CN107049701B - Wearable power knee joint rehabilitation device - Google Patents
Wearable power knee joint rehabilitation device Download PDFInfo
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- CN107049701B CN107049701B CN201710020830.4A CN201710020830A CN107049701B CN 107049701 B CN107049701 B CN 107049701B CN 201710020830 A CN201710020830 A CN 201710020830A CN 107049701 B CN107049701 B CN 107049701B
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- support plate
- gear
- push rod
- connecting rod
- lower support
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 210000003414 extremity Anatomy 0.000 claims description 5
- 210000000689 upper leg Anatomy 0.000 claims description 4
- 229910000639 Spring steel Inorganic materials 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 description 4
- 238000005381 potential energy Methods 0.000 description 4
- 210000003127 knee Anatomy 0.000 description 3
- 210000001699 lower leg Anatomy 0.000 description 3
- 210000002435 tendon Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 244000309466 calf Species 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Images
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
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B23/0464—Walk exercisers without moving parts
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2205/10—Leg
- A61H2205/102—Knee
Landscapes
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a wearable dynamic knee joint rehabilitation device, which is characterized in that: comprises an upper support plate and a lower support plate; the upper support plate is provided with a push rod driving mechanism, the output end of the push rod driving mechanism is a push rod for outputting linear motion, the end part of the push rod is fixedly connected with a transverse connecting rod, two ends of the transverse connecting rod are respectively hinged with one end of a connecting rod, and the other end of the connecting rod is hinged with the lower support plate; the lower end of the upper support plate is fixedly provided with a first gear, the upper end of the lower support plate is fixedly provided with a second gear, and the second gear is meshed with the first gear.
Description
Technical Field
The invention relates to a joint rehabilitation device, in particular to a wearable power knee joint rehabilitation device.
Background
The auxiliary rehabilitation device for the knee joint can be generally divided into a wearable type and a non-wearable type, and can be driven by power and driven by non-power. The wearable rehabilitation assisting device is an appliance worn outside the lower and upper legs of a human body, and limits the extension and flexion of the joint within a proper angle range or maintains the knee joint at a certain angle to promote early rehabilitation of the function of the knee joint. The wearable non-power assisted rehabilitation device has a simple structure, generally plays a role in supporting and stabilizing the damaged knee joint of a patient, and is relatively simple to use. Many power assisted knee rehabilitation devices are non-wearable. Compared with the wearable type rehabilitation device, the wearable type rehabilitation device has strong functions, can increase the flexibility of muscle strength and knee joints of patients and improve the muscle control capability of the patients, but the wearable type rehabilitation device is bulky and generally concentrated on a rehabilitation medical center, so that the patients can only go to the rehabilitation center for rehabilitation, which is very inconvenient for the patients with mobility disorder. Some wearable power knee joint auxiliary rehabilitation devices are available abroad, which can actively provide assistance to the knee joint, but are expensive and heavy.
The driving device for the power joint can be generally divided into direct drive rotation and link drive. The problem of direct drive is that space layout restriction is many, and the motor twists reverse the moment of torsion not enough, and the auto-lock performance is not good. The link drive can have more space options, can provide larger torque at a specific angle, and easily realizes self-locking of the mechanism, but many link drive devices have the problems of larger size and heavier weight.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a wearable power knee joint rehabilitation device having a large driving torque and being light and handy to wear.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a wearing formula power knee joint rehabilitation device which characterized in that: comprises an upper support plate and a lower support plate; the upper support plate is provided with a push rod driving mechanism, the output end of the push rod driving mechanism is a push rod for outputting linear motion, the end part of the push rod is fixedly connected with a transverse connecting rod, two ends of the transverse connecting rod are respectively hinged with one end of a connecting rod, and the other end of the connecting rod is hinged with the lower support plate; the lower end of the upper support plate is fixedly provided with a first gear, the upper end of the lower support plate is fixedly provided with a second gear, and the second gear is meshed with the first gear.
The connecting part of the lower support plate and the connecting rod is an elastic sheet, and the elastic sheet and the lower support plate are connected into a whole.
The push rod driving mechanism comprises a support, a motor, a ball screw pair and the push rod; the support with upper bracket fastening connection, the motor fastening connection be in on the support, the output of motor is connected ball is vice, ball vice nut with push rod fastening connection.
