CN107754207B - Auxiliary lower limb movement device - Google Patents
Auxiliary lower limb movement device Download PDFInfo
- Publication number
- CN107754207B CN107754207B CN201711165853.0A CN201711165853A CN107754207B CN 107754207 B CN107754207 B CN 107754207B CN 201711165853 A CN201711165853 A CN 201711165853A CN 107754207 B CN107754207 B CN 107754207B
- Authority
- CN
- China
- Prior art keywords
- connecting piece
- thigh
- cylinder
- shank
- lower limb
- 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.)
- Active
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 37
- 210000000689 upper leg Anatomy 0.000 claims abstract description 45
- 210000000629 knee joint Anatomy 0.000 claims abstract description 4
- 210000002414 leg Anatomy 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 3
- 230000005021 gait Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002612 cardiopulmonary effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007850 degeneration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- 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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of medical equipment, in particular to a lower limb auxiliary movement device, which is characterized in that: comprises a thigh connecting piece fixed on the thigh and a shank connecting piece fixed on the shank; the thigh connecting piece and the shank connecting piece are connected through a hinge part; and a resetting component is arranged in the thigh connecting piece and connected to the hinge part, so that when the knee joint bends and returns, the thigh connecting piece and the shank connecting piece provide return assistance under the cooperation of the resetting component and the hinge part. The invention has simple structure and can provide exercise walking assistance for people with lower limb exercise capacity reduction or lower limb exercise part disability.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a lower limb auxiliary movement device.
Background
With the degeneration of muscle power function and cardiopulmonary function of the elderly, the proportion of daily activities occupied by walking is gradually reduced, so that the incidence rate of various diseases is greatly increased, and the vicious circle finally leads to complete loss of exercise capacity. In addition, mild stroke patients can also cause partial disability of lower limb locomotor ability, affecting the mobility of the patient. Aiming at the special requirements of the old with reduced lower limb movement ability or the disabled people of the lower limb movement part, the lower limb auxiliary movement device is developed, and the auxiliary movement device can provide assistance for people when people walk, so that the strength and the endurance of the old with reduced lower limb movement ability or the disabled people of the lower limb movement part are increased.
Most of the prior auxiliary exercise devices for lower limbs cannot be directly worn on thighs and shanks, and the design of the auxiliary exercise devices in the aspect of wearing convenience has great defects, can not be freely and quickly worn and taken off, and has poor wearing comfort.
Disclosure of Invention
In order to overcome the above problems, an object of the present invention is to provide a lower limb exercise assisting device which can be freely worn and provides exercise walking assistance for people with reduced exercise ability of lower limbs or disabled exercise parts of lower limbs.
The invention is realized by adopting the following scheme: the utility model provides a low limbs auxiliary movement device which characterized in that: comprises a thigh connecting piece fixed on the thigh and a shank connecting piece fixed on the shank; the thigh connecting piece and the shank connecting piece are connected through a hinge part; and a resetting component is arranged in the thigh connecting piece and connected to the hinge part, so that when the knee joint bends and returns, the thigh connecting piece and the shank connecting piece provide return assistance under the cooperation of the resetting component and the hinge part.
In an embodiment of the invention, the thigh connecting piece includes a first buckling part for buckling at the rear side of the thigh and a first connecting rod connected with the first buckling part; the lower leg connecting piece comprises a second buckling part which is used for being buckled on the front side of the lower leg and a second connecting rod which is connected with the second buckling part.
In an embodiment of the present invention, the reset component is disposed in the first connecting rod; the reset assembly comprises a cylinder; a piston rod of the cylinder is connected with a traction rope; the tail part of the first connecting rod is provided with a first rotating head, the end part of the first rotating head is provided with saw teeth, the side wall of the first rotating head is fixedly provided with a limiting piece, and the traction rope penetrates through the tail part of the first connecting rod and is connected with the limiting piece;
the tail part of the second connecting rod is provided with a second rotating head, and the end part of the second rotating head is provided with saw teeth; the saw teeth of the first rotating head are meshed with the saw teeth of the second rotating head, and the first rotating head and the second rotating head are hinged in a limiting shaft sleeve through the hinge part, so that the thigh connecting piece and the shank connecting piece can rotate freely around the limiting shaft sleeve.
In one embodiment of the invention, both the thigh link and the shank link are provided with straps.
