CN108478387A - A kind of lower limb rehabilitation training device - Google Patents
A kind of lower limb rehabilitation training device Download PDFInfo
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- CN108478387A CN108478387A CN201810362477.2A CN201810362477A CN108478387A CN 108478387 A CN108478387 A CN 108478387A CN 201810362477 A CN201810362477 A CN 201810362477A CN 108478387 A CN108478387 A CN 108478387A
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- shoulder
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 39
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 206010019468 Hemiplegia Diseases 0.000 claims abstract description 11
- 230000008859 change Effects 0.000 claims abstract description 4
- 210000003127 knee Anatomy 0.000 claims description 120
- 210000000707 wrist Anatomy 0.000 claims description 89
- 238000007373 indentation Methods 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 210000004247 hand Anatomy 0.000 claims description 2
- 230000035876 healing Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 210000003414 extremity Anatomy 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 210000002414 leg Anatomy 0.000 description 5
- 210000000988 bone and bone Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 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 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000003174 Brain Neoplasms Diseases 0.000 description 1
- 208000034657 Convalescence Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000030886 Traumatic Brain injury Diseases 0.000 description 1
- 208000003443 Unconsciousness Diseases 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000011084 recovery Methods 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
- 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
- A61H2201/1635—Hand or arm, e.g. handle
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5041—Interfaces to the user control is restricted to certain individuals
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
-
- 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
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (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)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of lower limb rehabilitation training devices, including：Upper limb exoskeleton mechanism is tied up and is located on the side upper limb of human body and is rotated with the rotation of the upper limb；Waist deck, is fastened in human body waist；Lower limb exoskeleton mechanism is tied up and is located on the opposite other side hemiplegia lower limb of human body, and the lower limb exoskeleton mechanism is connect with the waist deck；And the controller on the waist deck is set；Wherein, it is provided with angular transducer on upper limb exoskeleton mechanism, it is provided with driving motor in lower limb exoskeleton mechanism, controller is sent the signal to after the angle change that the angular transducer senses the upper limb exoskeleton mechanism, drives driving motor to drive the rotation of lower limb exoskeleton mechanism by controller.The lower limb rehabilitation training device can utilize the movement of normal upper limb to complete healing hemiplegic lower limb and train, and have the advantages that simple in structure, easy to use.
Description
Technical field
The present invention relates to the field of medical instrument technology more particularly to lower limb rehabilitation training devices.
Background technology
Hemiplegia refers to being hindered with half side extremity motor function caused by the reasons such as cerebrovascular accident, brain trauma, brain tumor
Hinder a kind of common deformity mainly to show, according to the epidemiological survey in China, annual morbidity is 20,0/1,000,000, annual dead
About 75% disables in cerebral apoplexy person 80-100 ten thousand, survivor, and high recurrence rate is up to 41% in 5 years, in order to reduce to the maximum extent
The death rate, disability rate improve the quality of life of patient, should rescue in time, while the rehabilitation for formulating early stage and convalescence is controlled
The function for the patient for making 80% is actively obviously improved, with correct rehabilitation in rehabilitation treatment procedure by course for the treatment of sequence early
In, rehabilitation exercise training treatment very important and crucial, usual office of traditional lower limb rehabilitation training device of limbs of patient
Limit have ignored the cooperative motion between normal upper limb and hemiplegia lower limb on the lower limb of hemiplegia, there are it is complicated, using not
Just defect, therefore, it is necessary to study a kind of lower limb rehabilitation training devices.
Invention content
Shortcoming present in view of the above technology can utilize the movement of normal upper limb complete the present invention provides a kind of
The lower limb rehabilitation training device trained at healing hemiplegic lower limb.
The technical solution adopted by the present invention to solve the technical problems is：A kind of lower limb rehabilitation training device, including：Upper limb
Exoskeleton mechanism is tied up and is located on the side upper limb of human body and is rotated with the rotation of the upper limb；Waist deck, is fastened on
In human body waist；Lower limb exoskeleton mechanism is tied up and is located on the opposite other side hemiplegia lower limb of human body, the lower limb exoskeleton
Mechanism is connect with the waist deck；And the controller on the waist deck is set；Wherein, the upper limb ectoskeleton machine
It is provided with angular transducer on structure, is provided with driving motor in the lower limb exoskeleton mechanism, the angular transducer and described
Driving motor is connect by circuit with the controller respectively, when the angular transducer senses the upper limb exoskeleton mechanism
Angle change after send the signal to controller, drive driving motor that lower limb exoskeleton mechanism is driven to turn by the controller
It is dynamic.
