CN108721050B

CN108721050B - Magneto-rheological force feedback type lower limb active and passive rehabilitation training device

Info

Publication number: CN108721050B
Application number: CN201810514239.9A
Authority: CN
Inventors: 王道明; 尹艺霖; 杨析辞; 訾斌; 李伟业; 穆阿龙
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2018-05-25
Filing date: 2018-05-25
Publication date: 2020-05-19
Anticipated expiration: 2038-05-25
Also published as: CN108721050A

Abstract

The invention discloses a magnetorheological force feedback type lower limb active and passive rehabilitation training device and a control method. When the lower limb passive rehabilitation training is carried out, the first spiral push rod device, the knee joint driving mechanism and the second spiral push rod device are powered on and respectively drive the hip joint, the knee joint and the ankle joint of the thigh of the human body to do passive motion; when the lower limbs actively rehabilitate training, the first linear type magneto-rheological damper, the rotary type magneto-rheological damper and the second linear type magneto-rheological damper are electrified and actively move for the hip joint, the knee joint and the ankle joint of the thigh of the human body to increase resistance. The invention meets the requirement that two legs of a rehabilitation trainer simultaneously carry out active and passive rehabilitation training, and shortens the rehabilitation period.

Description

Magneto-rheological force feedback type lower limb active and passive rehabilitation training device

Technical Field

The invention relates to the field of human body lower limb rehabilitation training devices, in particular to a magnetorheological force feedback type lower limb active and passive rehabilitation training device and a control method.

Background

With the aggravation of the aging of the population in China, the number of people with hemiplegia caused by the limb movement dysfunction of patients due to vascular diseases or nervous system diseases is continuously increased; along with the economic development and the improvement of the living standard of people, the number of transportation means is continuously increased, and the number of people who can not walk normally due to nerve injury or limb injury caused by traffic accidents is also continuously increased; meanwhile, as the number of people for exercise and fitness in China is increasing, more and more people with lower limb injuries caused by exercise and fitness are available. In the rehabilitation process, the walking ability of the patient is improved, the self-care ability of life is improved, and the important direction of treatment research is provided, so that the lower limb rehabilitation research is particularly important under the condition that the patients with lower limb injury are gradually heightened.

The lower limb rehabilitation training device is one of rehabilitation training robots, can simulate the walking posture of a normal person, can bear the weight of a part of human body, and can perform effective lower limb rehabilitation training on patients with lower limb dyskinesia.

Lower limb rehabilitation training devices have a short history, but have recently developed rapidly. Many devices currently available include a foot-worn base plate, an ankle joint device, a shank-length adjustable connection mechanism, a knee joint drive device, a thigh-length adjustable connection mechanism, a hip joint drive device, and a waist device. The existing lower limb rehabilitation training devices are observed to have the following defects and shortcomings: (1) the existing devices are driven by only a motor or electricity, so that the stability and the safety are poor, and once a fault occurs, secondary damage to the lower limbs is easily caused; (2) lack of feedback regulating device, can't carry on the targeted treatment to the patient of different recovery conditions; (3) most of the existing lower limb rehabilitation devices are single training methods, more are single active or single passive devices, and less are active/passive combined devices.

Disclosure of Invention

Aiming at the defects and the improvement requirements of the prior art, the invention provides a magnetorheological damper force feedback type lower limb active and passive rehabilitation training device and a control method thereof, so as to meet the requirements of active and passive rehabilitation training of patients with injured lower limbs.

A magneto-rheological force feedback type lower limb active and passive rehabilitation training device and a control method thereof comprise a left lower limb device and a right lower limb device, wherein the left lower limb device and the right lower limb device are of mirror symmetry structures, the left lower limb device comprises a thigh mechanism 1, a knee joint mechanism and a shank supporting mechanism 4, and the knee joint mechanism comprises a rotary magneto-rheological damper 2, a knee joint plate 26 and a knee joint driving mechanism 3.

Thigh mechanism 1 includes that the fixed ring of waist 11, two sets of first spiral push rod device 12, two sets of first linear type magnetic current becomes attenuator 13, the fixed ring 14 of thigh and thigh outer support 15, the fixed ring 11 of waist is fixed the ligature in human waist position, the fixed ring 14 of thigh is fixed the ligature at human thigh middle part, and the fixed ring 14 of waist just is located the left and right sides of human thigh and connects one set of first spiral push rod device 12 and one set of first linear type magnetic current becomes attenuator 13 respectively between the fixed ring 11 of waist and the fixed ring 14 of thigh.

The left side and the right side of the knee joint plate 26 are respectively connected with the lower ends of an outer side connecting plate 262 and an inner side connecting plate 261, the upper end of the inner side connecting plate 261 is connected with a rotary type magneto-rheological damper 2, the rotary type magneto-rheological damper 2 is connected with the right side of a thigh fixing ring 14 through a thigh inner side bracket 25, the upper end of the outer side connecting plate 262 is connected with a knee joint driving mechanism 3, and the knee joint driving mechanism 3 is connected with a waist fixing ring 11 through a thigh outer side bracket 15.