The support is fixedly connected with a guide rail, the guide rail is connected with a sliding block in a sliding mode, and the push rod is fixedly connected with the sliding block.
The upper supporting plate adopts a semi-surrounding structure suitable for surrounding thighs of a human body, and the lower supporting plate adopts a semi-surrounding structure suitable for surrounding shanks of the human body.
And the upper support plate and the lower support plate are respectively provided with a bandage for fixing the limbs of a person.
And bearings are arranged at the joint of the connecting rod and the transverse connecting rod and the joint of the connecting rod and the lower support plate.
The elastic sheet is made of spring steel.
Gear shafts are respectively and rotatably connected to the centers of the first gear and the second gear, and the two gear shafts are connected through a gear connecting plate.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the invention is provided with an upper support plate and a lower support plate for fixing with the limbs of a person, the upper support plate is provided with a push rod driving mechanism, the push rod at the output end of the push rod driving mechanism is connected with one end of a connecting rod through a transverse connecting rod, the other end of the connecting rod is connected with the lower support plate, and the lower support plate is connected with the upper support plate through a pair of meshed gears, so that the lower support plate can rotate towards the buckling direction/the stretching direction through the push/pull of the push rod, and the bending/stretching motion of the knee joint under power is realized. 2. According to the invention, the elastic piece is adopted at the connecting part of the lower support plate and the connecting rod, and is connected with the lower support plate into a whole, so that the elastic piece can play a role in buffering and storing energy when pushing crus to move, and the function similar to that of a leg tendon is realized, and energy can be alternately stored and released in the movement process so as to convert kinetic energy, gravitational potential energy and elastic potential energy, thereby not only improving the utilization efficiency of energy when people walk, but also improving the adaptability to the walking environment. 3. The invention is characterized in that a first gear is fixedly arranged at the lower end of an upper support plate, a second gear is fixedly arranged at the upper end of a lower support plate, and the second gear is meshed with the first gear and can generate non-circumferential rotation so as to fit the rotation of a joint.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic side view of the present invention;
FIG. 3 is a schematic top view of the present invention;
fig. 4 is a schematic structural view of the push rod driving mechanism of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
As shown in fig. 1 and 2, the invention provides a wearable dynamic knee joint rehabilitation device, which comprises an upper support plate 1 and a lower support plate 2. The upper support plate 1 is provided with a push rod driving mechanism 3, the output end of the push rod driving mechanism 3 is a push rod 3-1 for outputting linear motion, the end part of the push rod 3-1 is fixedly connected with a transverse connecting rod 4, two ends of the transverse connecting rod 4 are respectively hinged with one end of a connecting rod 5, and the other end of the connecting rod 5 is hinged with the lower support plate 2. A first gear 6 is fixedly arranged at the lower end of the upper support plate 1, a second gear 7 is fixedly arranged at the upper end of the lower support plate 2, and the second gear 7 is meshed with the first gear 6. The meshing of the first gear 6 and the second gear 7 enables non-circumferential rotation to be produced to fit the rotation of the knee joint.
In the above embodiment, the connection part of the lower support plate 2 and the connecting rod 5 is the elastic piece 8, and the elastic piece 8 and the lower support plate 2 are connected into a whole. The elastic sheet 8 can be made of spring steel, and the elastic modulus is selected through calculation. When the elastic sheet 8 pushes the lower leg to move, the effects of buffering and energy storage can be achieved, and the function similar to that of leg tendons is achieved. The researches in biology and physiology indicate that flexible energy storage mechanisms such as tendon tissues and the like have extremely important functions on the walking stability and energy efficiency of human bodies, and the flexible joints alternately store and release energy in the motion process so as to convert kinetic energy, gravitational potential energy and elastic potential energy, so that the utilization efficiency of energy during the walking of people can be improved, and the adaptability to the walking environment can be improved.
In the above embodiment, as shown in fig. 4, the push rod driving mechanism 3 includes the support 3-2, the motor 3-3, the ball screw pair 3-4, and the push rod 3-1. The support 3-2 is fixedly connected with the upper support plate 1, the motor 3-3 is fixedly connected with the support 3-2, the output end of the motor 3-3 is connected with the ball screw pair 3-4, and the nut 3-5 of the ball screw pair 3-4 is fixedly connected with the push rod 3-1.
In the above embodiment, the support 3-2 is fixedly connected with the guide rail 3-6, the guide rail 3-6 is connected with the sliding block 3-7 in a sliding manner, and the push rod 3-1 is fixedly connected with the sliding block 3-7.