Preferably, the upper limb exoskeleton mechanism includes shoulder deck and the shoulder card being fastened at human body shoulder
Seat pivot joint and tying up be located on human body shoulder elbow linking arm on arm with the upper arm rotation, with shoulder elbow linking arm pivot joint and
It ties up to be located under human body on arm and is pivotally connected and ties up and be located at people with the elbow wrist linking arm and the elbow wrist linking arm of the lower arm rotation
The wrist linking arm that body hand is rotated with hand, wherein the angular transducer includes a setting in the shoulder deck and institute
State on the drive-connecting shaft of shoulder elbow linking arm for sense the shoulder elbow linking arm relative to the shoulder deck rotational angle the
One angular transducer, one are arranged on the drive-connecting shaft of the shoulder elbow linking arm and the elbow wrist linking arm for sensing the elbow wrist
Linking arm is connected relative to the second angle sensor of the rotational angle of the shoulder elbow linking arm and a setting in the elbow wrist
For sensing rotation of the wrist linking arm relative to the elbow wrist linking arm on the drive-connecting shaft of arm and the wrist linking arm
The third angle sensor of angle is corresponded to respectively on the shoulder elbow linking arm, the elbow wrist linking arm and the wrist linking arm
It is provided with the first bandage, the second bandage and third bandage, the brachium of the shoulder elbow linking arm and the elbow wrist linking arm is adjustable.
Preferably, the shoulder elbow linking arm include one be pivotally connected with the shoulder deck upper shoulder elbow linking arm, one with it is described
The lower shoulder elbow linking arm that upper shoulder elbow linking arm is detachably connected, wherein the upper shoulder elbow linking arm and the lower shoulder elbow linking arm
It is upper to offer the first elongated slot, length of first elongated slot along the upper shoulder elbow linking arm and the lower shoulder elbow linking arm respectively
Directional spreding is spent, the 4th bolt is equipped in first elongated slot, the 4th nut is bolted on the 4th bolt.
Preferably, the elbow wrist linking arm include one with the upper elbow wrist linking arm of the lower shoulder elbow linking arm pivot joint, one with
The lower elbow wrist linking arm that the upper elbow wrist linking arm is detachably connected, wherein the upper elbow wrist linking arm and the lower elbow wrist connect
It connects and offers the second elongated slot on arm respectively, second elongated slot is along the upper elbow wrist linking arm and the lower elbow wrist linking arm
Length direction distribution, be equipped with the 5th bolt in second elongated slot, the 5th nut be bolted on the 5th bolt.
Preferably, the lower limb exoskeleton mechanism include with waist deck pivot joint and length-adjustable hip knee connecting rod, with
The hip knee connecting rod pivot joint and length-adjustable knee foot connecting rod and knee foot connecting rod pivot joint and length-adjustable foot
Connecting rod, the foot pedal being fastened in the foot connecting rod, wherein the driving motor includes one according to the first angle
The angular rate signal that sensor senses drives the hip knee connecting rod to do the first driving motor, one that respective angles rotate
The angular rate signal sensed according to the second angle sensor drives the knee foot connecting rod to do the of respective angles rotation
Two driving motors and the angular rate signal that is sensed according to the third angle sensor drive the foot connecting rod
The third driving motor of respective angles rotation is done, the hip knee connecting rod is identical as the direction of motion of shoulder elbow linking arm, institute
State the direction of motion of knee foot connecting rod and the elbow wrist linking arm on the contrary, the foot connecting rod and the wrist linking arm fortune
Dynamic direction is identical.
Preferably, the ratio between the rotational angle of the shoulder elbow linking arm and the rotational angle of the hip knee connecting rod are 3:2；Institute
It is 3 to state the ratio between the rotational angle of elbow wrist linking arm and the rotational angle of the knee foot connecting rod:1；The wrist linking arm turns
The ratio between rotational angle of dynamic angle and the foot connecting rod is 2:1.
Preferably, it is provided with telescopic cylinder between the knee foot connecting rod and the foot connecting rod, wherein described flexible
One end of cylinder is pivotally connected with knee foot connecting rod pivot joint, the opposite other end and the foot connecting rod, the telescopic cylinder
It is connect with the controller by circuit.
Preferably, the hip knee connecting rod include one be articulated on the waist deck upper hip knee connecting rod, one fastening
Lower hip knee connecting rod in the upper hip knee connecting rod, wherein fixation is set on the opposite two side of the upper hip knee connecting rod
It is equipped with a pair of of first lug, the first adjusting bolt is bolted in the first lug, is bolted in first adjusting bolt
One adjustable plate, the lower hip knee connecting rod are clamped in first adjustable plate by the first adjusting bolt and are connect with the upper hip knee
Between bar；The knee foot connecting rod include one be articulated in the lower hip knee connecting rod upper knee foot connecting rod, one be fastened on institute
State the lower knee foot connecting rod in knee foot connecting rod, wherein be fixedly installed on the opposite two side of the upper knee foot connecting rod
A pair of second lug is bolted with the second adjusting bolt on second lug, the second tune is bolted in second adjusting bolt
Save plate, the lower knee foot connecting rod by the second adjusting bolt be fastened on second adjustable plate and the upper knee foot connecting rod it
Between；The foot connecting rod include one be articulated in the lower knee foot connecting rod upper foot connecting rod, one be fastened on described
Lower foot connecting rod in foot connecting rod, wherein be fixedly installed a pair on the opposite two side of the upper foot connecting rod
Third lug is bolted with third adjusting bolt on the third lug, third adjustable plate is bolted in the third adjusting bolt,
The lower foot connecting rod is clamped in by third adjusting bolt between the third adjustable plate and the upper foot connecting rod.
