope 18 with motion platform.
As a further improvement, the first motor 3 is fixed in motion platform fixed plate 4, the is driven by first gear group 5
One screw slider structure 6 moves forward and backward, and the first screw slider structure 6, which is fixed on, to be carried in hip movement fixed platform 7, so that preceding
Motion platform moves forward and backward afterwards；
Second motor 14, which is fixed on, to be carried in hip movement fixed platform 7, is directly driven by second gear group 15 and is proposed hip output
Bar 16 turns round by a small margin on frontal plane around sagittal axis, and completion proposes hip movement；
Third motor 11, which is fixed on, to be carried in hip movement fixed platform 7, and the second screw slider is driven by third gear set 12
9 and first movement output bar 13 of structure moves forward and backward, the first movement output bar 13 is driven again by hinge arrangement 8 and parallel bar 10
The second movement output of symmetry direction bar 17 completes rotary motion in horizontal plane, forms parallelogram lindage.
As a further improvement, balance weight mechanism is connected by steel wire rope 18 with motion platform, and passes through clump weight 19 and provide
Pulling force acts on entire motion platform, has been effectively accomplished the effect for exempting from weight.
As a further improvement, the device may be implemented in during gait training to one linear degrees of freedom of hipbone and
The rehabilitation training of two revolution degree of freedom, physiological movement of the altitude simulation hip in gait training effectively enhance rehabilitation training
Effect.
During using the present invention, hip is fixed with bandage first by instruction person, is connected to the first movement output bar 13 and the second fortune
On dynamic output rod 17；
When implementing by instruction person's gait training, cooperation crawler type walking machine 2, motor is operated under torque mode：First motor 3
Drive the first screw slider structure 6 that hip is driven to move forward and backward by first gear group 5；Second motor 14 passes through second gear group
15 direct drives carry hip output rod 16 and are turned round by a small margin around sagittal axis on frontal plane, and completion proposes hip movement；Third motor 11 is logical
Crossing third gear set 12 drives parallelogram lindage that hip is driven to complete rotary motion in horizontal plane.
The foregoing is only a preferred embodiment of the present invention, protection scope of the present invention is without being limited thereto, it is any ripe
Those skilled in the art are known in the technical scope of present disclosure, the letter for the technical solution that can be become apparent to
Altered or equivalence replacement are each fallen in protection scope of the present invention.
Claims (4)
1. the adjustable support arm of robot is helped in a kind of rehabilitation training, it is characterised in that：Including pedestal (1), crawler type walking machine
(2), motion platform fixed plate (4), supporting rod (20), balance weight mechanism and motion parts；
The motion parts include rear movement moving platform, carry hip motion platform and parallel four-bar type motion platform；
The balance weight mechanism includes clump weight (19) and steel wire rope (18)；Movement moving platform includes the first motor (3) after described, the
One gear set (5) and the first screw slider structure (6)；The hip motion platform that carries includes the second motor (14), second gear group
(15), it puies forward hip movement fixed platform (7) and carries hip output rod (16)；The parallel four-bar type motion platform includes third motor
(11), third gear set (12), the second screw slider structure (9), parallel bar (10), hinge arrangement (8), the first movement output bar
(13) and the second movement output bar (17)；
First motor (3) is fixed in motion platform fixed plate (4), the first leading screw is driven to slide by first gear group (5)
Block structure (6) moves forward and backward, and the first screw slider structure (6), which is fixed on, to be carried in hip movement fixed platform (7), so that front and rear
Motion platform moves forward and backward；
Second motor (15), which is fixed on, to be carried in hip movement fixed platform (7), is directly driven and carried by second gear group (15)
Hip output rod (16) turns round by a small margin on frontal plane around sagittal axis, and completion proposes hip movement；
The third motor (11), which is fixed on, to be carried in hip movement fixed platform (7), and third silk is driven by third gear set (12)
Thick stick slide block structure (9) and the first movement output bar (13) move forward and backward, the first movement output bar (13) is again by hinge arrangement (8)
Symmetry direction the second movement output bar (17) is driven to complete rotary motion in horizontal plane with parallel bar (10), form parallel four-bar machine
Structure.
2. the adjustable support arm people for helping robot is practiced in refreshment according to claim 1, it is characterised in that：The crawler type
Walking machine (2) is fixed on pedestal (1)；Motion parts are connected by supporting rod (20) with pedestal (1)；Balance weight mechanism passes through counterweight
Block (19) is connected with pedestal (1), is connected by steel wire rope (18) with motion platform.
3. the adjustable support arm for helping robot is practiced in refreshment according to claim 1, it is characterised in that：The balance weight mechanism
It is connected by steel wire rope (18) with motion platform, and passes through clump weight (19) and pulling force is provided.
4. the operating method of the adjustable support arm of robot is helped in a kind of rehabilitation training described in claim 1, which is characterized in that
Include the following steps：
Hip is fixed with bandage first by instruction person, is connected on the first movement output bar (13) and the second movement output bar (17)；
When implementing by instruction person's gait training, coordinate crawler type walking machine (2), motor is operated under torque mode：First motor (3) passes through
First gear group (5) drives the first screw slider structure (6) that hip is driven to move forward and backward；Second motor (14) passes through second gear
Group (15) directly drive carries hip output rod (16) and is turned round by a small margin around sagittal axis on frontal plane, and completion proposes hip movement；Third electricity
Machine (11) drives parallelogram lindage that hip is driven to complete rotary motion in horizontal plane by third gear set (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 |
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| CN106137678A CN106137678A (en) | 2016-11-23 |
| CN106137678B true CN106137678B (en) | 2018-06-26 |
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| 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 |
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| Country | Link |
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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 |
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| Publication number | Publication date |
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| CN106137678A (en) | 2016-11-23 |
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