In the above embodiment, the upper supporting plate 1 is adapted to be a semi-surrounding structure adapted to surround the thigh of the human body, and the lower supporting plate 2 is adapted to be a semi-surrounding structure adapted to surround the calf of the human body. The upper support plate 1 and the lower support plate 2 are both provided with a bandage for fixing with limbs (thigh and calf) of a person. In addition, the parts of the upper support plate 1 and the lower support plate 2 connected with the limbs are provided with adjustable support pads 10 (as shown in fig. 3), the support pads 10 can realize the adjustment of the front and back direction and the left and right direction of the human body through adapter plates, so that the rehabilitation device is more attached to the human body, and the rotation of the rehabilitation device is closer to the rotation center of the joints of the human body.
In the above embodiment, the connecting point between the connecting rod 5 and the transverse connecting rod 4 and the connecting point between the connecting rod 5 and the lower support plate 2 are provided with bearings, specifically, a needle bearing with a very small gap may be adopted, and a self-lubricating bearing or an engineering plastic bearing may also be adopted.
In the above embodiment, gear shafts are rotatably connected to the centers of the first gear 6 and the second gear 7, respectively, and the two gear shafts are connected to each other by the gear connecting plate 9.
The motor 3-3 and the ball screw pair 3-4 in the push rod driving mechanism 3 can also be replaced by a driving device which can realize linear motion, such as an air cylinder, a hydraulic cylinder and the like.
When a user wears the rehabilitation exercise device to perform rehabilitation exercises, the rehabilitation exercise device comprises the following states:
1) when the knee is bent, the motor 3-3 drives the screw rod in the screw rod pair 3-4 to rotate in the positive direction, the screw rod drives the push rod 3-1 to move downwards along the guide rail 3-6 by driving the nut 3-5, the connecting rod 5 is pushed to move downwards by the transverse connecting rod 4, and the connecting rod 5 drives the lower support plate 2 to rotate towards the knee bending direction by the elastic sheet 8.
2) When the leg is stretched, the motor 3-3 drives the screw rod in the screw rod pair 3-4 to rotate reversely, the screw rod drives the push rod 3-1 to move upwards along the guide rail 3-6 through the driving nut 3-5, the connecting rod 5 is driven to move upwards through the transverse connecting rod 4, and the connecting rod 5 drives the lower support plate 2 to rotate towards the stretching direction through the elastic sheet 7.
The above embodiments are only used for illustrating the present invention, and the structure, connection mode and the like of each component can be changed, and all equivalent changes and improvements made on the basis of the technical scheme of the present invention should not be excluded from the protection scope of the present invention.
Claims (5)
1. The utility model provides a wearing formula power knee joint rehabilitation device which characterized in that: comprises an upper support plate and a lower support plate; the upper support plate is provided with a push rod driving mechanism, the output end of the push rod driving mechanism is a push rod for outputting linear motion, the end part of the push rod is fixedly connected with a transverse connecting rod, two ends of the transverse connecting rod are respectively hinged with one end of two connecting rods, and the other ends of the two connecting rods are respectively hinged with two sides of the lower support plate; a first gear is fixedly arranged at the lower end of the upper support plate, a second gear is fixedly arranged at the upper end of the lower support plate, and the second gear is meshed with the first gear;
the connecting part of the lower support plate and the connecting rod is an elastic sheet which is connected with the lower support plate into a whole;
the upper supporting plate adopts a semi-surrounding structure suitable for surrounding thighs of a human body, and the lower supporting plate adopts a semi-surrounding structure suitable for surrounding shanks of the human body;
the push rod driving mechanism comprises a support, a motor, a ball screw pair and the push rod; the support is fixedly connected with the upper support plate, the motor is fixedly connected to the support, the output end of the motor is connected with the ball screw pair, and a nut of the ball screw pair is fixedly connected with the push rod;
the support is fixedly connected with a guide rail, the guide rail is connected with a sliding block in a sliding mode, and the push rod is fixedly connected with the sliding block.
2. The wearable powered knee joint rehabilitation device of claim 1, wherein: and the upper support plate and the lower support plate are respectively provided with a bandage for fixing the limbs of a person.