The shank support mechanism 4 comprises two sets of second spiral push rod devices 41, two sets of second linear magnetorheological dampers 42, a shank support rod 43, a shank fixing ring 431 and a foot plate assembly 44, the second spiral push rod devices 41 and the second linear magnetorheological dampers 42 are respectively connected between the knee joint plate 26 and the foot plate assembly 44 and positioned at the left side and the right side of a shank of a human body, the heel of the foot plate assembly 44 is connected with the knee joint plate 26 through the shank support rod 43, and the shank fixing ring 431 is fixed on the shank support rod 43.

When the lower limb passive rehabilitation training is carried out, the first linear magneto-rheological damper 13, the rotary magneto-rheological damper 2 and the second linear magneto-rheological damper 42 are powered off, and the first spiral push rod device 12, the knee joint driving mechanism 3 and the second spiral push rod device 41 are powered on and respectively drive the hip joint, the knee joint and the ankle joint of the thigh of the human body to carry out passive movement and walking movement.

When the lower limb active rehabilitation training is carried out, the first spiral push rod device 12, the knee joint driving mechanism 3 and the second spiral push rod device 41 are powered off, and the first linear magneto-rheological damper 13, the rotary magneto-rheological damper 2 and the second linear magneto-rheological damper 42 are powered on to increase resistance for active movement and walking movement of thigh hip joints, knee joints and ankle joints of a human body.

The technical scheme for further limiting is as follows:

the first screw-pusher device 12 comprises a gear box 121, a pusher cylinder 122, a first motor 123, a lead screw sleeve 124 and a lead screw 128; an output end flange of a first motor 123 is connected to one half position of the lower side of the gear box 121, a push rod cylinder 122 is connected to the other half position of the lower side of the gear box 121, a pair of bearing stoppers 126 is arranged in the push rod cylinder 122, two bearings 125 are arranged between the pair of bearing stoppers 126, the screw rod sleeve 124 is sleeved in an inner hole of the bearing 125, the screw rod nut 127 is fixed to the lower end of the screw rod sleeve 124, the first motor 123 drives the screw rod sleeve 124 to rotate through a transmission gear, the screw rod sleeve 124 and the screw rod nut 127 drive the screw rod 128 to rotate, and the rotating screw rod 128 does vertical linear reciprocating motion simultaneously; the extending end of the screw 128 is provided with a connecting sleeve 129, the upper side of the gear box 121 is provided with a ball head rod 1211 for connecting the waist fixing ring 11, and the ball head at the upper end of the ball head rod 1211 is connected to a ball hinge support on the waist fixing ring 11.

The first linear magnetorheological damper 13 comprises a damper cylinder 131, a piston rod 132 with a through hole, a sealing cover 133 and a sealing ring 134, wherein the upper end of the damper cylinder 131 is connected with a connecting sleeve 129, and a pressure sensor is arranged between the upper end of the damper cylinder 131 and the connecting sleeve 129; a sealing cover 133 is arranged at the lower end of the damper cylinder 131, a sealing ring 134 is arranged between the piston rod 132 with the through hole and the sealing cover 133, and a ball head is arranged at the lower end of the piston rod 132 with the through hole and is connected with a ball hinge support on the thigh fixing ring 14 by the ball head; magnetorheological fluid is filled in the two piston chambers above and below the piston at the upper end of the piston rod 132 with the through hole, the magnetorheological fluid flows through the through hole in the piston rod, the viscosity of the magnetorheological fluid can be changed after the magnetorheological fluid is electrified, and then certain resistance is provided for the up-and-down movement of the piston rod 132 with the through hole.

Rotary-type magnetorheological damper 2 includes cam cavity 21, cam 22, external magnetorheological damper 23, sealed lid 24 and thigh inboard support 25, sealed lid 24 center is equipped with dabber 241, the lower extreme of thigh inboard support 25 is connected to the one end of dabber 241, the solid fixed ring 14 of thigh inboard support 25's upper end connection, the other end of dabber 241 passes through key-type connection cam 22, and cam 22 installs in cam cavity 21, and cam cavity 21 is sealed by sealed lid 24 by one side, is equipped with two outer holes on the cam cavity 21, and outer hole passes through the hose and is connected with external magnetorheological damper 23, and cam cavity 21 opposite side passes through the bolt and is connected with inboard connecting plate 261.

When the device works, the thigh inner side support 25 and the cam 22 rotate simultaneously, the rotation angle of the cam 22 is 90 degrees, the cam 22 divides the cam cavity 21 into two chambers, the two chambers are communicated through the outer side hose, magnetorheological fluid is filled in the chambers, the volumes of the chambers are changed to enable the magnetorheological fluid to flow through the external magnetorheological damper 24, the viscosity of the magnetorheological fluid can be changed after the external magnetorheological damper 24 is electrified, and resistance is provided for relative rotation of the core shaft 241.