In one embodiment of the invention, the cylinder is controlled by a control module, the lower limb is bent, the thigh connecting piece and the shank connecting piece are folded, and the traction rope pulls the piston rod of the sealing cylinder to compress the air in the cylinder; the control module heats or pressurizes air in the sealed cylinder to increase the pressure of the sealed cylinder, so that the device obtains upward movement force, and the thigh connecting piece and the shank connecting piece are reset, thereby assisting a user to walk or jump.
In an embodiment of the present invention, a first pressure sensor is disposed at a position where the thigh connecting piece contacts the rear side of the thigh, a second pressure sensor is disposed at a position where the shank connecting piece contacts the front side of the shank, and when a pressure exerted by the first pressure sensor is greater than a first predetermined value, a first signal for judging that the lower limb is bent is generated; and when the pressure ratio born by the first pressure sensor is smaller than a second preset value, generating a second signal for judging the lower limb to straighten.
In one embodiment of the invention, the first signal is generated at a time when the leg is moved downward to a stop position; the control module heats or pressurizes the gas in the cylinder to increase the pressure of the cylinder, so that the control module receives larger upward movement force; the second signal is generated when the leg moves upward to a stop position; the control module reduces the temperature or the pressure of the gas in the cylinder to restore the original pressure of the cylinder.
In one embodiment of the invention, the hinge is a bolt bearing hinge.
In one embodiment of the invention, the cylinder model number is mal25-50.
In an embodiment of the present invention, the control module includes a single-chip microcomputer, the single-chip microcomputer is connected with a driving circuit of the cylinder, and the single-chip microcomputer is stc12c5604ad.
The invention has the beneficial effects that: the invention has simple structure, is convenient to wear and small in volume by arranging the reset component in the connecting piece, can be fastened on the lower limb, provides auxiliary force in the process of bending and straightening the lower limb, and provides exercise walking assistance for people with lower limb exercise ability reduction or disabled lower limb exercise parts to the greatest extent.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention.
Fig. 2 is a schematic view of the hinge structure according to the embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 2, the present embodiment provides a lower limb auxiliary exercise apparatus including a thigh link 1 fixed to a thigh and a shank link 2 fixed to a shank; the thigh connecting piece 1 and the shank connecting piece 2 are connected through a hinge part; a restoring component 3 is arranged in the thigh connecting piece and is connected to the hinge part, so that when the knee joint is bent and returns, the thigh connecting piece and the shank connecting piece provide return assistance under the cooperation of the restoring component and the hinge part.
With continued reference to fig. 1, in an embodiment of the present invention, the thigh connecting part 1 includes a first fastening part 11 for fastening on the rear side of the thigh and a first connecting rod 12 connected with the first fastening part; the shank coupling element 2 comprises a second fastening portion 21 for fastening to the front side of the shank and a second connecting rod 22 connected to the second fastening portion. In the present invention, the first connecting rod 12 is divided into two left and right parts, and the second connecting rod 22 is also divided into two left and right parts, which are respectively hinged, so that the first fastening part 11 and the second fastening part 21 are matched, and the first connecting rod and the second connecting rod are exactly fixed on the lower limb, thus being extremely convenient to wear.
With continued reference to fig. 1 and 2, in an embodiment of the present invention, the reset device is disposed in the first connecting rod; the reset assembly 3 comprises a cylinder 31; a traction rope 32 is connected to the piston rod of the cylinder; the tail part of the first connecting rod 12 is provided with a first rotating head 4, the end part of the first rotating head is provided with saw teeth 41, the side wall of the first rotating head is fixedly provided with a limiting piece 5, and the haulage rope 32 passes through the tail part of the first connecting rod 12 to be connected with the limiting piece 5;
the tail part of the second connecting rod 22 is provided with a second rotating head 6, and the end part of the second rotating head 6 is provided with saw teeth 61; the saw teeth 41 of the first rotating head are meshed with the saw teeth 61 of the second rotating head, and the first rotating head and the second rotating head are hinged in a limiting shaft sleeve 7 through the hinge parts, so that the thigh connecting piece and the shank connecting piece can freely rotate around the limiting shaft sleeve. In this embodiment, the limiting plate 5 is fixed and does not rotate along with the rotation of the rotating head, and as the cylinder is arranged in the first connecting rod 12, the traction rope 32 fixed on the limiting plate 5 can be pulled along with the rotation of the connecting rod, so that after the device is worn, the pressure in the cylinder changes along with the bending of the lower limb to form a restoring force; providing auxiliary effect for the subsequent lower limb straightening process.
