CN106983639A - A kind of auxiliary for hemiparalysis patient running gear - Google Patents
A kind of auxiliary for hemiparalysis patient running gear Download PDFInfo
- Publication number
- CN106983639A CN106983639A CN201710341839.5A CN201710341839A CN106983639A CN 106983639 A CN106983639 A CN 106983639A CN 201710341839 A CN201710341839 A CN 201710341839A CN 106983639 A CN106983639 A CN 106983639A
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- CN
- China
- Prior art keywords
- binding
- auxiliary
- trunk
- thigh
- drive mechanism
- Prior art date
- 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.)
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
Abstract
The invention provides a kind of auxiliary for hemiparalysis patient running gear, comprising control device, for bondage limbs and drive the binding device of limb action and mechanically connected with binding device and drive in fact show walking motion drive device, the binding device binds structure comprising trunk, and thigh binding structure binds structure with shank；The drive device includes hip joint drive mechanism, knee joint drive mechanism, and wherein hip joint drive mechanism is connected between trunk binding structure and thigh binding structure, and knee joint drive mechanism is connected between thigh binding structure and shank binding structure；The input of driving structure and the output end of control device are electrical connected；The control device includes brain electric control module and/or speech control module.The present invention realizes the control to walking motion by brain electric control, Voice command mode, more convenient compared to button control mode, it is easy to use, and is easy to improve the speed of travel of patient.
Description
Technical field
The present invention relates to exoskeleton device, and in particular to a kind of auxiliary for hemiparalysis patient running gear.
Background technology
Hemiplegic patient's single lower limb is handicapped, and the exoskeleton device of auxiliary for hemiparalysis patient walking is lacked at present.Invention is special
Sharp CN203954118U proposes a kind of human body single lower limb exoskeleton device, the program including waist tie up set, control button and
Each joint pole and joint motor, but there are the following problems for the program：1st, the program depends on control button, when patients fingers fortune
Dynamic uncontrolled or when there is non-autonomous vibration, then the device is likely to occur inconvenient for use or misoperation situation, to patient with
To perplex；2nd, auxiliary walking power consumption is big, and the program currently there are no with the party using the battery-powered being arranged on waist bandage
The capacity of power consumption needed for the battery of case scale of construction size can be provided so that the distance that single electric energy provides walking auxiliary quite has
Limit；3rd, device is fixed on waist, be difficult to when walking with upper body coordination, for harmony, poor patient deposits when in use
In the hidden danger for causing it to tumble；4th, structure length is fixed, it is impossible to adjusted, because different people has the area of leg length and ratio
Not, difficulty of matching is added, there is also the defect in terms of comfort level.In order to solve these problems, it is necessary to provide a kind of new
Auxiliary walking device.
The content of the invention
For the deficiency in the presence of prior art, the auxiliary for hemiparalysis for controlling and using the invention provides a kind of convenience is suffered from
Person's running gear.
To achieve the above object, present invention employs following technical scheme：
A kind of auxiliary for hemiparalysis patient running gear, comprising control device, for bondage limbs and drives tying up for limb action
Determine device and mechanically connected with binding device and drive in fact show walking motion drive device, the binding device include body
Dry binding structure, thigh binding structure binds structure with shank；The drive device is driven comprising hip joint drive mechanism, knee joint
Motivation structure, wherein hip joint drive mechanism are connected between trunk binding structure and thigh binding structure, knee joint drive mechanism
It is connected between thigh binding structure and shank binding structure；The input of driving structure and the electrical phase of the output end of control device
Even；The control device includes brain electric control module and/or speech control module.
The present invention realizes the control to walking motion by brain electric control, Voice command mode, compared to button control mode
It is more convenient, it is easy to use, and the association that the trunk binding structure taken can help patient to find leg and body when walking
Sense is adjusted, the probability for causing patient's wrestling in auxiliary walking process is reduced, consequently facilitating improving the speed of travel of patient.
Brief description of the drawings
Fig. 1 is the structural representation of embodiment.