The knee joint driving mechanism 3 comprises a second motor 31, a motor base 32, a locking nut 33, a deep groove ball bearing 34, a hollow shaft 35, a gear box cover 36, a planet wheel reduction gear box 37 and a gear box end plate 38, wherein an output end flange of the second motor 31 is fixed on the outer side of the motor base 32 through a bolt, the inner side of the motor base 32 is fixed at the lower end of a thigh outer side support 15, a bearing hole is formed in the lower end of the thigh outer side support 15, the deep groove ball bearing 34 is arranged in the bearing hole, a bearing outer ring is axially fixed in the bearing hole through a pair of holes by a retainer ring, a bearing inner ring is axially fixed on the hollow shaft 35 at one side of the gear box cover 36 through the locking nut 33, an output shaft of the second motor 31 penetrates through the hollow shaft 35 to be connected with a; an angle sensor is arranged on the outer connecting plate 262.

The foot plate assembly 44 comprises a heel cover plate 441, a sole plate 442, a sole keel 443 and a front bracket 444, the lower end ball heads of the piston rods of the two second linear magnetorheological dampers 42 are respectively connected to the spherical hinge supports on the two sides of the front bracket 444, the sole keel 443 is fixed on the lower side of the heel plate 442 through screws, the lower part of the shank support rod 43 is connected to the heel cover plate 441 through a heel spherical hinge, and the motion form of the foot plate assembly 44 is the same as that of the ankle joint of a human body.

The second screw push rod device 41 and the second linear type magnetorheological damper 42 are respectively the same as the first screw push rod device 12 and the first linear type magnetorheological damper 13 in structure.

The first motor 123 and the second motor 31 have the same model specification, and the model is as follows: MSMD021S 41; the power is: 200W; the types of the pressure sensor and the angle sensor are respectively as follows: the column type push-pull force sensors M10E and WDG-AM 37A-360. The control method comprises a passive rehabilitation training control method and an active rehabilitation training control method:

s9.1, the passive rehabilitation training control method comprises the following steps:

step S9.1.1: the device is arranged on a human body for rehabilitation training to carry out system initialization, the first spiral push rod device 12, the first linear magneto-rheological damper 13, the rotary magneto-rheological damper 2, the knee joint driving mechanism 3, the second spiral push rod device 41 and the second linear magneto-rheological damper 42 are all in a power-off state, and the computer sends an instruction to start the sensing and control system;

step S9.1.2: the computer sends an instruction to output a control signal to the data acquisition board card, the control signal controls the output current of the current controller after passing through the D/A converter, and the current controller is controlled to enable the first spiral push rod device 12, the knee joint driving mechanism 3 and the second spiral push rod device 41 to be powered on, the first motor 123 and the second motor 31 rotate in the positive and negative directions, and the hip joint, the knee joint and the ankle joint execute rehabilitation movement; the angle sensor collects the rotation angle of the motor;

step S9.1.3: the motor rotation angle signal acquired by the angle sensor is input into the data acquisition board card after passing through the A/D converter, the current value required to be input is obtained by the computer, and the motor rotation angle and the angular speed are adjusted;

step 9.1.4: outputting a control signal to the data acquisition board card by the computer according to the current value obtained in the step 9.1.3, and controlling a current controller to output current to the motor after passing through a D/A converter so as to ensure that the motor rotates forwards and backwards at a constant angular speed by a corresponding angle;

step S9.1.4: repeating the step S9.1.2 to the step S9.1.4 until the training is finished;

step S9.1.5: and the computer sends a shutdown instruction, closes the sensing and control system, stops signal acquisition and data processing, and finishes training.

S9.2, the active rehabilitation training control method comprises the following steps:

step S9.2.1: the device is arranged on a human body for rehabilitation training to carry out system initialization, the first spiral push rod device 12, the first linear magneto-rheological damper 13, the rotary magneto-rheological damper 2, the knee joint driving mechanism 3, the second spiral push rod device 41 and the second linear magneto-rheological damper 42 are all in a power-off state, and the computer sends an instruction to start the sensing and control system;

step S9.2.2: the computer sends out an instruction to output a control signal to the data acquisition board card, the control signal controls the output current of the current controller after passing through the D/A converter, and the current controller is controlled to enable the first linear magneto-rheological damper 13, the rotary magneto-rheological damper 2 and the second linear magneto-rheological damper 42 to be electrified, so that the magneto-rheological fluid is changed in density and viscosity and is adjusted to a resistance value required by active movement of a patient;

