CN107928992A - Upper and lower extremities mutual assistance walking device - Google Patents

Abstract

The invention discloses an upper and lower limb mutual aid walking device, which comprises a leg exoskeleton (1) and a fixed belt (2) connected with the leg exoskeleton (1), the upper end of the leg exoskeleton (1) and the mutual aid The grip (3) is connected, the lower end of the leg exoskeleton (1) is connected with the shoe support (4), the leg exoskeleton (1) includes the thigh skeleton (5) and the calf skeleton (6), the thigh skeleton (5) and the The calf skeleton (6) is flexibly connected. The invention has simple structure and low equipment cost, can be used by the patient alone during the rehabilitation training process of the paralyzed patient, and can train the coordination of the patient, thereby improving the rehabilitation training effect.

Description

Upper and lower limb mutual aid walking device

technical field

The invention relates to a standing and walking assisting device, in particular to a walking aid for upper and lower limbs.

Background technique

Paralysis of the lower limbs refers to a disease in which the lower limbs of the body are completely or partially lost motor function and voluntary movements are reduced or disappeared after the occurrence of sensory disturbances caused by damage to the nervous system. In case of muscle atrophy and other problems, in order to enable the patient to maintain normal body functions and carry out rehabilitation training, it is necessary to manually help the patient to perform lower limb exercises, and through the patient's lower limb exercise, the patient will gradually recover; currently, patients are usually supported manually during rehabilitation training Or use crutches to support rehabilitation training, or use rehabilitation equipment for rehabilitation training. The current rehabilitation equipment has high cost, complex structure, and cumbersome operation. It is difficult for patients to control independently when using it alone, and it is difficult to use it as daily rehabilitation training; Or when crutches are used in rehabilitation training, the patient mainly stands and walks with the help of support, and it is difficult for the patient to control the movement of the center of gravity during the rehabilitation training, and the stimulation to the muscles is less during the rehabilitation training, resulting in poor rehabilitation training effect; During training, patients can borrow more points, and the coordination of patients is difficult to be trained, resulting in poor rehabilitation training effect. There are tens of millions of people with all kinds of lower limb disabilities in my country, and it has practical significance and value to provide them with a novel and convenient compensatory mutual aid walking device.

Therefore, currently in the process of rehabilitation training for patients with paralysis of the lower extremities, there are problems such as expensive equipment, complicated equipment structure, difficulty for patients to use alone, and difficulty in training patients' coordination, resulting in poor rehabilitation training effects.

Contents of the invention

The object of the present invention is to provide an upper and lower limb mutual aid walking device. The invention has simple structure and low equipment cost, can be used by the patient alone during the rehabilitation training process of the paralyzed patient, can train the coordination of the patient, and improves the rehabilitation training effect.

The technical scheme of the present invention: the upper and lower limb mutual aid walking device, including the leg exoskeleton and the fixed belt connected with the leg exoskeleton, the upper end of the leg exoskeleton is connected with the mutual helper handle, the lower end of the leg exoskeleton and the shoe holder Connection, leg exoskeleton includes thigh skeleton and calf skeleton, and thigh skeleton and calf skeleton are movably connected.

In the aforementioned upper and lower limb mutual aid walking device, the outer frame of the leg is provided with a fixing sleeve, and the fixing sleeve includes a thigh Velcro fixing sleeve arranged on one side of the thigh frame and a calf Velcro fixing sleeve arranged on one side of the calf frame. set.

In the aforesaid upper and lower limb mutual aid walking device, the leg exoskeleton also includes a joint elastic device, which is arranged at the junction of the thigh frame and the lower leg frame, and the joint elastic device includes stretching and compression joints connecting the thigh frame and the lower leg frame. spring.

In the aforementioned upper and lower limb mutual aid walking device, the fixed belt includes a waist fixed belt and a leg fixed belt, the waist fixed belt and the leg fixed belt pass through the fixed steel plate, and the leg exoskeleton is connected with the fixed steel plate through a movable knob.

In the aforesaid mutual aid walking device for upper and lower limbs, the mutual aid grip is arranged on the same side of the leg exoskeleton, and the mutual aid grip is directly connected with the thigh skeleton.

In the aforementioned upper and lower limb mutual aid walking device, the mutual aid grip is arranged on the opposite side of the leg exoskeleton, and the mutual aid grip is connected to the thigh skeleton through a transmission rod.

