CN108606907B - Movable parallel flexible cable driven lower limb rehabilitation robot and implementation method thereof - Google Patents

Movable parallel flexible cable driven lower limb rehabilitation robot and implementation method thereof Download PDF

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Publication number
CN108606907B
CN108606907B CN201810407801.8A CN201810407801A CN108606907B CN 108606907 B CN108606907 B CN 108606907B CN 201810407801 A CN201810407801 A CN 201810407801A CN 108606907 B CN108606907 B CN 108606907B
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flexible cable
robot
patient
training
rehabilitation
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CN108606907A (en
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邹宇鹏
王诺
刘凯
李俊卿
耿小虎
黄颖涵
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China University of Petroleum East China
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China University of Petroleum East China
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    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • 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
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • 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
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
    • A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • 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
    • A63B2220/51—Force

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  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
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Abstract

The invention relates to a movable parallel flexible cable driven lower limb rehabilitation robot and an implementation method thereof. The device comprises a suspension weight reduction unit, a tension sensor, a safety harness, a safety handrail, a spring, a door sill, a flexible cable driving unit, a universal driven wheel, a leg wearing device, a treadmill, a rear driving wheel, a flexible cable, a support frame and a liquid crystal display screen. The whole truss structure is formed by a support frame, and the upper suspension weight-reducing unit is connected with the safety harness through a flexible cable; the waist movement of the patient is restrained by four groups of springs connected between the left vertical beam, the right vertical beam and the safety braces; a liquid crystal display screen is arranged above the safety handrail at the front part of the robot; the patient and the wheelchair enter and exit through the left door fence; four groups of flexible cable driving units are arranged on four cross beams at the corresponding positions of the sagittal plane of each affected limb, and the affected limb is driven to realize rehabilitation training by the flexible cable traction leg wearing device; the front part of the bottom of the robot is provided with a universal driven wheel, and the rear part of the bottom of the robot is provided with a rear driving wheel. The robot can realize the gait training and the walking training in a passive mode, an assisted mode and an active mode.

Description

Movable parallel flexible cable driven lower limb rehabilitation robot and implementation method thereof
Technical Field
The invention relates to a medical rehabilitation training instrument, in particular to a movable parallel flexible cable driven lower limb rehabilitation robot and an implementation method thereof.
Background
With the rapid development of society, the living standard of people is greatly improved, but sudden disasters such as natural disasters, accidents, diseases and the like greatly reduce the living quality of people. Although modern medical technology can reduce the death rate after the disaster to the maximum extent, the limb movement dysfunction caused by the sudden disaster, especially the lower limb disorder, can seriously affect the life of the patient after the disaster. Research shows that correct and scientific exercise rehabilitation training plays an important role in recovering the exercise function of patients. The robot can repeat complex training actions for a long time, has low cost, high efficiency, stability and reliability, has unique advantages of realizing lower limb rehabilitation training through the robot, and is gradually accepted clinically. With the increasing aging degree of the society in China and the increasing attention on the rehabilitation career of the disabled, the rehabilitation robot can obtain huge development opportunities and spaces under the instruction of the planning of '2025 made in China'.
The lower limb rehabilitation robot can be divided into an exoskeleton type robot and a pedal type robot according to the configuration. The exoskeleton type takes an open chain series mechanism or a series-parallel mechanism as a main body, a plurality of human-computer contacts, the robot joints correspond to the joints of the lower limbs, and the exoskeleton and the affected limbs coordinate to move to realize training. Typical products are Lokomat, HAL, Rewalk, etc. The robot can realize single-joint and multi-joint training; the affected limb has a large range of motion, and can realize passive training in various forms. However, the application range is limited, and the active training effect is not ideal. The pedal type utilizes the pedal to drive the foot to simulate walking action, and other joints of the lower limb follow up. Such as G-EO System, RT-600, ICARE, etc. The robot is simple in configuration and easy to realize passive, power-assisted and active training; the human-computer single-end contact can realize the human-computer coordinated motion. But the single joint training is difficult to realize and the man-machine contact force is difficult to control; limited by the configuration, the range of motion of the affected limb is limited.