step S9.2.3: the hip joint, the knee joint and the ankle joint of a human body are rehabilitated and trained to move freely, the first linear magneto-rheological damper 13, the rotary magneto-rheological damper 2 and the second linear magneto-rheological damper 42 are driven to move, the angle sensor acquires an angle signal, and the pressure sensor acquires a resistance signal provided by the dampers;

step S9.2.4: the angle signal and the resistance signal are input into the data acquisition board card after passing through the A/D converter, and the current value required to be input in the magnetorheological damper is obtained by the computer, so that each joint is subjected to proper rehabilitation damping force in the motion process, and the size of the input current is adjusted according to the lower limb rehabilitation effect;

step S9.2.5, repeating the step S9.2.2 to the step S9.2.4 until the training is finished;

step S9.2.6: and the computer sends a shutdown instruction, closes the sensing and control system, stops signal acquisition and data processing, and finishes training.

The beneficial technical effects of the invention are as follows:

(1) the first linear magnetorheological damper, the rotary magnetorheological damper and the second linear magnetorheological damper combine the magnetorheological technology and the mechanical physical rehabilitation technology to be applied to the lower limb rehabilitation training device, so that the lower limb rehabilitation effect is improved, and secondary damage caused during rehabilitation training is avoided.

(2) The thigh mechanism, the knee joint mechanism and the shank supporting mechanism are all provided with active/passive training mechanisms, a computer sends out control signals to automatically switch the active/passive training form, and the single training method of the existing lower limb rehabilitation device is expanded to an active/passive training bidirectional training method.

(3) The angle sensor and the pressure sensor are used for detecting the angle and pressure data in real time and feeding the data back to the computer so as to obtain the motion state of the lower limbs during the rehabilitation training, and the computer sends a control signal to automatically switch the active/passive training form and change the active training intensity according to the specific situation of the rehabilitation training, so that the lower limb motion function of a rehabilitation trainer can be recovered in an auxiliary manner to the maximum extent.

(4) The requirement that two legs of a rehabilitation trainer carry out coordination rehabilitation training at the same time can be met, the efficiency of rehabilitation training is improved, and the rehabilitation period of the rehabilitation trainer is shortened.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the thigh mechanism of the present invention.

Fig. 3 is a schematic view of a first helical push rod device of the present invention.

FIG. 4 is a schematic view of a first linear magnetorheological damper of the present invention.

Fig. 5 is an exploded view of the rotary magnetorheological damper of the present invention.

Fig. 6 is a view from direction F of fig. 5.

FIG. 7 is a schematic view of the knee joint drive mechanism of the present invention.

Figure 8 is a schematic view of a lower leg support mechanism of the present invention.

Fig. 9 is a schematic view of a foot plate assembly of the present invention.

Fig. 10 is a schematic view of the present invention in a standing state.

Fig. 11 is a schematic view of the thigh mechanism lifting of the present invention.

Figure 12 is a schematic view of the calf support retroflexion of the invention.

Figure 13 is a schematic view of the ankle joint of the present invention bending downward.

FIG. 14 is a flow chart of a passive training control method of the present invention.

FIG. 15 is a flow chart of an active training control method of the present invention.

Number in the figure: the leg mechanism 1, the waist fixing ring 11, the first screw push rod device 12, the gear box 121, the ball head rod 1211, the push rod cylinder 122, the first motor 123, the screw rod sleeve 124, the bearing 125, the bearing stop 126, the screw rod nut 127, the screw rod 128, the connecting sleeve 129, the first linear magnetorheological damper 13, the damper cylinder 131, the piston rod 132 with the through hole, the sealing cover 133, the leg fixing ring 14, the outer leg support 15, the rotary magnetorheological damper 2, the cam cavity 21, the cam 22, the outer magnetorheological damper 23, the sealing cover 24, the mandrel 241, the inner leg support 25, the knee joint plate 26, the inner connecting plate 261, the outer connecting plate 262, the knee joint driving mechanism 3, the second motor 31, the motor base 32, the locking nut 33, the deep groove ball bearing 34, the hollow shaft 35, the gear box cover 36, the planet wheel reduction gear box 37, the gear box end plate 38, the lower leg, A second spiral push rod device 41, a second linear magnetorheological damper 42, a lower leg support rod 43, a lower leg fixing ring 431, a foot plate assembly 44, a heel cover plate 441, a sole plate 442, a sole keel 443 and a front bracket 444.

Detailed Description

The invention will be further described by way of example with reference to the accompanying drawings.

Example one

Referring to fig. 1, the magnetorheological force feedback type active and passive lower limb rehabilitation training device comprises a left lower limb device and a right lower limb device, wherein the left lower limb device and the right lower limb device are of mirror symmetry structures, the left lower limb device comprises a thigh mechanism 1, a knee joint mechanism and a shank supporting mechanism 4, and the knee joint mechanism comprises a rotary magnetorheological damper 2 and a knee joint driving mechanism 3.