Preferably, the lower part of the upper hip knee connecting rod and the top of the lower hip knee connecting rod have been separately formed one first
Accommodating notch, the first lug are located at the described first accommodating indentation, there, and when mounted, the first accommodating notch makes described
The lower part of upper hip knee connecting rod and the top of the lower hip knee connecting rod are spliced to form a rectangular block shape first connecting portion；On described
The lower part of knee foot connecting rod and the top of the lower knee foot connecting rod have been separately formed one second accommodating notch, second lug
Positioned at the described second accommodating indentation, there, when mounted, the second accommodating notch make the lower part of the upper knee foot connecting rod with
The top of the lower knee foot connecting rod is spliced to form a rectangular block shape second connecting portion；The lower part of the upper foot connecting rod and institute
The top for stating lower foot connecting rod has been separately formed the accommodating notch of a third, and the third lug is located at the third and houses notch
Place, when mounted, the third house notch make the upper foot connecting rod lower part and the lower foot connecting rod it is upper
Portion is spliced to form a rectangular block shape third interconnecting piece.
Preferably, the waist deck includes a pair of frieze panel for being disposed around human body waist both sides, the connection frieze panel
Fixed plate, wherein the fixed plate include one with side described in frieze panel be fastenedly connected the first plate portion, one with other side institute
The second plate portion that frieze panel is fastenedly connected is stated, regulating tank is respectively arranged in first plate portion and second plate portion, it is described
The 6th bolt and the 6th nut for fastening first plate portion and second plate portion are provided in regulating tank.
Compared with prior art, the present invention advantage is：Lower limb rehabilitation training device provided by the invention, by people
It tied up on the normal upper limb of body side and sets upper limb exoskeleton mechanism, tied up and set outside limb on the hemiplegia lower limb of the opposite other side of human body
Bone mechanism completes healing hemiplegic lower limb training by using the movement of normal upper limb, has simple in structure, easy to use excellent
Point.
Description of the drawings
Fig. 1 is the structural schematic diagram of lower limb rehabilitation training device of the present invention；
Fig. 2 is the structural schematic diagram of the upper limb exoskeleton mechanism of the present invention；
Fig. 3 is the structural schematic diagram of the lower limb exoskeleton mechanism of the present invention；
Fig. 4 is the structural schematic diagram of the waist deck of the present invention；
Fig. 5 is the structural schematic diagram of the shoulder deck of the present invention.
In figure：10, upper limb exoskeleton mechanism；11, shoulder deck；111, pedestal；112, fixed catch；113, active catch
Piece；12, shoulder elbow linking arm；121, upper shoulder elbow linking arm；122, lower shoulder elbow linking arm；13, elbow wrist linking arm；131, upper elbow wrist connects
Connect arm；132, lower elbow wrist linking arm；14, wrist linking arm；15, the first bandage；16, the second bandage；17, third bandage；20, under
Limb exoskeleton mechanism；21, telescopic cylinder；22, hip knee connecting rod；221, upper hip knee connecting rod；222, lower hip knee connecting rod；223、
First lug；224, the first adjusting bolt；225, the first adjustable plate；23, the first driving motor；24, knee foot connecting rod；241, on
Knee foot connecting rod；242, lower knee foot connecting rod；243, the second lug；244, the second adjusting bolt；245, the second adjustable plate；25、
Second driving motor；26, foot connecting rod；261, upper foot connecting rod；262, lower foot connecting rod；263, third lug；
264, third adjusting bolt；265, third adjustable plate；27, third driving motor；28, foot pedal；30, waist deck；31, fixed
Plate；311, the first plate portion；312, the second plate portion；32, frieze panel；33, mounting plate；40, controller.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art with reference to specification text
Word can be implemented according to this.
As shown in Figure 1, the present invention provides a kind of lower limb rehabilitation training devices, including：Upper limb exoskeleton mechanism 10, is tied up
It is located on the side upper limb of human body and is rotated with the rotation of the upper limb；Waist deck 30, is fastened in human body waist；Under
Limb exoskeleton mechanism 20 is tied up and is located on the opposite other side hemiplegia lower limb of human body, the lower limb exoskeleton mechanism 20 and institute
State the connection of waist deck 30；And the controller 40 on the waist deck 30 is set；Wherein, the upper limb exoskeleton mechanism
It is provided with angular transducer on 10, driving motor, the angular transducer and institute are provided in the lower limb exoskeleton mechanism 20
It states driving motor to connect with the controller 40 by circuit respectively, when the angular transducer senses the upper limb ectoskeleton
Controller 40 is sent the signal to after the angle change of mechanism 10, drives driving motor to drive outside lower limb by the controller 40
Bone mechanism 20 rotates.The lower limb rehabilitation training device of the present invention does rehabilitation training suitable for the faulty patient of limbs, for example
The right leg of some hemiplegia patients is lost consciousness, but left leg is healthy, in this case, is set by being tied up on the right leg of patient
Limb exoskeleton mechanism 20 ties up on the left arm of patient and sets upper limb exoskeleton mechanism 10, is realized with the rotational motion using left arm
The rehabilitation training of right leg；The present invention also can also inversely be implemented as a kind of exercising apparatus for recovery of upper limb, specifically, outside upper limb
Driving motor is set in bone mechanism 10, angular transducer is set in lower limb exoskeleton mechanism 20, lower limb can be passed through in this way
It moves to realize the rehabilitation training of upper limb.