At present, low-end lower limb rehabilitation products are simple and cheap, have the most clinical application, but have single function, low automation level, time and labor waste and unsatisfactory curative effect; the domestic research of high-end products starts late, the clinical practice is less, the dependence on import is serious, the cost is high, and the popularization is difficult. On the technical level, the investment still needs to be increased, and the problems of the lower limb rehabilitation robot in configuration design, man-machine coordination, weight loss/gravity compensation, multi-mode rehabilitation training and the like are solved. Compared with the traditional rigid series/parallel robot, the parallel flexible cable robot has the advantages of large working space, adjustable rigidity, large load weight ratio, flexible working mode and unique comprehensive performance advantage.
Disclosure of Invention
The invention aims to provide a movable parallel flexible cable driven lower limb rehabilitation robot and an implementation method thereof, aiming at the defects in the prior art, which can assist patients in different rehabilitation stages to carry out rehabilitation training in an active mode, a power-assisted mode and a passive mode, and provide a more effective rehabilitation device and method for patients with lower limb disabilities.
The invention provides a movable parallel flexible cable driven lower limb rehabilitation robot, which comprises a suspended weight reduction unit (1), tension sensors (2), safety braces (3), safety handrails (4), springs (5), door fences (6), a flexible cable driving unit (7), universal driven wheels (8), a leg wearing device (9), a treadmill (10), rear driving wheels (11), flexible cables (12), a support frame (13) and a liquid crystal display screen (14), the whole is of a truss structure formed by the support frame (13), the suspended weight reduction unit (1) is arranged at the top of the robot and is connected with the safety braces (3) worn by patients through the flexible cables, the tension sensors (2) are arranged on the flexible cables, the waist movement of the patients is restrained by four groups of springs (5) connected between four left and right vertical beams and the safety braces (3), and the patients and wheelchairs pass in and out through the left door fences (6), four groups of flexible cable driving units (7) are respectively arranged on four cross beams at the corresponding positions of the sagittal planes of each affected limb on each side, the affected limb is driven to realize rehabilitation training by pulling a leg wearing device (9) through flexible cables (12), a universal driven wheel (8) is arranged in front of the bottom of the robot, a rear driving wheel (11) is arranged at the rear of the bottom of the robot, the robot can realize walking training of a patient on the ground by moving, and the robot is fixed and can realize gait training of the patient by being matched with a running machine (10).
The flexible cable (12) is pulled by the hanging weight reduction unit (1) arranged at the top of the support frame (13), and then is connected to the hook above the safety harness (3) worn by the patient through the tension sensor (2), so that on one hand, the tension of the flexible cable is monitored in real time, different weight reduction effects are provided for the patient according to the requirements of different rehabilitation modes, and on the other hand, the safety of the patient in the rehabilitation training process is ensured.
The waist movement of the patient is restrained by four groups of springs (5) connected between the four vertical beams on the left and the right of the robot and the safety braces (3), in the rehabilitation training process, the springs (5) fix the relative position of the waist of the patient within a certain range and are matched with the flexible cable driving unit (7), the coordinated movement of the affected limb and the trunk is realized, the accuracy of the posture in the rehabilitation training process is ensured, and the safety of the patient is ensured.
A liquid crystal display screen (14) is arranged above the safety handrail (4), so that the motion conditions of all parts and the motion tracks of all joints during rehabilitation training can be monitored in real time, human-computer interaction can be realized through a rehabilitation training game, and the rehabilitation efficiency is improved.