Referring to fig. 2, the thigh mechanism 1 includes a waist fixing ring 11, two sets of first spiral push rod devices 12, two sets of first linear magnetorheological dampers 13, a thigh fixing ring 14 and a thigh outer support 15, the waist fixing ring 11 is fixedly bound at the waist position of a human body, the thigh fixing ring 14 is fixedly bound at the middle part of a thigh of the human body, and a set of first spiral push rod devices 12 and a set of first linear magnetorheological dampers 13 are respectively connected between the waist fixing ring 11 and the thigh fixing ring 14 and located at the left side and the right side of the thigh of the human body.

Referring to fig. 3, the first screw-pusher device 12 includes a gear box 121, a pusher cylinder 122, a first motor 123, a lead screw sleeve 124, and a lead screw 128; an output end flange of a first motor 123 is connected to one half position of the lower side of the gear box 121, a push rod cylinder 122 is connected to the other half position of the lower side of the gear box 121, a pair of bearing stoppers 126 is arranged in the push rod cylinder 122, two bearings 125 are arranged between the pair of bearing stoppers 126, the screw rod sleeve 124 is sleeved in an inner hole of the bearing 125, the screw rod nut 127 is fixed to the lower end of the screw rod sleeve 124, the first motor 123 drives the screw rod sleeve 124 to rotate through a transmission gear, the screw rod sleeve 124 and the screw rod nut 127 drive the screw rod 128 to rotate, and the rotating screw rod 128 does vertical linear reciprocating motion simultaneously; the extending end of the screw 128 is provided with a connecting sleeve 129, the upper side of the gear box 121 is provided with a ball head rod 1211 for connecting the waist fixing ring 11, and the ball head at the upper end of the ball head rod 1211 is connected to a ball hinge support on the waist fixing ring 11.

Referring to fig. 4, the first linear magnetorheological damper 13 comprises a damper cylinder 131, a piston rod 132 with a through hole, a sealing cover 133 and a sealing ring 134, wherein the upper end of the damper cylinder 131 is connected with a connecting sleeve 129, and a pressure sensor is arranged between the upper end of the damper cylinder 131 and the connecting sleeve 129; a sealing cover 133 is arranged at the lower end of the damper cylinder 131, a sealing ring 134 is arranged between the piston rod 132 with the through hole and the sealing cover 133, and a ball head is arranged at the lower end of the piston rod 132 with the through hole and is connected with a ball hinge support on the thigh fixing ring 14 by the ball head; magnetorheological fluid is filled in the two piston chambers above and below the piston at the upper end of the piston rod 132 with the through hole, the magnetorheological fluid flows through the through hole in the piston rod, the viscosity of the magnetorheological fluid can be changed after the magnetorheological fluid is electrified, and then certain resistance is provided for the up-and-down movement of the piston rod 132 with the through hole.

Referring to fig. 5 and 6, the rotary magnetorheological damper 2 includes a cam cavity 21, a cam 22, an external magnetorheological damper 23, a sealing cover 24 and a thigh inner side bracket 25, wherein a mandrel 241 is arranged at the center of the sealing cover 24, one end of the mandrel 241 is connected with the lower end of the thigh inner side bracket 25, the upper end of the thigh inner side bracket 25 is connected with a thigh fixing ring 14, the other end of the mandrel 241 is connected with the cam 22 through a key, the cam 22 is installed in the cam cavity 21, the cam cavity 21 is sealed by the sealing cover 24 at one side, two external holes are arranged on the cam cavity 21, the external holes are connected with the external magnetorheological damper 23 through a hose, and the other side of the cam cavity 21 is connected with an inner side connecting.

Referring to fig. 7, the knee joint driving mechanism 3 includes a second motor 31, a motor base 32, a lock nut 33, a deep groove ball bearing 34, a hollow shaft 35, a gear box cover 36, a planetary gear reduction gear box 37 and a gear box end plate 38, an output end flange of the second motor 31 is fixed on the outer side of the motor base 32 through a bolt, the inner side of the motor base 32 is fixed on the lower end of the thigh outer support 15, a bearing hole is arranged at the lower end of the thigh outer support 15, the deep groove ball bearing 34 is arranged in the bearing hole, a bearing outer ring is axially fixed in the bearing hole through a pair of holes by a retainer ring, a bearing inner ring is axially fixed on the hollow shaft 35 at one side of the gear box cover 36 through the lock nut 33, an output shaft of the second motor 31 passes through the hollow shaft 35 to be connected with a; an angle sensor is arranged on the outer connecting plate 262. Referring to fig. 8 and 9, the knee joint plate 26 is connected at the left and right sides thereof to the lower ends of an outer connecting plate 262 and an inner connecting plate 261, respectively, the upper end of the inner connecting plate 261 is connected to the rotary-type magnetorheological damper 2, the rotary-type magnetorheological damper 2 is connected to the right side of the thigh fixing ring 14 through the thigh inner bracket 25, the upper end of the outer connecting plate 262 is connected to the knee joint driving mechanism 3, and the knee joint driving mechanism 3 is connected to the waist fixing ring 11 through the thigh outer bracket 15.