As an embodiment of this programme, as shown in Fig. 2, the upper limb exoskeleton mechanism 10 includes being fastened on human body shoulder
The shoulder deck 11 at place is pivotally connected with the shoulder deck 11 and ties up the shoulder elbow for being located on human body and being rotated with the upper arm on arm
Linking arm 12 is pivotally connected with the shoulder elbow linking arm 12 and ties up to be located under human body on arm and connect with the elbow wrist of the lower arm rotation
Arm 13 and the elbow wrist linking arm 13, which are pivotally connected and tie up, is located at the wrist linking arm 14 that human hands are rotated with hand, wherein described
Angular transducer include one be arranged on the drive-connecting shaft of the shoulder deck 11 and the shoulder elbow linking arm 12 it is described for sensing
Shoulder elbow linking arm 12 connects relative to the first angle sensor of the rotational angle of the shoulder deck 11, a setting in the shoulder elbow
Arm 12 is connect to connect relative to the shoulder elbow for sensing the elbow wrist linking arm 13 on the drive-connecting shaft of the elbow wrist linking arm 13
The second angle sensor of the rotational angle of arm 12 and a setting are in the elbow wrist linking arm 13 and the wrist linking arm 14
Drive-connecting shaft on for sensing third angle of the wrist linking arm 14 relative to the rotational angle of the elbow wrist linking arm 13
Sensor is correspondingly arranged on the shoulder elbow linking arm 12, the elbow wrist linking arm 13 and the wrist linking arm 14 respectively
The brachium of one bandage 15, the second bandage 16 and third bandage 17, the shoulder elbow linking arm 12 and the elbow wrist linking arm 13 is adjustable.
As an embodiment of this programme, as shown in Fig. 2, the shoulder elbow linking arm 12 includes one and the shoulder deck 11
The lower shoulder elbow linking arm 122 that the upper shoulder elbow linking arm 121, one of pivot joint is detachably connected with the upper shoulder elbow linking arm 121,
In, the first elongated slot is offered on the upper shoulder elbow linking arm 121 and the lower shoulder elbow linking arm 122 respectively, described first is thin
Elongated slot is distributed along the length direction of the upper shoulder elbow linking arm 121 and the lower shoulder elbow linking arm 122, in first elongated slot
It is equipped with the 4th bolt, the 4th nut is bolted on the 4th bolt, the upper shoulder elbow linking arm 121 and the lower shoulder elbow connect
Arm 122 is connect to connect with the 4th nut by the 4th bolt.In use, by unscrewing described in the 4th nut realization
The adjusting of 12 length of shoulder elbow linking arm has preferable versatility, structure letter with the patient suitable for different heights and weight
Single, use is easy to operate.
As an embodiment of this programme, as shown in Fig. 2, the elbow wrist linking arm 13 is connect including one with the lower shoulder elbow
The lower elbow wrist linking arm that the upper elbow wrist linking arm 131, one that arm 122 is pivotally connected is detachably connected with the upper elbow wrist linking arm 131
132, wherein the second elongated slot is offered respectively on the upper elbow wrist linking arm 131 and the lower elbow wrist linking arm 132, it is described
Second elongated slot is distributed along the length direction of the upper elbow wrist linking arm 131 and the lower elbow wrist linking arm 132, and described second is thin
Be equipped with the 5th bolt in elongated slot, be bolted with the 5th nut on the 5th bolt, the upper elbow wrist linking arm 131 and it is described under
Elbow wrist linking arm 132 is connected by the 5th bolt with the 5th nut.In use, real by unscrewing the 5th nut
The adjusting of existing 13 length of elbow wrist linking arm has preferable versatility, knot with the patient suitable for different heights and weight
Structure is simple, and use is easy to operate.
As an embodiment of this programme, as shown in figures 1 and 3, the lower limb exoskeleton mechanism 20 includes and waist card
30 pivot joint of seat and length-adjustable hip knee connecting rod 22 and the hip knee connecting rod 22 pivot joint and length-adjustable knee foot connecting rod
24, with the knee foot connecting rod 24 pivot joint and length-adjustable foot connecting rod 26, be fastened in the foot connecting rod 26
Foot pedal 28, wherein the driving motor includes an angular rate signal drive sensed according to the first angle sensor
The first driving motor 23, one that the hip knee connecting rod 22 does respective angles rotation is set to be sensed according to the second angle sensor
To angular rate signal drive the knee foot connecting rod 24 do respective angles rotation the second driving motor 25 and a basis
The angular rate signal that the third angle sensor senses drives the foot connecting rod 26 to do the of respective angles rotation
Three driving motors 27, the hip knee connecting rod 22 is identical as the direction of motion of the shoulder elbow linking arm 12, the knee foot connecting rod
24 with the direction of motion of the elbow wrist linking arm 13 on the contrary, the movement side of the foot connecting rod 26 and the wrist linking arm 14
To identical.