The eight groups of flexible cable driving units (7) are arranged on the four cross beams at the corresponding positions of the sagittal plane of each affected limb, the flexible cable driving units (7) can move left and right on the cross beams according to different body types of patients, the flexible cable driving units (7) and the affected limbs are ensured to be positioned on the same plane, the knee joints are drawn by the two groups of flexible cable driving units (7) positioned at the lower part in the sagittal plane, and the ankle joints are drawn by the two groups of flexible cable driving units (7) positioned at the upper part in the sagittal plane.
The rear driving wheel (11) controls the motion of the robot, the rear driving wheel (11) moves in a differential way to change the motion direction, the front universal driven wheel (8) follows up, and eight groups of flexible cable driving units coordinate to control the motion of the affected limb in the motion process, thereby realizing the walking training.
The rear driving wheel (11) and the front universal driven wheel (8) are locked, the robot is fixed, the treadmill (10) provides proper speed according to the training mode and the actual condition of the patient, and eight groups of flexible cable driving units coordinate to control the movement of the affected limb, thereby realizing gait training.
The implementation method of the movable parallel flexible cable driven lower limb rehabilitation robot comprises the following steps:
firstly, a rehabilitation doctor determines a rehabilitation training mode of a patient according to basic data of the patient:
in the passive mode, the lower limbs of a patient completely depend on external force to complete movement, the robot takes a movement track as a control object, the stretching amount of each flexible cable is coordinated and planned, in the training process, eight groups of flexible cables of the robot enable the lower limbs of the patient to passively move along a preset track at a corresponding speed by drawing a leg wearing device, meanwhile, the system monitors the movement track of a diseased limb and the tension of each flexible cable in the movement process in real time, the muscle tension and the spasm degree of the diseased limb are evaluated, when the muscle tension of the diseased limb is overlarge, the internal tension of each flexible cable is correspondingly increased in order to keep the set speed, when the tension of the flexible cable exceeds the maximum limit value, the robot stops working, the spasm is monitored, and the diseased limb is prevented from being pulled;
under the assistance mode, a patient actively contracts muscles to finish movement under the assistance of external force, the robot takes the auxiliary force as a control object, the internal tension of each flexible cable is coordinated and planned, the affected limb is assisted to finish a specified movement track, the patient autonomously moves according to a target track in the training process, the robot controls the auxiliary force according to position or speed deviation, the motion of the affected limb is limited on a correct track, the movement speed and the auxiliary force of the robot are recorded, and therefore indexes such as the motion coordination, the control capability and the like of the patient can be evaluated;
in the active mode, the affected limb actively contracts muscles to complete movement, the robot takes output resistance as a control object, the traction resistance of each flexible cable is coordinated and planned, in the training process, a patient autonomously selects a movement mode, the robot coordinates each flexible cable to move along with the lower limb, applies various forms of movement resistance according to the requirements of the patient, records the movement track of the affected limb, obtains parameters such as the movement speed and the movement frequency of the affected limb, and evaluates the movement coordination, the control capability and the muscle strength index of the patient.