Referring to fig. 10 to 13, a magnetorheological force feedback type lower limb active and passive rehabilitation training device is provided, wherein a top waist fixing ring 11 can surround the front part of a hip and is bound at the hip joint height of a human body by an elastic band when the device is used for lower limb rehabilitation training of the human body. Two ends of the waist fixing ring 11 are respectively connected to the thigh outer side support 15 through a left waist spherical hinge, and the movement requirements of three degrees of freedom of the hip of the rehabilitation trainer can be met by utilizing the waist spherical hinge connection. When active/passive rehabilitation training is carried out, the movement of the left hip joint is controlled by two groups of first linear magneto-rheological dampers 13 and first spiral push rod devices 12 which are connected in series, and the movement of the right hip joint is controlled by the other two groups of first linear magneto-rheological dampers 13 and first spiral push rod devices 12 which are connected in series. The lower end of the thigh outer side support 15 is connected with the knee joint driving mechanism 3, and a rotational degree of freedom exists between the knee joint driving mechanism 3 and the thigh outer side support 15 and is the same as the movement direction of the knee joint. When active/passive rehabilitation training is carried out, the first motor 31 controls the knee joint to carry out passive training, and in addition, the rotary type magneto-rheological damper 2 controls the damping force during active training of the knee joint. The shank supporting mechanism has three rotational degrees of freedom, the motion form of the shank supporting mechanism is the same as that of the ankle joint of a human body, and when active/passive rehabilitation training is carried out, the motion form of the shank supporting mechanism is the same as that of the thigh mechanism.

Fig. 10 illustrates an initial state in which a human body stands during rehabilitation training. Fig. 11 thigh mechanism elevated state; FIG. 12 shows the lower leg support mechanism in a backward flexed state; fig. 13 shows the ankle joint in a state of flexion.

A control method of a magneto-rheological force feedback type lower limb active and passive rehabilitation training device comprises a passive rehabilitation training control method and an active rehabilitation training control method:

referring to fig. 14, the passive rehabilitation training control method includes the following steps:

the method comprises the following steps: the device is arranged on a human body for rehabilitation training to carry out system initialization, the first spiral push rod device 12, the first linear magneto-rheological damper 13, the rotary magneto-rheological damper 2, the knee joint driving mechanism 3, the second spiral push rod device 41 and the second linear magneto-rheological damper 42 are all in a power-off state, and the computer sends an instruction to start the sensing and control system;

step two: the computer sends an instruction to output a control signal to the data acquisition board card, the control signal controls the output current of the current controller after passing through the D/A converter, and the current controller is controlled to enable the first spiral push rod device 12, the knee joint driving mechanism 3 and the second spiral push rod device 41 to be powered on, the first motor 123 and the second motor 31 rotate in the positive and negative directions, and the hip joint, the knee joint and the ankle joint execute rehabilitation movement; the angle sensor collects the rotation angle of the motor;

step three: the motor rotation angle signal acquired by the angle sensor is input into the data acquisition board card after passing through the A/D converter, the current value required to be input is obtained by the computer, and the motor rotation angle and the angular speed are adjusted;

step four: outputting a control signal to the data acquisition board card by the computer according to the current value obtained in the step 9.1.3, and controlling a current controller to output current to the motor after passing through a D/A converter so as to ensure that the motor rotates forwards and backwards at a constant angular speed by a corresponding angle;

step five: repeating the second step and the fourth step until the training is finished;

step six: and the computer sends a shutdown instruction, closes the sensing and control system, stops signal acquisition and data processing, and finishes training. Referring to fig. 15, the active rehabilitation training control method includes the following steps:

step seven: the device is arranged on a human body for rehabilitation training to carry out system initialization, the first spiral push rod device 12, the first linear magneto-rheological damper 13, the rotary magneto-rheological damper 2, the knee joint driving mechanism 3, the second spiral push rod device 41 and the second linear magneto-rheological damper 42 are all in a power-off state, and the computer sends an instruction to start the sensing and control system;

step eight: the computer sends out an instruction to output a control signal to the data acquisition board card, the control signal controls the output current of the current controller after passing through the D/A converter, and the current controller is controlled to enable the first linear magneto-rheological damper 13, the rotary magneto-rheological damper 2 and the second linear magneto-rheological damper 42 to be electrified, so that the magneto-rheological fluid is changed in density and viscosity and is adjusted to a resistance value required by active movement of a patient;

step nine: the hip joint, the knee joint and the ankle joint of a human body are rehabilitated and trained to move freely, the first linear magneto-rheological damper 13, the rotary magneto-rheological damper 2 and the second linear magneto-rheological damper 42 are driven to move, the angle sensor acquires an angle signal, and the pressure sensor acquires a resistance signal provided by the dampers;

step ten: the angle signal and the resistance signal are input into the data acquisition board card after passing through the A/D converter, and the current value required to be input in the magnetorheological damper is obtained by the computer, so that each joint is subjected to proper rehabilitation damping force in the motion process, and the size of the input current is adjusted according to the lower limb rehabilitation effect;

step eleven, repeating the step eight to the step ten until the training is finished;

step twelve: and the computer sends a shutdown instruction, closes the sensing and control system, stops signal acquisition and data processing, and finishes training.