As an embodiment of this programme, as shown in Figure 1, the rotational angle of the shoulder elbow linking arm 12 connects with the hip knee
The ratio between rotational angle of extension bar 22 is 3:2；The rotation of the rotational angle of the elbow wrist linking arm 13 and the knee foot connecting rod 24
The ratio between angle is 3:1；The ratio between the rotational angle of the wrist linking arm 14 and the rotational angle of the foot connecting rod 26 are 2:
1.In the present invention, the rotational angle of the hip knee connecting rod 22, the knee foot connecting rod 24 and the foot connecting rod 26 is set
It sets smaller than the rotational angle of corresponding the shoulder elbow linking arm 12, the elbow wrist linking arm 13 and the wrist linking arm 14 to be
In order to reduce the motion amplitude of hemiplegia lower limb, in favor of the rehabilitation of lower limb.
As an embodiment of this programme, as shown in Figure 1, between the knee foot connecting rod 24 and the foot connecting rod 26
It is provided with telescopic cylinder 21, wherein one end of the telescopic cylinder 21 and the knee foot connecting rod 24 pivot joint, the opposite other end
It is pivotally connected with the foot connecting rod 26, the telescopic cylinder 21 is connect by circuit with the controller 40.The telescopic cylinder
There are one the effects buffered for 21 tools, to mitigate the impact to sole, in favor of the rehabilitation of hemiplegia lower limb.
As an embodiment of this programme, as shown in figure 3, the hip knee connecting rod 22 is articulated in the waist card including one
Upper hip knee connecting rod 221, one on seat 30 is fastened on the lower hip knee connecting rod 222 in the upper hip knee connecting rod 221, wherein
A pair of of first lug 223 is fixedly installed on the opposite two side of the upper hip knee connecting rod 221, in the first lug 223
It is bolted with the first adjusting bolt 224, the first adjustable plate 225, the lower hip knee connection are bolted in first adjusting bolt 224
Bar 222 is clamped in by the first adjusting bolt 224 between first adjustable plate 225 and the upper hip knee connecting rod 221；It is described
Knee foot connecting rod 24 is fastened on including a upper knee foot connecting rod 241, one being articulated in the lower hip knee connecting rod 222 on described
Lower knee foot connecting rod 242 in knee foot connecting rod 241, wherein fixation is set on the opposite two side of the upper knee foot connecting rod 241
It is equipped with a pair of second lug 243, the second adjusting bolt 244, second adjusting bolt are bolted on second lug 243
The second adjustable plate 245 is bolted on 244, the lower knee foot connecting rod 242 is fastened on described second by the second adjusting bolt 244
Between adjustable plate 245 and the upper knee foot connecting rod 241；The foot connecting rod 26 is articulated in the lower knee including one and connects enough
Upper foot connecting rod 261, one on bar 242 is fastened on the lower foot connecting rod 262 in the upper foot connecting rod 261, wherein
A pair of of third lug 263 is fixedly installed on the opposite two side of the upper foot connecting rod 261, on the third lug 263
It is bolted with third adjusting bolt 264, third adjustable plate 265, the lower foot connection are bolted in the third adjusting bolt 264
Bar 262 is clamped in by third adjusting bolt 264 between the third adjustable plate 265 and the upper foot connecting rod 261.
As an embodiment of this programme, as shown in figure 3, the lower part of the upper hip knee connecting rod 221 and the lower hip knee
The top of connecting rod 222 has been separately formed one first accommodating notch, and the first lug 223 is located at the described first accommodating notch
Place, when mounted, the first accommodating notch make the lower part of the upper hip knee connecting rod 221 and the lower hip knee connecting rod
222 top is spliced to form a rectangular block shape first connecting portion；The lower part of the upper knee foot connecting rod 241 and the lower knee connect enough
The top of extension bar 242 has been separately formed one second accommodating notch, and second lug 243 is located at the described second accommodating indentation, there,
When mounted, the described second accommodating notch makes lower part and the lower knee foot connecting rod 242 of the upper knee foot connecting rod 241
Top is spliced to form a rectangular block shape second connecting portion；The lower part of the upper foot connecting rod 261 and the lower foot connecting rod
262 top has been separately formed a third and has housed notch, and the third lug 263 is located at the third and houses indentation, there, pacifying
When dress, the third houses the top that notch makes the lower part and the lower foot connecting rod 262 of the upper foot connecting rod 261
It is spliced to form a rectangular block shape third interconnecting piece；The first accommodating notch, the second accommodating notch and the third are accommodating
There are one the effects limited for notch tool.