Fig. 2 is driving mechanism structure schematic diagram in embodiment.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is further illustrated to the technical scheme in the present invention.
A kind of auxiliary for hemiparalysis patient running gear, as shown in figure 1, including support cap 1, trunk containment vessel 2, thigh containment vessel
10th, shank containment vessel 8 and walking shoes 6；The inwall of trunk containment vessel 2 matches suitable patch, trunk containment vessel 2 with the sidepiece of trunk
Cross section it is curved, arc length is between the 1/4~1/2 of patient's trunk girth, and its whole height is not more than patient's armpit
To the minimum length value between waist hipbone；The structure design of trunk containment vessel 2 makes it maintain enough acting surfaces to trunk
Product, while also having taken into account the convenience of wearing；Trunk bandage 4 is fixedly connected with the longitudinal terminal surface of trunk containment vessel 2, for reality
The wearing of existing trunk containment vessel 2 enables trunk containment vessel 10 to be adjacent to binding on a patient body with retracting, and in wearing；Thigh
The inwall of containment vessel 10 matches suitable patch with the sidepiece of human thigh, and its whole height is less than patient thigh's length, in thigh protection
The longitudinal terminal surface of shell 10 is fixedly connected with thigh bandage 3, for realizing the wearing of thigh containment vessel 10 with retracting, and in wearing
Enable thigh containment vessel 10 to be adjacent to be bundled on patient thigh；；The inwall of shank containment vessel 8 matches suitable with the sidepiece of patient's shank
Patch, its whole height is less than lower-leg length, shank bandage 5 is fixedly connected with the longitudinal terminal surface of shank containment vessel 8, for realizing
The wearing of shank containment vessel 8 enables shank containment vessel 8 to be adjacent to be bundled on patient's shank with retracting, and in wearing；In trunk
Upper center in the middle part of the lower end of containment vessel 2 with thigh containment vessel 10 is connected with hip joint drive mechanism 11；In thigh containment vessel
Upper center in the middle part of 10 lower end with shank containment vessel 8 is connected with knee joint drive mechanism 9；In the lower end of shank containment vessel 8
Middle part and the sidepiece of walking shoes 6 are connected with ankle-joint drive mechanism 7.
Ankle-joint drive mechanism 7, knee joint drive mechanism 9 are identical with the structure of hip joint drive mechanism 11, such as Fig. 2 institutes
Show, it includes upper connecting rod 12, lower connecting rod 13 drives platform 14, is flexibly connected platform 15 and crank 16；Wherein upper connecting rod
12, lower connecting rod 13, connection and strength transmission effect for realizing trunk containment vessel/thigh containment vessel/shank containment vessel；
The upper end of lower connecting rod 13 is fixedly connected with driving platform 14；Hydraulic stem 15, and the activity of hydraulic stem 15 are fixed with driving platform 14
The central axial angle of direction and lower connecting rod 13 is in 145 °~160 ° of obtuse angle；The one end for being flexibly connected platform 15 is provided with forked knot
Structure 18 and bridging are installed on the small pole 19 between prong like 18；The active operation end of hydraulic stem 15 connects small by Earrings type
Pole 19；Crank 16 has been respectively articulated with being flexibly connected the other end of the two side of platform 15 in the relative place of prong like 18, it is bent
The other end of handle 16 is hinged with driving platform 14；Face where the activity of face and hydraulic stem where the activity of crank 16 is parallel to each other, and
Crank 16 includes obtuse angle structure, driving dead band occurs to avoid the occurrence of in hydraulic stem action process；It is flexibly connected platform 15
It is fixedly connected in the other end of relative prong like 18 with upper connecting rod 12, to realize transmission and containment vessel and the driving machine of power
Structure is fixedly connected.