The above description is not intended to limit the present invention in any way on the structure and shape thereof. Any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A magneto-rheological force feedback type lower limb active and passive rehabilitation training device is characterized in that: the left lower limb device and the right lower limb device are of mirror symmetry structures, the left lower limb device comprises a thigh mechanism (1), a knee joint mechanism and a shank supporting mechanism (4), and the knee joint mechanism comprises a rotary magnetorheological damper (2), a knee joint plate (26) and a knee joint driving mechanism (3);

the thigh mechanism (1) comprises a waist fixing ring (11), two sets of first spiral push rod devices (12), two sets of first linear magneto-rheological dampers (13), a thigh fixing ring (14) and a thigh outer support (15), wherein the waist fixing ring (11) is fixedly bound at the waist position of a human body, the thigh fixing ring (14) is fixedly bound at the middle part of a thigh of the human body, and a set of first spiral push rod devices (12) and a set of first linear magneto-rheological dampers (13) are respectively connected between the waist fixing ring (11) and the thigh fixing ring (14) and positioned at the left side and the right side of the thigh of the human body;

the left side and the right side of the knee joint plate (26) are respectively connected with the lower ends of an outer side connecting plate (262) and an inner side connecting plate (261), the upper end of the inner side connecting plate (261) is connected with a rotary magnetorheological damper (2), the rotary magnetorheological damper (2) is connected with the right side of a thigh fixing ring (14) through a thigh inner side bracket (25), the upper end of the outer side connecting plate (262) is connected with a knee joint driving mechanism (3), and the knee joint driving mechanism (3) is connected with a waist fixing ring (11) through a thigh outer side bracket (15);

the lower leg supporting mechanism (4) comprises two sets of second spiral push rod devices (41), two sets of second linear magnetorheological dampers (42), a lower leg supporting rod (43) and a foot plate assembly (44), a set of second spiral push rod devices (41) and a set of second linear magnetorheological dampers (42) are respectively connected between the knee joint plate (26) and the foot plate assembly (44) and positioned at the left side and the right side of the lower leg of a human body, and the heel of the foot plate assembly (44) is connected with the knee joint plate (26) through the lower leg supporting rod (43);

when the lower limb passive rehabilitation training is carried out, the first linear magneto-rheological damper (13), the rotary magneto-rheological damper (2) and the second linear magneto-rheological damper (42) are powered off, and the first spiral push rod device (12), the knee joint driving mechanism (3) and the second spiral push rod device (41) are powered on and respectively drive the hip joint, the knee joint and the ankle joint of the thigh of a human body to carry out passive movement and walking movement;

when the lower limb active rehabilitation training is carried out, the first spiral push rod device (12), the knee joint driving mechanism (3) and the second spiral push rod device (41) are powered off, and the first linear magneto-rheological damper (13), the rotary magneto-rheological damper (2) and the second linear magneto-rheological damper (42) are powered on and provide resistance for active movement and walking movement of hip joints, knee joints and ankle joints of thighs of a human body.

2. The magnetorheological force feedback type active and passive rehabilitation training device for the lower limbs of the claim 1, wherein: the first spiral push rod device (12) comprises a gear box (121), a push rod barrel (122), a first motor (123), a lead screw sleeve (124) and a lead screw (128); an output end flange of a first motor (123) is connected to one half position of the lower side of the gear box (121), a push rod cylinder (122) is connected to the other half position of the lower side of the gear box (121), a pair of bearing stop blocks (126) is arranged in the push rod cylinder (122), two bearings (125) are installed between the pair of bearing stop blocks (126), the lead screw sleeve (124) is sleeved in an inner hole of the bearing (125), a lead screw nut (127) is fixed to the lower end of the lead screw sleeve (124), the first motor (123) drives the lead screw sleeve (124) to rotate through a transmission gear, the lead screw sleeve (124) and the lead screw nut (127) drive a lead screw (128) to rotate, and the rotating lead screw (128) does linear reciprocating motion up and down; the extension end of the screw rod (128) is provided with a connecting sleeve (129), the upper side of the gear box (121) is provided with a ball head rod (1211) used for being connected with the waist fixing ring (11), and a ball head at the upper end of the ball head rod (1211) is connected to a ball hinge support on the waist fixing ring (11).