As an embodiment of this programme, as shown in figure 4, the waist deck 30 is disposed around human body waist two including a pair
The frieze panel 32 of side, the fixed plate 31 for connecting the frieze panel 32, wherein the fixed plate 31 includes girdling the waist described in one and side
The second plate portion 312 that the first plate portion 311, one that plate 32 is fastenedly connected is fastenedly connected with frieze panel 32 described in the other side, described the
It is respectively arranged with regulating tank in one plate portion 311 and second plate portion 312, is provided in the regulating tank for fastening described
The 6th bolt and the 6th nut of one plate portion 311 and second plate portion 312, frieze panel 32 can be adjusted by the regulating tank
Between spacing with the patient suitable for different building shape；The part that the frieze panel 32 is contacted with human body waist is curved surface, is met
Ergonomic designs；The mounting plate 33 for being pivotally connected the hip knee connecting rod 22 is further fixedly arranged on the frieze panel 32.
As an embodiment of this programme, as shown in figure 5, the shoulder deck 11, which includes a pedestal 111, one, fixes catch
112 and an active blade 113, wherein the fixed catch 112 and the active blade 113 are arranged at the pedestal 111
On, the fixed catch 112 and the active blade 113 are opposite and set and the fixed catch 112 and the active blade 113
Between the adjustable patient with suitable for different building shape of spacing, it is easy to use.
The operation principle of the lower limb rehabilitation training device is as follows：Before carrying out rehabilitation training, first passing through shoulder deck 11 will be upper
Limb exoskeleton mechanism 10 is worn on normal side upper limb, is worn on lower limb exoskeleton mechanism 20 partially by waist deck 30
On the other side lower limb of paralysis, in the present invention, the upper limb exoskeleton mechanism 10 and the lower limb exoskeleton mechanism 20 are located in opposite directions
Both sides, i.e., when the upper limb exoskeleton mechanism 10 is worn on left arm, the lower limb exoskeleton mechanism 20 is worn on right leg
On, followed by the first bandage 15, the second bandage 16 and third bandage 17 respectively by shoulder elbow linking arm 12,13 and of elbow wrist linking arm
Wrist linking arm 14, which is tied up, to be located on left arm；When carrying out rehabilitation training, rotation shoulder elbow linking arm 12, at this point, being located at the shoulder card
Angle signal is sent to controller 40 by the first angle sensor on the drive-connecting shaft of seat 11 and the shoulder elbow linking arm 12, described
First driving motor 23 drives institute according to the angular rate signal that the first angle sensor that the controller 40 transmits senses
It states hip knee connecting rod 22 and does respective angles rotation；Elbow wrist linking arm 13 is rotated, at this point, positioned at the shoulder elbow linking arm 12 and described
Angle signal is sent to controller 40, the second driving electricity by the second angle sensor on the drive-connecting shaft of elbow wrist linking arm 13
Machine 25 drives the hip knee to connect according to the angular rate signal that the second angle sensor that the controller 40 transmits senses
Bar 24 does respective angles rotation, and the hip knee connecting rod 24 is opposite with the direction of motion of the elbow wrist linking arm 13；Rotate wrist
Linking arm 14, at this point, the third angle sensing on the drive-connecting shaft of the elbow wrist linking arm 13 and the wrist linking arm 14
Angle signal is sent to controller 40 by device, and the third driving motor 27 is passed according to the third angle that the controller 40 transmits
The angular rate signal that sensor senses drives the foot connecting rod 26 to do respective angles rotation.
Although the embodiments of the present invention have been disclosed as above, but it is not limited in listed fortune in specification and embodiments
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily real
Now other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is not limited to
Specific details and legend shown and described herein.
Claims (10)
1. a kind of lower limb rehabilitation training device, which is characterized in that including：
Upper limb exoskeleton mechanism（10）, tie up and be located on the side upper limb of human body and rotated with the rotation of the upper limb；
Waist deck（30）, it is fastened in human body waist；
Lower limb exoskeleton mechanism（20）, it ties up and is located on the opposite other side hemiplegia lower limb of human body, the lower limb exoskeleton machine
Structure（20）With the waist deck（30）Connection；And
It is arranged in the waist deck（30）On controller（40）；
Wherein, the upper limb exoskeleton mechanism（10）On be provided with angular transducer, the lower limb exoskeleton mechanism（20）On set
It is equipped with driving motor, the angular transducer and the driving motor pass through circuit and the controller respectively（40）Connection, when
The angular transducer senses the upper limb exoskeleton mechanism（10）Angle change after send the signal to controller（40）,
Pass through the controller（40）Driving motor is driven to drive lower limb exoskeleton mechanism（20）Rotation.