For better fixing the device to the lower limb, in one embodiment of the invention both the thigh and the shank connectors are provided with straps 8. Referring to fig. 1, the binding band may be disposed at an inner side of a joint between the fastening portion and the connecting piece, or may be disposed at an outer side of a joint between the fastening portion and the connecting piece; the present invention is not limited thereto, and the binding band may be an elastic binding band, a magic tape, or other fastening members, which are not limited thereto.
With continued reference to fig. 1, in one embodiment of the present invention, the cylinder is controlled by a control module, the lower limb is bent, the thigh link and the shank link are folded, and the traction rope pulls the piston rod of the sealing cylinder to compress the air in the cylinder; the control module heats or pressurizes air in the sealed cylinder to increase the pressure of the sealed cylinder, so that the device obtains upward movement force, and the thigh connecting piece and the shank connecting piece are reset, thereby assisting a user to walk or jump. It should be noted that the control module may be disposed inside the first connecting rod 12, or may be exposed outside the first connecting rod through a wire, which is not limited herein.
In one embodiment of the present invention, a first pressure sensor 9 is disposed at a position where the thigh connecting part contacts with the rear side of the thigh, a second pressure sensor 10 is disposed at a position where the shank connecting part contacts with the front side of the shank, and a first signal for judging that the lower limb is bent is generated when the pressure exerted by the first pressure sensor is greater than the pressure exerted by the second pressure sensor by more than a first predetermined value; and when the pressure ratio born by the first pressure sensor is smaller than a second preset value, generating a second signal for judging the lower limb to straighten. It should be noted that the first predetermined value and the second predetermined value may be set when leaving the factory according to actual needs, or may be set in the control module. I.e. the control module has a key circuit capable of setting these two predetermined values, which key circuit may also comprise a switch key which can activate and deactivate the control module.
Preferably, in one embodiment of the present invention, the first signal is generated at a time when the leg moves downward to the stop position; the control module heats or pressurizes the gas in the cylinder to increase the pressure of the cylinder, so that the control module receives larger upward movement force; the second signal is generated when the leg moves upward to a stop position; the control module reduces the temperature or the pressure of the gas in the cylinder to restore the original pressure of the cylinder. Thus, when the user wears the device, the whole device bends at the joint of the two connecting pieces. The pressure in the cylinder brings larger power assisting effect after the pressure in the cylinder is increased by the control module when the leg is lifted, so that a user can walk or jump more easily. After the legs of the user straighten and land, the pressure of the cylinder is restored to ensure that the gait of the user is consistent with the normal gait, so that the user does not feel uncomfortable.
With continued reference to fig. 1, in one embodiment of the invention, the hinge is a bolt bearing 13. By using the bolt bearing, not only can the fixing function be achieved, but also the flexibility of the hinge part is improved, and the friction force is reduced.
In one embodiment of the invention, the cylinder model number is mal25-50. The invention is not limited in this regard and other cylinders, or other return members, may be used.
In an embodiment of the present invention, the control module includes a single-chip microcomputer, the single-chip microcomputer is connected with a driving circuit of the cylinder, and the single-chip microcomputer is stc12c5604ad.