The support cap 1 includes some head hoops being distributed in even angular intervals and collects the connection of fixed each head hoop
Housing；Control panel is provided with connection housing, control panel includes brain electric control module and speech control module；In head hoop
Side is distributed with some brain wave sensors, and it is electrically connected with brain electric control module；Audio is additionally provided with the side of head hoop to insert
Mouthful, audio sockets are electrically connected with speech control module, when needing to use voice control function, can be connected by audio sockets
Mutual-inserting type microphone, the mutual-inserting type microphone includes hard shell, one end of hard shell provided with audio sockets to grafting
Head, the other end of hard shell is provided with the sound pick-up with being electrically connected with to connection-peg.In the case of, passed by brain wave
Sensor collection eeg signal simultaneously passes to brain electric control module, and sends control instruction by brain electric control module correspondence, or by
The phonetic order that sound pick-up acquisition patient sends passes to speech control module so that control panel triggers corresponding magnetic valve, then
Drive hydraulic stem action；When voice control function need not be used, then directly mutual-inserting type microphone can be removed, patient is existed
Feel when using lighter.
The trunk containment vessel 2 is provided with the super capacitor connected in cavity, cavity provided with some connection in series-parallel, in trunk protection
Charging port, the overall output end electric connection of charging port and super capacitor are additionally provided with shell 2；Because super capacitor can be realized
Quick charge, powerful output can be provided compared to common rechargeable batteries, and weight is also lighter；On the other hand, auxiliary is walked
Consume energy well below the mechanical exoskeleton power consumption of heavy burden work, the area of trunk containment vessel 2 is larger, is also convenient for improving volume, therefore
Super capacitor as much as possible can be increased in the cavities, so as to realize the deposit of power consumption needed for auxiliary walking enough.
Length adjustment mechanism is equipped with one end of thigh containment vessel, shank containment vessel；The length adjustment mechanism is included
Leading screw and the motor of driving leading screw rotation, the linear motion work department of leading screw are consolidated with the housing of thigh containment vessel or shank containment vessel
Fixed connection, the input of motor and the output end of control panel are electrically connected with, one end of leading screw rotary motion and the output shaft of motor
Be fixedly linked, the fixation that upper connecting rod/lower connecting rod of the other end and thigh drive mechanism/shank drive mechanism passes through bearing block
Flange section is connected；Extend, contract in addition, being additionally provided with trunk containment vessel 2 and the realization respectively that is used for being connected being inputted with control panel
Two controlling switches of short micro-positioning regulators；In adjustment length, control panel motor and leading screw rotation, the work department of leading screw by
Fixed in housing so that screw portion can precession or back-out, so as to realize the function of length adjustment, within the specific limits with more
The physiological structure of many people is matched, and improves usage comfort.
The present embodiment realizes the control to walking motion by brain electric control, Voice command mode, compared to simple button control
Mode processed is more convenient, it is easy to use, and the trunk binding structure taken can help patient to find leg and body when walking
The coordination sense of body, reduces the probability for causing patient's wrestling in auxiliary walking process, consequently facilitating improving the walking speed of patient
Degree.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (8)
1. a kind of auxiliary for hemiparalysis patient running gear, comprising control device, for bondage limbs and the binding of limb action is driven
Device and mechanically connected with binding device and drive in fact show walking motion drive device, it is characterised in that：The binding
Device binds structure comprising trunk, and thigh binding structure binds structure with shank；The drive device includes hip joint driving machine
Structure, knee joint drive mechanism, wherein hip joint drive mechanism are connected between trunk binding structure and thigh binding structure, and knee is closed
Section drive mechanism is connected between thigh binding structure and shank binding structure；The input of driving structure and control device it is defeated
Go out end to be electrical connected；The control device includes brain electric control module and/or speech control module.
2. a kind of auxiliary for hemiparalysis patient running gear as claimed in claim 1, it is characterised in that：The binding device is also included
Walking shoes, corresponding, the drive device also includes ankle-joint drive mechanism, and ankle-joint drive mechanism is connected to walking shoes
Between side and shank binding structure.