Compared with the prior art, the invention has the following beneficial effects:
(1) the movable parallel flexible cable driven lower limb rehabilitation robot adopts the flexible cable as a transmission element and finally executes rehabilitation training, and the robot is in modular design, so that the whole mechanical structure is simple, the machining cost is low, and the installation and the use are flexible;
(2) the flexible cable has good flexibility, can avoid rigid contact with a human body, and improves the comfort of rehabilitation training; the internal tension of the flexible cable is monitored in real time in the rehabilitation training process, so that the safety of the rehabilitation training is improved;
(3) the movable parallel flexible cable robot has complete constraint characteristics and can meet the complex force and position control requirements of different rehabilitation stages: the rehabilitation movement of the complex pose of the lower limb can be realized through the traction of eight flexible cables; meanwhile, under the coordination work of eight flexible cables, the force control in a plurality of directions and any magnitude in space is easy to realize;
(4) the movable parallel flexible cable driven lower limb rehabilitation robot has three rehabilitation modes, namely a passive mode, a power-assisted mode and an active mode, and can autonomously select the rehabilitation mode according to different rehabilitation stages and rehabilitation requirements, so that the multifunctional lower limb rehabilitation robot is multipurpose, the equipment cost is reduced, and the rehabilitation training space is saved;
(5) the movable parallel flexible cable driven lower limb rehabilitation robot can realize gait training and walking training, diversify the rehabilitation training form and improve the rehabilitation training effect.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a movable parallel-connection flexible cable-driven lower limb rehabilitation robot;
fig. 2 is a schematic diagram of a suspension weight-reducing unit and a waist constraint structure of a movable parallel flexible cable driven lower limb rehabilitation robot;
fig. 3 is a layout diagram of a flexible cable driving unit of a movable parallel flexible cable driven lower limb rehabilitation robot;
FIG. 4 is a schematic diagram of a single-sided traction form of a movable parallel flexible cable driven lower limb rehabilitation robot;
FIG. 5 is a schematic diagram of a movable parallel flexible cable driven chassis moving structure of a lower limb rehabilitation robot;
in the figure: 1-a suspension weight-reducing unit; 2-a tension sensor; 3-safety harness; 4-safety handrails; 5-a spring; 6-door fence; 7-a flexible cable drive unit; 8-universal driven wheel; 9-a leg-wearing device; 10-a treadmill; 11-rear driving wheel; 12-a flexible cable; 13-a support frame; 14-liquid crystal display screen.
Detailed Description
The invention will be further described with reference to the accompanying figures 1 to 5:
the invention provides a movable parallel flexible cable driven lower limb rehabilitation robot which comprises a suspension weight reduction unit (1), a tension sensor (2), a safety harness (3), a safety handrail (4), a spring (5), a door sill (6), a flexible cable driving unit (7), a universal driven wheel (8), a leg wearing device (9), a treadmill (10), a rear driving wheel (11), a flexible cable (12), a support frame (13) and a liquid crystal display screen (14).
The whole truss structure is formed by the support frames (13).
Hang in midair and subtract heavy unit (1) and install at the robot top and link to each other with safe braces (3) that the patient dressed through the flexible cable, be equipped with tension sensor (2) on the flexible cable, on the one hand real-time supervision flexible cable pulling force, according to the demand of different recovered modes, provide different weight of subtracting effects for the patient, on the other hand guarantees the safety of patient in the rehabilitation training process.
Be connected with spring (502) between support frame (1301) and safety braces (3), be connected with spring (501) between support frame (1302) and safety braces (3), be connected with spring (503) between support frame (1303) and safety braces (3), be connected with spring (504) between support frame (1304) and safety braces (3), patient's waist motion is through four group's spring restraint above, ensures the accuracy nature of recovered training in-process gesture to guarantee patient's safety.
The left side of the robot is provided with a door fence (6) which can realize the passage of patients and wheelchairs.
On the sagittal corresponding position of each affected limb, a beam (1305) is provided with a flexible cable driving unit (701) and a flexible cable driving unit (705), a beam (1306) is provided with a flexible cable driving unit (703) and a flexible cable driving unit (707), a beam (1307) is provided with a flexible cable driving unit (702) and a flexible cable driving unit (706), a beam (1308) is provided with a flexible cable driving unit (704) and a flexible cable driving unit (708), and the affected limb is driven to realize rehabilitation training by eight groups of flexible cable traction leg wearing devices (901) and leg wearing devices (902).
The front of the bottom of the robot is provided with a universal driven wheel (801) and a universal driven wheel (802), the rear driving wheel (1101) and a rear driving wheel (1102) are arranged at the rear of the bottom, the robot can move to realize walking training of a patient on the ground, and the robot is fixed and can be matched with the treadmill (10) to realize gait training of the patient.