Compared with the existing technology, by setting the leg exoskeleton to fix the paralyzed lower limbs, it provides support for the patient to stand, by setting the fixed belt, it is convenient for the leg exoskeleton to be positioned and installed at the waist, providing stable support for the patient, by setting the mutual helper grip, The upper limbs provide assistance to drive the leg movement, enhance muscle movement stimulation, and improve the effect of rehabilitation training; the mutual helper grip can be set on the same side of the leg exoskeleton or on the opposite side of the leg exoskeleton, using the upper and lower limbs to swing when the human body walks The regularity makes it easy for the patient to adjust the center of gravity during rehabilitation training, and the patient's coordination is also trained, which improves the effect of rehabilitation training. The invention has simple structure and low equipment cost, can be used by the patient alone during the rehabilitation training process of the paralyzed patient, can train the coordination of the patient, and improves the rehabilitation training effect.

Specifically, the present invention mainly utilizes the compensatory movement of the human body to assist the walking and rehabilitation treatment of patients with lower extremity motor impairment; Compensation is completed by muscle groups, which is the self-adjustment and adaptation function of the human body; the present invention uses the upper and lower limbs to provide assistance, and uses the swinging law of the upper and lower limbs when the human body walks to drive the legs with dyskinesias to perform compensatory movements, and assists knee joint flexion and extension through joint elastic devices , using stretched and compressed springs to assist the big and small legs to complete walking movements; when the stretched and compressed springs are in a normal state, the natural angle of the knee joint is maintained to avoid reflexion of the leg exoskeleton; when the knee joint is bent, the stretched and compressed springs are compressed to provide The elastic force assists the knee joint to restore its natural angle; when the knee joint is straightened, the stretched and compressed spring stretches to provide tension, assists the knee joint to restore its natural angle, and assists the thighs to complete walking movements.

Compared with the existing electro-mechanical walking aids, the present invention utilizes the normal motion patterns of the human body for mutual assistance, which is more natural when used, and the human body is less dependent on the auxiliary device, which improves the adaptability of the aided walking and is more conducive to Rehabilitation training; and the production cost of the present invention is lower than that of the electromechanical assisting walking device.

To sum up, the present invention has simple structure and low equipment cost, and can be used by the patient alone in the process of rehabilitation training for patients with paralysis of the lower limbs, and can train the patient's coordination, thereby improving the effect of rehabilitation training.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a structural schematic diagram of the leg exoskeleton mutual hand grip and the arrangement on the same side;

Fig. 3 is a structural schematic diagram of the leg exoskeleton mutual helper handle and the arrangement on the opposite side;

Fig. 4 is a schematic diagram of rehabilitation training of the present invention.

The marks in the accompanying drawings are: 1-leg outer frame, 2-fixed belt, 3-hand grip, 4-shoe support, 5-thigh frame, 6-calf frame, 7-thigh velcro fixing sleeve, 8 Calf Velcro fixed cover, 9-waist fixed belt, 10-leg fixed belt, 11-fixed steel plate, 12-movable knob, 13-transmission rod, 14-tension and compression spring.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but not as a basis for limiting the present invention.

Example. The upper and lower limb mutual aid walking device, as shown in Figure 1, Figure 2 and Figure 4, includes a leg exoskeleton 1 and a fixed belt 2 connected with the leg exoskeleton 1, the upper end of the leg exoskeleton 1 and the mutual helper handle 3 Connection, leg exoskeleton 1 lower end is connected with shoe holder 4, leg exoskeleton 1 comprises thigh skeleton 5 and calf skeleton 6, thigh skeleton 5 and calf skeleton 6 are flexibly connected.

The leg exoskeleton 1 is provided with a fixing cover, and the fixing cover includes a thigh velcro fixing cover 7 arranged on one side of the thigh frame 5 and a shank gluing fixing cover 8 arranged on one side of the calf frame 6; Leg exoskeleton 1 also comprises joint elastic device, and joint elastic device is located at the junction of thigh frame 5 and calf frame 6, and described joint elastic device comprises the tension compression spring 14 that connects thigh frame 5 and calf frame 6; Belt 2 comprises waist fixed belt 9 and leg fixed belt 10, waist fixed belt 9 and leg fixed belt 10 pass through fixed steel plate 11, leg exoskeleton 1 is connected with fixed steel plate 11 by movable knob 12; 3 is arranged on the same side of the leg exoskeleton 1, and the mutual helper handle 3 is directly connected with the thigh frame 5.