2. lower limb rehabilitation training device as described in claim 1, which is characterized in that the upper limb exoskeleton mechanism（10）Including
The shoulder deck being fastened at human body shoulder（11）And the shoulder deck（11）It is pivotally connected and ties up and be located on human body on arm with institute
State the shoulder elbow linking arm of arm rotation（12）And the shoulder elbow linking arm（12）It is pivotally connected and ties up and be located under human body on arm with institute
State the elbow wrist linking arm of lower arm rotation（13）And the elbow wrist linking arm（13）It is pivotally connected and ties up and be located at human hands with hand turn
Dynamic wrist linking arm（14）, wherein the angular transducer includes a setting in the shoulder deck（11）With the shoulder elbow
Linking arm（12）Drive-connecting shaft on for sensing the shoulder elbow linking arm（12）Relative to the shoulder deck（11）Angle of rotation
The first angle sensor of degree, one are arranged in the shoulder elbow linking arm（12）With the elbow wrist linking arm（13）Drive-connecting shaft on use
In the sensing elbow wrist linking arm（13）Relative to the shoulder elbow linking arm（12）Rotational angle second angle sensor with
And one be arranged in the elbow wrist linking arm（13）With the wrist linking arm（14）Drive-connecting shaft on connect for sensing the wrist
Connect arm（14）Relative to the elbow wrist linking arm（13）Rotational angle third angle sensor, the shoulder elbow linking arm
（12）, the elbow wrist linking arm（13）With the wrist linking arm（14）It is upper to be correspondingly arranged on the first bandage respectively（15）, second
Bandage（16）With third bandage（17）, the shoulder elbow linking arm（12）With the elbow wrist linking arm（13）Brachium it is adjustable.
3. lower limb rehabilitation training device as claimed in claim 2, which is characterized in that the shoulder elbow linking arm（12）Including one with
The shoulder deck（11）The upper shoulder elbow linking arm of pivot joint（121）, one with the upper shoulder elbow linking arm（121）It is detachably connected
Lower shoulder elbow linking arm（122）, wherein the upper shoulder elbow linking arm（121）With the lower shoulder elbow linking arm（122）It is upper to open respectively
Equipped with the first elongated slot, first elongated slot is along the upper shoulder elbow linking arm（121）With the lower shoulder elbow linking arm（122）'s
Length direction is distributed, and is equipped with the 4th bolt in first elongated slot, the 4th nut is bolted on the 4th bolt.
4. lower limb rehabilitation training device as claimed in claim 3, which is characterized in that the elbow wrist linking arm（13）Including one with
The lower shoulder elbow linking arm（122）The upper elbow wrist linking arm of pivot joint（131）, one with the upper elbow wrist linking arm（131）Detachably
The lower elbow wrist linking arm of connection（132）, wherein the upper elbow wrist linking arm（131）With the lower elbow wrist linking arm（132）Upper point
The second elongated slot is not offered, and second elongated slot is along the upper elbow wrist linking arm（131）With the lower elbow wrist linking arm
（132）Length direction distribution, be equipped with the 5th bolt in second elongated slot, the 5th spiral shell be bolted on the 5th bolt
It is female.
5. lower limb rehabilitation training device as claimed in claim 2, which is characterized in that the lower limb exoskeleton mechanism（20）Including
With waist deck（30）Pivot joint and length-adjustable hip knee connecting rod（22）And the hip knee connecting rod（22）It is pivotally connected and length can
The knee foot connecting rod of tune（24）And the knee foot connecting rod（24）Pivot joint and length-adjustable foot connecting rod（26）, be fastened on
The foot connecting rod（26）On foot pedal（28）, wherein the driving motor includes one according to first angle sensing
The angular rate signal that device senses drives the hip knee connecting rod（22）Do the first driving motor of respective angles rotation（23）、
One angular rate signal sensed according to the second angle sensor drives the knee foot connecting rod（24）Do respective angles
Second driving motor of rotation（25）And one the angular rate signal that is sensed according to the third angle sensor drive institute
State foot connecting rod（26）Do the third driving motor of respective angles rotation（27）, the hip knee connecting rod（22）With the shoulder elbow
Linking arm（12）The direction of motion it is identical, the knee foot connecting rod（24）With the elbow wrist linking arm（13）Direction of motion phase
Instead, the foot connecting rod（26）With the wrist linking arm（14）The direction of motion it is identical.
6. lower limb rehabilitation training device as claimed in claim 5, which is characterized in that the shoulder elbow linking arm（12）Angle of rotation
Degree and the hip knee connecting rod（22）The ratio between rotational angle be 3:2；The elbow wrist linking arm（13）Rotational angle and described
Knee foot connecting rod（24）The ratio between rotational angle be 3:1；The wrist linking arm（14）Rotational angle connected with the foot
Bar（26）The ratio between rotational angle be 2:1.
7. lower limb rehabilitation training device as claimed in claim 5, which is characterized in that the knee foot connecting rod（24）With the foot
Portion's connecting rod（26）Between be provided with telescopic cylinder（21）, wherein the telescopic cylinder（21）One end and the knee connect enough
Bar（24）Pivot joint, the opposite other end and the foot connecting rod（26）Pivot joint, the telescopic cylinder（21）Pass through circuit and institute
State controller（40）Connection.