The rehabilitation training of the affected limb is further explained with reference to fig. 3-4:
a leg wearing device (901) worn by an affected limb, a flexible cable driving unit (701) positioned on a support frame (1305), a flexible cable driving unit (703) positioned on a support frame (1306), a flexible cable driving unit (702) positioned on a support frame (1307), a flexible cable driving unit (704) positioned on the support frame (1308) and the affected limb are positioned in the same sagittal plane, a knee joint is pulled by the flexible cable driving unit (703) and the flexible cable driving unit (704) positioned on the support frame (1306) and the support frame (1308) through a flexible cable (1202) and a flexible cable (1204), an ankle joint is pulled by the flexible cable driving unit (701) and the flexible cable driving unit (702) positioned on the support frame (1305) and the support frame (1307) through a flexible cable (1201) and a flexible cable (1203), the four groups of flexible cable driving units stretch corresponding to the flexible cables according to a program, further drive the knee joint and the ankle joint to move to simulate a walking posture, realizing the rehabilitation training of the affected limb.
The realization of gait training and walking training by the movement of the chassis of the invention is further explained with reference to fig. 5:
the front supporting frame (1306) at the bottom of the robot is provided with a universal driven wheel (801) and a universal driven wheel (802), the rear supporting frame (1308) at the bottom of the robot is provided with a rear driving wheel (1101) and a rear driving wheel (1102), the robot controls the movement of the robot through the rear driving wheel (1101) and the rear driving wheel (1102), the differential movement of the rear driving wheel (1101) and the rear driving wheel (1102) can change the movement direction, the front universal driven wheel (801) and the universal driven wheel (802) follow up, eight groups of driving units coordinate to control the movement of the affected limb in the movement process, and the walking training is realized.
The robot is fixed, the treadmill (10) provides proper speed according to a training mode and the actual condition of a patient, eight groups of driving units coordinate and control the motion of the affected limb, and gait training is realized.
The invention provides a specific implementation method of each rehabilitation action of a movable parallel flexible cable driven lower limb rehabilitation robot, which comprises the following steps:
firstly, a rehabilitation doctor determines a rehabilitation mode of a patient according to basic data of the patient, and sets an operation mode of the robot:
in the passive mode, the lower limbs of a patient completely depend on external force to complete movement, the robot takes a movement track as a control object, the stretching amount of each flexible cable is coordinated and planned, in the training process, eight groups of flexible cables of the robot enable the lower limbs of the patient to passively move along a preset track at a corresponding speed by drawing a leg wearing device, meanwhile, the system monitors the movement track of a diseased limb and the tension of each flexible cable in the movement process in real time, the muscle tension and the spasm degree of the diseased limb are evaluated, when the muscle tension of the diseased limb is overlarge, the internal tension of each flexible cable is correspondingly increased in order to keep the set speed, when the tension of the flexible cable exceeds the maximum limit value, the robot stops working, the spasm is monitored, and the diseased limb is prevented from being pulled;
under the assistance mode, a patient actively contracts muscles to finish movement under the assistance of external force, the robot takes the auxiliary force as a control object, the internal tension of each flexible cable is coordinated and planned, the affected limb is assisted to finish a specified movement track, the patient autonomously moves according to a target track in the training process, the robot controls the auxiliary force according to position or speed deviation, the motion of the affected limb is limited on a correct track, the movement speed and the auxiliary force of the robot are recorded, and therefore indexes such as the motion coordination, the control capability and the like of the patient can be evaluated;
in the active mode, the affected limb actively contracts muscles to complete movement, the robot takes output resistance as a control object, the traction resistance of each flexible cable is coordinated and planned, in the training process, a patient autonomously selects a movement mode, the robot coordinates each flexible cable to move along with the lower limb, applies various forms of movement resistance according to the requirements of the patient, records the movement track of the affected limb, obtains parameters such as the movement speed and the movement frequency of the affected limb, and evaluates the movement coordination, the control capability and the muscle strength index of the patient.