The foregoing description is only of the preferred embodiments of the invention, and all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (4)
1. The utility model provides a low limbs auxiliary movement device which characterized in that: comprises a thigh connecting piece fixed on the thigh and a shank connecting piece fixed on the shank; the thigh connecting piece and the shank connecting piece are connected through a hinge part; a resetting component is arranged in the thigh connecting piece and connected to the hinging part, so that when the knee joint bends and returns, the thigh connecting piece and the shank connecting piece provide the return assistance under the cooperation of the resetting component and the hinging part;
the thigh connecting piece comprises a first buckling part which is used for being buckled at the rear side of the thigh and a first connecting rod which is connected with the first buckling part; the lower leg connecting piece comprises a second buckling part which is used for being buckled on the front side of the lower leg and a second connecting rod which is connected with the second buckling part;
the reset component is arranged in the first connecting rod; the reset assembly comprises a cylinder; a piston rod of the cylinder is connected with a traction rope; the tail part of the first connecting rod is provided with a first rotating head, the end part of the first rotating head is provided with saw teeth, the side wall of the first rotating head is fixedly provided with a limiting piece, and the traction rope penetrates through the tail part of the first connecting rod and is connected with the limiting piece;
the tail part of the second connecting rod is provided with a second rotating head, and the end part of the second rotating head is provided with saw teeth; the saw teeth of the first rotating head are meshed with the saw teeth of the second rotating head, and the first rotating head and the second rotating head are hinged in a limiting shaft sleeve through the hinge part, so that the thigh connecting piece and the shank connecting piece can rotate freely around the limiting shaft sleeve;
the thigh connecting piece and the shank connecting piece are both provided with binding bands;
the cylinder is controlled by a control module, the lower limb is bent, the thigh connecting piece and the shank connecting piece are folded, and the traction rope pulls the piston rod of the sealing cylinder to compress the air in the cylinder; the control module heats or pressurizes air in the sealed cylinder to increase the pressure of the sealed cylinder, so that the device obtains upward movement force, and the thigh connecting piece and the shank connecting piece are reset, thereby assisting a user to walk or jump;
a first pressure sensor is arranged at the position where the thigh connecting piece contacts the rear side of the thigh, a second pressure sensor is arranged at the position where the shank connecting piece contacts the front side of the shank, and a first signal for judging the bending of the lower limb is generated when the pressure born by the first pressure sensor is higher than the pressure born by the second pressure sensor by a first preset value; when the pressure ratio born by the first pressure sensor is smaller than a second preset value, a second signal for judging the lower limb to straighten is generated;
the first signal is generated when the leg moves downward to a stop position; the control module heats or pressurizes the gas in the cylinder to increase the pressure of the cylinder, so that the control module receives larger upward movement force; the second signal is generated when the leg moves upward to a stop position; the control module reduces the temperature or the pressure of the gas in the cylinder to restore the original pressure of the cylinder.
2. A lower limb assist exercise apparatus as in claim 1 wherein: the hinge part is hinged by a bolt bearing.
3. A lower limb assist exercise apparatus as in claim 1 wherein: the cylinder model is mal25-50.
4. A lower limb assist exercise apparatus as in claim 1 wherein: the control module comprises a singlechip, wherein the singlechip is connected with a driving circuit of the cylinder, and the singlechip is stc12c5604ad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711165853.0A CN107754207B (en) | 2017-11-21 | 2017-11-21 | Auxiliary lower limb movement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711165853.0A CN107754207B (en) | 2017-11-21 | 2017-11-21 | Auxiliary lower limb movement device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107754207A CN107754207A (en) | 2018-03-06 |
| CN107754207B true CN107754207B (en) | 2024-03-22 |
Family
ID=61279200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711165853.0A Active CN107754207B (en) | 2017-11-21 | 2017-11-21 | Auxiliary lower limb movement device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107754207B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201441499U (en) * | 2009-05-22 | 2010-04-28 | 耿世平 | Lower limb orthotic device |
| CN101716102A (en) * | 2009-12-16 | 2010-06-02 | 重庆大学 | Four-bar linkage artificial limb knee joint based on magneto rheological effect |
| CN103892943A (en) * | 2014-03-19 | 2014-07-02 | 中国人民解放军理工大学 | Driving-and-driven combined boosting type flexible lower limb exoskeleton |
| WO2016206175A1 (en) * | 2015-06-24 | 2016-12-29 | 訾斌 | Automatic lower limb adjustment platform for lumbar rehabilitation training, and training method |
-
2017
- 2017-11-21 CN CN201711165853.0A patent/CN107754207B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201441499U (en) * | 2009-05-22 | 2010-04-28 | 耿世平 | Lower limb orthotic device |
| CN101716102A (en) * | 2009-12-16 | 2010-06-02 | 重庆大学 | Four-bar linkage artificial limb knee joint based on magneto rheological effect |
| CN103892943A (en) * | 2014-03-19 | 2014-07-02 | 中国人民解放军理工大学 | Driving-and-driven combined boosting type flexible lower limb exoskeleton |
| WO2016206175A1 (en) * | 2015-06-24 | 2016-12-29 | 訾斌 | Automatic lower limb adjustment platform for lumbar rehabilitation training, and training method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107754207A (en) | 2018-03-06 |
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