Example 2. The upper and lower limb mutual aid walking device, as shown in Figure 3 and Figure 4, includes a leg exoskeleton 1 and a fixed belt 2 connected with the leg exoskeleton 1, the upper end of the leg exoskeleton 1 is connected with the mutual helper handle 3, and the legs The lower end of the external frame 1 is connected with the shoe support 4, and the leg external frame 1 includes a thigh frame 5 and a calf frame 6, and the thigh frame 5 and the calf frame 6 are flexibly connected.

The leg exoskeleton 1 is provided with a fixing cover, and the fixing cover includes a thigh velcro fixing cover 7 arranged on one side of the thigh frame 5 and a shank gluing fixing cover 8 arranged on one side of the calf frame 6; Leg exoskeleton 1 also comprises joint elastic device, and joint elastic device is located at the junction of thigh frame 5 and calf frame 6, and described joint elastic device comprises the tension compression spring 14 that connects thigh frame 5 and calf frame 6; Belt 2 comprises waist fixed belt 9 and leg fixed belt 10, waist fixed belt 9 and leg fixed belt 10 pass through fixed steel plate 11, leg exoskeleton 1 is connected with fixed steel plate 11 by movable knob 12; 3 is located on the opposite side of the leg exoskeleton 1, and the mutual hand grip 3 is connected with the thigh frame 5 through the transmission rod 13.

Working principle: when the present invention is in use, the waist fixing belt 9 is first fixed on the waist, the leg fixing belt 10 is fixed on the legs, and the angles of the thigh frame 5 and the calf frame 6 are adjusted according to the knee bending degree, and the thighs are glued and buckled at the same time. The fixed sleeve 7 and the calf adhesive buckle fixed sleeve 8 cover the thigh and the calf, and the sole of the foot steps on the shoe support 4 to complete the wearing and fixing of the upper and lower limb mutual aid walking device; after the fixation is completed, the upper and lower limbs swing when the human body is used to walk by holding the mutual aid grip 3 Regularity, the strength of the upper limbs drives the movement of the paralyzed legs, stimulates the muscles, and makes it easier for the patient to adjust the center of gravity during rehabilitation training, and the patient's coordination is also trained, which improves the effect of rehabilitation training.

Claims (6)

1. upper and lower extremities mutual assistance walking device, it is characterised in that：Including skeleton outside leg（1）With with skeleton outside leg（1）Connection is consolidated Determine belt（2）, skeleton outside leg（1）Upper end and mutual assistance grip（3）Connect, skeleton outside leg（1）Bottom and footwear support（4） Connect, skeleton outside leg（1）Including thigh skeleton（5）With shank skeleton（6）, thigh skeleton（5）With shank skeleton（6）Activity is even Connect.

2. upper and lower extremities mutual assistance walking device according to claim 1, it is characterised in that：Skeleton outside the leg（1）It is equipped with Fixing sleeve, the fixing sleeve include being located at thigh skeleton（5）The thigh thread gluing fixing sleeve of side（7）Be located at shank skeleton（6） The shank thread gluing fixing sleeve of side（8）.

3. upper and lower extremities mutual assistance walking device according to claim 1, it is characterised in that：Skeleton outside the leg（1）Further include Joint elasticity device, joint elasticity device are located at thigh skeleton（5）With shank skeleton（6）Junction, the joint elasticity device Including connecting thigh skeleton（5）With shank skeleton（6）Compression and Expansion spring（14）.

4. upper and lower extremities mutual assistance walking device according to claim 1, it is characterised in that：The fixed belt（2）Including waist Fixed belt（9）Belt is fixed with leg（10）, waist fixation belt（9）Belt is fixed with leg（10）Pass through fixation steel plate （11）, skeleton outside leg（1）Pass through swinging arms（12）With fixation steel plate（11）Connection.

5. the upper and lower extremities mutual assistance walking device according to claim 1-4 any claims, it is characterised in that：The mutual assistant Handle（3）It is located at skeleton outside leg（1）Homonymy, mutual assistance grip（3）With thigh skeleton（5）It is directly connected to.

6. the upper and lower extremities mutual assistance walking device according to claim 1-4 any claims, it is characterised in that：The mutual assistant Handle（3）It is located at skeleton outside leg（1）Heteropleural, mutual assistance grip（3）Pass through drive link（13）With thigh skeleton（5）Connection.