In addition, the positions of the flexible cable driving units can be rearranged according to actual rehabilitation requirements, the configuration of the robot is reconstructed, and the application range of the robot is expanded.
The above description is only a few preferred embodiments of the present invention, and any person skilled in the art can modify the above-described technical solutions or modify them into equivalent technical solutions, so that any simple modification or equivalent replacement performed according to the technical solutions of the present invention falls within the scope of the present invention.

Claims (6)

1. A movable parallel-connection flexible cable driven lower limb rehabilitation robot comprises a suspension weight reduction unit (1), a tension sensor (2), a safety harness (3), a safety handrail (4), a spring (5), a door sill (6), a flexible cable driving unit (7), a universal driven wheel (8), a leg wearing device (9), a treadmill (10), a rear driving wheel (11), a flexible cable (12), a support frame (13) and a liquid crystal display screen (14);
the whole body of the robot is a truss structure formed by a support frame (13), a suspension weight-reducing unit (1) is arranged at the top of the robot and is connected with a safety harness (3) worn by a patient through a flexible cable, a tension sensor (2) is arranged on the flexible cable, the waist movement of the patient is restrained by four groups of springs (5) connected between the left and right vertical beams and the safety braces (3), the patient and the wheelchair pass in and out through a left door fence (6), four groups of flexible cable driving units (7) are respectively arranged on four beams at the corresponding positions of the sagittal plane of each affected limb, the leg wearing device (9) is pulled by a flexible cable (12) to drive the affected limb to realize rehabilitation training, a universal driven wheel (8) is arranged in front of the bottom of the robot, a rear driving wheel (11) is arranged behind the bottom of the robot, the robot can move to realize walking training of a patient on the ground, and the robot is fixed and matched with a treadmill (10) to realize gait training of the patient;
according to different body types of patients, the flexible cable driving units (7) can move left and right on the cross beam to ensure that the flexible cable driving units (7) and the affected limb are in the same plane, the knee joint is drawn by the two groups of flexible cable driving units (7) positioned at the lower part in the sagittal plane, and the ankle joint is drawn by the two groups of flexible cable driving units (7) positioned at the upper part in the sagittal plane.
2. The movable parallel flexible cable driven lower limb rehabilitation robot of claim 1, wherein: the motion of the robot is controlled by the rear driving wheel (11), the differential motion of the rear driving wheel (11) can change the motion direction, the front universal driven wheel (8) follows up, and the eight groups of flexible cable driving units coordinate to control the motion of the affected limb in the motion process, thereby realizing the walking training.
3. The movable parallel flexible cable driven lower limb rehabilitation robot of claim 1, wherein: the robot is fixed, the treadmill (10) provides proper speed according to a training mode and the actual condition of a patient, and eight groups of flexible cable driving units coordinate and control the movement of the affected limb to realize gait training.
4. The movable parallel flexible cable driven lower limb rehabilitation robot of claim 1, wherein: the flexible cable (12) is pulled by a hanging weight reduction unit (1) arranged at the top of the support frame (13), and then is connected to a hook above a safety harness (3) worn by a patient through a tension sensor (2), so that the tension of the flexible cable is monitored in real time, and different weight reduction effects are provided for the patient according to the requirements of different rehabilitation modes.
5. The movable parallel flexible cable driven lower limb rehabilitation robot of claim 1, wherein: the waist movement of the patient is restrained by four groups of springs (5) connected between the left and right vertical beams and the safety braces (3), and in the rehabilitation training process, the springs (5) fix the relative position of the waist of the patient within a certain range and are matched with the flexible cable driving unit (7) to realize the coordinated movement of the affected limb and the trunk.
6. The movable parallel flexible cable driven lower limb rehabilitation robot of claim 1, wherein: a liquid crystal display screen (14) is arranged above the safety handrail (4), so that the motion conditions of all parts and the motion tracks of all joints during rehabilitation training can be monitored in real time, and human-computer interaction is realized through a rehabilitation training game.
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