3. The magnetorheological force feedback type active and passive rehabilitation training device for the lower limbs of the patient according to claim 2, wherein: the first linear magneto-rheological damper (13) comprises a damper cylinder (131), a piston rod (132) with a through hole, a sealing cover (133) and a sealing ring (134), the upper end of the damper cylinder (131) is connected with a connecting sleeve (129), and a pressure sensor is arranged between the upper end of the damper cylinder (131) and the connecting sleeve (129); a sealing cover (133) is arranged at the lower end of the damper cylinder (131), a sealing ring (134) is arranged between the piston rod (132) with the through hole and the sealing cover (133), a ball head is arranged at the lower end of the piston rod (132) with the through hole and is connected with a ball hinge support on the thigh fixing ring (14) by the ball head; magnetorheological fluids are filled in two piston chambers above and below the piston at the upper end of the piston rod (132) with the through hole, the magnetorheological fluids flow through the through hole in the piston rod, the viscosity of the magnetorheological fluids can be changed after the magnetorheological fluids are electrified, and then certain resistance is provided for the up-and-down movement of the piston rod (132) with the through hole.

4. The magnetorheological force feedback type active and passive rehabilitation training device for the lower limbs of the claim 1, wherein: the rotary magnetorheological damper (2) comprises a cam cavity (21), a cam (22), an external magnetorheological damper (23), a sealing cover (24) and a thigh inner side support (25), a mandrel (241) is arranged at the center of the sealing cover (24), one end of the mandrel (241) is connected with the lower end of the thigh inner side support (25), the upper end of the thigh inner side support (25) is connected with a thigh fixing ring (14), the other end of the mandrel (241) is connected with the cam (22) through a key, the cam (22) is installed in the cam cavity (21), one side of the cam cavity (21) is sealed by the sealing cover (24), two external connecting holes are formed in the cam cavity (21), the external connecting holes are connected with the external magnetorheological damper (23) through hoses, and the other side of the cam cavity (21) is connected with an inner side connecting plate (261) through bolts;

during operation, thigh inboard support (25) and cam (22) are rotatory simultaneously, cam (22) turned angle is 90, and cam (22) divide into two cavities with cam cavity (21), and two cavities pass through outside hose intercommunication, are full of magnetorheological suspensions in the cavity, and the cavity volume changes and makes magnetorheological suspensions flow through external magnetorheological dampers (23), and external magnetorheological dampers (23) can change magnetorheological suspensions viscosity after getting electric, then provide the resistance for dabber (241) relative rotation.

5. The magnetorheological force feedback type active and passive rehabilitation training device for the lower limbs of the claim 3, wherein: the knee joint driving mechanism (3) comprises a second motor (31), a motor base (32), a locking nut (33), a deep groove ball bearing (34), a hollow shaft (35), a gear box cover (36), a planet wheel reduction gear box (37) and a gear box end plate (38), an output end flange of the second motor (31) is fixed on the outer side of the motor base (32) through a bolt, the inner side of the motor base (32) is fixed at the lower end of a thigh outer support (15), a bearing hole is formed in the lower end of the thigh outer support (15), the deep groove ball bearing (34) is arranged in the bearing hole, a bearing outer ring of the deep groove ball bearing (34) is axially fixed in the bearing hole through a pair of hole retaining rings, a bearing inner ring of the deep groove ball bearing (34) is axially fixed on the hollow shaft (35) on one side of the gear box cover (36) through the locking nut (33), and an output shaft of the second motor (31) passes through the, the gear box end plate (38) is connected with the upper end of the outer connecting plate (262) through a bolt; an angle sensor is arranged on the outer connecting plate (262).

6. The magnetorheological force feedback type active and passive rehabilitation training device for the lower limbs of the claim 1, wherein: the sole plate assembly (44) comprises a heel cover plate (441), a sole plate (442), a sole keel (443) and a front support (444), ball heads at the lower ends of piston rods of the two second linear magnetorheological dampers (42) are respectively connected to ball hinge supports on two sides of the front support (444), the sole keel (443) is fixed to the lower side of the sole plate (442) through screws, the lower portion of the shank support rod (43) is connected to the heel cover plate (441) through a heel ball hinge, and the movement form of the sole plate assembly (44) is the same as that of an ankle joint of a human body.

7. The magnetorheological force feedback type active and passive rehabilitation training device for the lower limbs of the claim 1, wherein: the second spiral push rod device (41) and the second linear type magneto-rheological damper (42) are respectively the same as the first spiral push rod device (12) and the first linear type magneto-rheological damper (13) in structure.

8. The magnetorheological force feedback type active and passive rehabilitation training device for the lower limbs of the claim 5, wherein: the first motor (123) and the second motor (31) are the same in model specification, and the models are as follows: MSMD021S 41; the power is: 200W; the types of the pressure sensor and the angle sensor are respectively as follows: the column type push-pull force sensors M10E and WDG-AM 37A-360.