8. lower limb rehabilitation training device as claimed in claim 5, which is characterized in that the hip knee connecting rod（22）Including a pivot
It is connected on the waist deck（30）On upper hip knee connecting rod（221）, one be fastened on the upper hip knee connecting rod（221）On under
Hip knee connecting rod（222）, wherein the upper hip knee connecting rod（221）Opposite two side on to be fixedly installed a pair first convex
Ear（223）, the first lug（223）On be bolted with the first adjusting bolt（224）, first adjusting bolt（224）Upper spiral shell
It is connected to the first adjustable plate（225）, the lower hip knee connecting rod（222）Pass through the first adjusting bolt（224）It is clamped in described first
Adjustable plate（225）With the upper hip knee connecting rod（221）Between；The knee foot connecting rod（24）It is articulated in the lower hip including one
Knee connecting rod（222）On upper knee foot connecting rod（241）, one be fastened on the upper knee foot connecting rod（241）On lower knee connect enough
Extension bar（242）, wherein the upper knee foot connecting rod（241）Opposite two side on be fixedly installed a pair of second lug
（243）, second lug（243）On be bolted with the second adjusting bolt（244）, second adjusting bolt（244）On be spirally connected
There is the second adjustable plate（245）, the lower knee foot connecting rod（242）Pass through the second adjusting bolt（244）Described second is fastened on to adjust
Save plate（245）With the upper knee foot connecting rod（241）Between；The foot connecting rod（26）It is articulated in the lower knee foot including one
Connecting rod（242）On upper foot connecting rod（261）, one be fastened on the upper foot connecting rod（261）On lower foot connection
Bar（262）, wherein the upper foot connecting rod（261）Opposite two side on be fixedly installed a pair of of third lug（263）,
The third lug（263）On be bolted with third adjusting bolt（264）, the third adjusting bolt（264）On be bolted with third
Adjustable plate（265）, the lower foot connecting rod（262）Pass through third adjusting bolt（264）It is clamped in the third adjustable plate
（265）With the upper foot connecting rod（261）Between.
9. lower limb rehabilitation training device as claimed in claim 8, which is characterized in that the upper hip knee connecting rod（221）Under
Portion and the lower hip knee connecting rod（222）Top be separately formed one first accommodating notch, the first lug（223）It is located at
The first accommodating indentation, there, when mounted, the first accommodating notch make the upper hip knee connecting rod（221）Lower part with
The lower hip knee connecting rod（222）Top be spliced to form a rectangular block shape first connecting portion；The upper knee foot connecting rod（241）
Lower part and the lower knee foot connecting rod（242）Top be separately formed one second accommodating notch, second lug（243）
Positioned at the described second accommodating indentation, there, when mounted, the second accommodating notch makes the upper knee foot connecting rod（241）Under
Portion and the lower knee foot connecting rod（242）Top be spliced to form a rectangular block shape second connecting portion；The upper foot connecting rod
（261）Lower part and the lower foot connecting rod（262）Top be separately formed a third house notch, the third lug
（263）Indentation, there is housed positioned at the third, when mounted, the third houses notch and makes the upper foot connecting rod
（261）Lower part and the lower foot connecting rod（262）Top be spliced to form a rectangular block shape third interconnecting piece.
10. lower limb rehabilitation training device as described in claim 1, which is characterized in that the waist deck（30）Including a pair
It is disposed around the frieze panel of human body waist both sides（32）, the connection frieze panel（32）Fixed plate（31）, wherein the fixed plate
（31）Including one and frieze panel described in side（32）The first plate portion being fastenedly connected（311）, one with the other side described in frieze panel
（32）The second plate portion being fastenedly connected（312）, first plate portion（311）With second plate portion（312）On be respectively arranged with
Regulating tank is provided with for fastening first plate portion in the regulating tank（311）With second plate portion（312）The 6th spiral shell
Bolt and the 6th nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810362477.2A CN108478387B (en) | 2018-04-20 | 2018-04-20 | Lower limb rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810362477.2A CN108478387B (en) | 2018-04-20 | 2018-04-20 | Lower limb rehabilitation training device |
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| CN108478387A true CN108478387A (en) | 2018-09-04 |
| CN108478387B CN108478387B (en) | 2023-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810362477.2A Active CN108478387B (en) | 2018-04-20 | 2018-04-20 | Lower limb rehabilitation training device |
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| CN110123590A (en) * | 2019-05-31 | 2019-08-16 | 武汉轻工大学 | Convalescence device |
| CN110279560A (en) * | 2019-07-29 | 2019-09-27 | 武汉轻工大学 | Utilize the healing robot of opposite side upper limb control lower limb |
| CN111249119A (en) * | 2020-01-20 | 2020-06-09 | 深圳市丞辉威世智能科技有限公司 | Combined lower limb exoskeleton rehabilitation device |
| CN114652578A (en) * | 2022-03-18 | 2022-06-24 | 法罗适(上海)医疗技术有限公司 | Lower limb rehabilitation training evaluation device and rehabilitation training evaluation method |
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| CN108478387B (en) | 2023-11-07 |
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