3. a kind of auxiliary for hemiparalysis patient running gear as claimed in claim 1, it is characterised in that：The trunk binds structure bag
Containment vessel containing trunk and trunk bandage；The thigh binding structure includes thigh containment vessel and thigh bandage；The shank binding
Structure includes shank containment vessel and shank bandage.
4. a kind of auxiliary for hemiparalysis patient running gear as claimed in claim 3, it is characterised in that：The trunk containment vessel is included
Have and rechargeable unit is provided with cavity, cavity；Charging port, charging port and rechargeable unit electricity are additionally provided with trunk containment vessel
Property connection.
5. a kind of auxiliary for hemiparalysis patient running gear as claimed in claim 1, it is characterised in that：Also comprising support cap；In branch
Brain electric control module and/or speech control module are embedded with support cap.
6. a kind of auxiliary for hemiparalysis patient running gear as claimed in claim 1, it is characterised in that：The hip joint driving machine
Structure, knee joint drive mechanism and ankle-joint drive mechanism include hydraulic stem.
7. a kind of auxiliary for hemiparalysis patient running gear as claimed in claim 1, it is characterised in that：It is the thigh containment vessel, small
One end of leg containment vessel is equipped with length adjustment mechanism.
8. a kind of auxiliary for hemiparalysis patient running gear as claimed in claim 1, it is characterised in that：The rechargeable unit is included
Some super capacitors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710341839.5A CN106983639A (en) | 2017-05-16 | 2017-05-16 | A kind of auxiliary for hemiparalysis patient running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710341839.5A CN106983639A (en) | 2017-05-16 | 2017-05-16 | A kind of auxiliary for hemiparalysis patient running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106983639A true CN106983639A (en) | 2017-07-28 |
Family
ID=59419350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710341839.5A Pending CN106983639A (en) | 2017-05-16 | 2017-05-16 | A kind of auxiliary for hemiparalysis patient running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106983639A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262586A (en) * | 2018-08-29 | 2019-01-25 | 冬之阳 | A kind of waist power assisting device and its control method |
| CN110215377A (en) * | 2019-06-06 | 2019-09-10 | 湖南机电职业技术学院 | A kind of walking of children with cerebral palsy restores instrument and its application method |
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| US20040073149A1 (en) * | 2002-10-11 | 2004-04-15 | Adeola Okediji | Reciprocal gait orthotic and prosthetic device |
| CN102922508A (en) * | 2012-09-21 | 2013-02-13 | 西安交通大学 | Exoskeleton robot system for reloading batteries of electric vehicle |
| CN203954118U (en) * | 2014-06-03 | 2014-11-26 | 王维 | A kind of human body single lower limb ESD |
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN104434122A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Crank and rocker mechanism for measuring angle data of human body lower limb joint |
| CN105054927A (en) * | 2015-07-16 | 2015-11-18 | 西安交通大学 | Biological quantitative assessment method for active participation degree in lower limb rehabilitation system |
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2017
- 2017-05-16 CN CN201710341839.5A patent/CN106983639A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040073149A1 (en) * | 2002-10-11 | 2004-04-15 | Adeola Okediji | Reciprocal gait orthotic and prosthetic device |
| CN102922508A (en) * | 2012-09-21 | 2013-02-13 | 西安交通大学 | Exoskeleton robot system for reloading batteries of electric vehicle |
| CN203954118U (en) * | 2014-06-03 | 2014-11-26 | 王维 | A kind of human body single lower limb ESD |
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN104434122A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Crank and rocker mechanism for measuring angle data of human body lower limb joint |
| CN105054927A (en) * | 2015-07-16 | 2015-11-18 | 西安交通大学 | Biological quantitative assessment method for active participation degree in lower limb rehabilitation system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262586A (en) * | 2018-08-29 | 2019-01-25 | 冬之阳 | A kind of waist power assisting device and its control method |
| CN110215377A (en) * | 2019-06-06 | 2019-09-10 | 湖南机电职业技术学院 | A kind of walking of children with cerebral palsy restores instrument and its application method |
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