3. The wearable powered knee joint rehabilitation device of claim 1, wherein: and bearings are arranged at the joint of the connecting rod and the transverse connecting rod and the joint of the connecting rod and the lower support plate.
4. The wearable powered knee joint rehabilitation device of claim 1, wherein: the elastic sheet is made of spring steel.
5. The wearable powered knee joint rehabilitation device of claim 1, wherein: gear shafts are respectively and rotatably connected to the centers of the first gear and the second gear, and the two gear shafts are connected through a gear connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710020830.4A CN107049701B (en) | 2017-01-12 | 2017-01-12 | Wearable power knee joint rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710020830.4A CN107049701B (en) | 2017-01-12 | 2017-01-12 | Wearable power knee joint rehabilitation device |
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| Publication Number | Publication Date |
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| CN107049701A CN107049701A (en) | 2017-08-18 |
| CN107049701B true CN107049701B (en) | 2020-02-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710020830.4A Active CN107049701B (en) | 2017-01-12 | 2017-01-12 | Wearable power knee joint rehabilitation device |
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| CN (1) | CN107049701B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102443794B1 (en) * | 2017-09-04 | 2022-09-16 | 삼성전자주식회사 | Motion assist apparatus |
| KR102586197B1 (en) * | 2018-12-10 | 2023-10-11 | 삼성전자주식회사 | Motion assist apparatus |
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|---|---|---|---|---|
| US4732143A (en) * | 1987-02-13 | 1988-03-22 | Spectrum Orthopedics, Ltd. | Selectable extension stop for a polycentric hinge |
| US5954678A (en) * | 1997-08-25 | 1999-09-21 | Cruz; Mark | Orthosis for an anatomical joint |
| CN201631597U (en) * | 2010-01-19 | 2010-11-17 | 东华大学 | Device for realizing joint swinging movement through gear mechanism |
| CN201870775U (en) * | 2010-11-12 | 2011-06-22 | 河南科技大学 | Pneumatic driving type exoskeleton mechanical structure of lower limb walking rehabilitation training robot |
| CN102846448A (en) * | 2012-09-28 | 2013-01-02 | 中国科学院深圳先进技术研究院 | Portable and wearable exoskeleton robot for lower limb rehabilitation and walk aid |
| CN204468352U (en) * | 2015-02-24 | 2015-07-15 | 吴娟 | Human body lower limbs ESD |
| CN104873314A (en) * | 2015-04-28 | 2015-09-02 | 繁昌县倍思生产力促进中心有限公司 | Simple orthotic device for knee joints |
| CN105342811A (en) * | 2015-09-29 | 2016-02-24 | 中国科学院深圳先进技术研究院 | Support part and self-adaptation seat device with same |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090306548A1 (en) * | 2008-06-05 | 2009-12-10 | Bhugra Kern S | Therapeutic method and device for rehabilitation |
| ES2562340B1 (en) * | 2014-09-03 | 2016-12-07 | Universitat Politècnica De Catalunya | Motorization device for active orthosis |
-
2017
- 2017-01-12 CN CN201710020830.4A patent/CN107049701B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4732143A (en) * | 1987-02-13 | 1988-03-22 | Spectrum Orthopedics, Ltd. | Selectable extension stop for a polycentric hinge |
| US5954678A (en) * | 1997-08-25 | 1999-09-21 | Cruz; Mark | Orthosis for an anatomical joint |
| CN201631597U (en) * | 2010-01-19 | 2010-11-17 | 东华大学 | Device for realizing joint swinging movement through gear mechanism |
| CN201870775U (en) * | 2010-11-12 | 2011-06-22 | 河南科技大学 | Pneumatic driving type exoskeleton mechanical structure of lower limb walking rehabilitation training robot |
| CN102846448A (en) * | 2012-09-28 | 2013-01-02 | 中国科学院深圳先进技术研究院 | Portable and wearable exoskeleton robot for lower limb rehabilitation and walk aid |
| CN204468352U (en) * | 2015-02-24 | 2015-07-15 | 吴娟 | Human body lower limbs ESD |
| CN104873314A (en) * | 2015-04-28 | 2015-09-02 | 繁昌县倍思生产力促进中心有限公司 | Simple orthotic device for knee joints |
| CN105342811A (en) * | 2015-09-29 | 2016-02-24 | 中国科学院深圳先进技术研究院 | Support part and self-adaptation seat device with same |
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| CN107049701A (en) | 2017-08-18 |
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