CN108721059A - A kind of disc type MR damper lower limb rehabilitation robot - Google Patents
A kind of disc type MR damper lower limb rehabilitation robot Download PDFInfo
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- CN108721059A CN108721059A CN201810702765.8A CN201810702765A CN108721059A CN 108721059 A CN108721059 A CN 108721059A CN 201810702765 A CN201810702765 A CN 201810702765A CN 108721059 A CN108721059 A CN 108721059A
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- hip joint
- knee joint
- bar
- retarder
- motor
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 18
- 210000004394 hip joint Anatomy 0.000 claims abstract description 69
- 210000000629 knee joint Anatomy 0.000 claims abstract description 58
- 210000000689 upper leg Anatomy 0.000 claims abstract description 23
- 210000001624 hip Anatomy 0.000 claims description 16
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 11
- 210000003423 ankle Anatomy 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 210000003414 extremity Anatomy 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000035876 healing Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of disc type MR damper lower limb rehabilitation robots, it is related to Medical Instruments technical field, two hip joint belt wheels are respectively connected to the output end of hip joint retarder and the side top of thigh bar, hip joint belt is installed on two hip joint belt wheels, for the power of hip joint motor to be transferred to thigh bar through two hip joint belt wheels；Two knee joint belt wheels are respectively connected to the side top of the output end and shank bar of knee joint retarder, and knee joint belt is installed on two knee joint belt wheels, for the power of knee joint motor to be transferred to shank bar through two knee joint belt wheels.Disc type MR damper is arranged in the present invention respectively between hip joint motor and hip joint retarder and between knee joint motor and knee joint retarder, realize the control of motor output torque, solve the problems, such as that driving motor output torque is excessive, resistance effect can be provided simultaneously in patient's active training, be conducive to the effect of enhancing rehabilitation.
Description
Technical field
The present invention relates to Medical Instruments technical fields, and in particular to a kind of robot for lower limb rehabilitation treatment.
Background technology
Rehabilitation is also known as rehabilitation physiotherapy, be for patient body dysfunction and hypofunction play prevention,
Improve a kind of specific treatment with restitution.Experience and hand operation technology of traditional rehabilitation procedure dependent on therapist,
In recent years, increasing sharply with number of patients, saves medical resource and the reform of raising rehabilitation efficiency is extremely urgent.
Healing robot is a kind of novel robot occurred in recent years, belongs to the scope of medical robot.It mainly passes through
Machine drives limbs to do the movement of repeatability, and the nervous system to controlling limb motion is stimulated and promoted its reconstruction, is one
Kind substitutes the novel clinical intervention means of hand operation rehabilitation.
Lower limb rehabilitation robot is one kind of healing robot, it can simulate the walking posture of normal person, and can be with
The weight of a part of human body is undertaken, there can be the patient of dyskinesia to carry out effective lower limb rehabilitation training to lower limb.Patient's
The state of an illness is multifarious, also needs to carry out rehabilitation, therefore, robot by different motor patterns by stages in different rehabilitations
The training action of offer should have three kinds of passive, active, power-assist motor patterns.Meanwhile different patient's designs are also coped in rehabilitation training
Different rehabilitation schemes, and the targetedly required various parameters of project training.Robot should be able to also monitor patient in real time
Interaction force between robot provides the auxiliary force of bigger in patient's initiative ability deficiency, and has the ability in patient
When execution, the appropriate auxiliary force that reduces even applies resistance, to give full play to the function of patient's remaining.
It is retrieved by the prior art, there are following known technical solutions：
1.Adam B.Zoss,H.Kazerooni andAndrew Chu,“Biomechanical Design ofthe
Berkeley Lower Extremity Exoskeleton(BLEEX),”IEEE/ASME Transactions on
Mechatronics,vol.11,no.2,pp.128-138,April,2006.
The technical solution is driven using hydraulic linear, is unfavorable for the compliance of limb motion, range of motion is limited, easily
Movement interference is generated, and it is big to consume energy.
2.Erhan an,Mehmet Arif Adli,“The design and control of a
therapeutic exercise robot for lower limb rehabilitation:Physiotherabot,”
Mechatronics,vol.21,pp.509-522,2011.
Technical solution control mode is complicated, and motor output torque control accuracy is not high, and to people when output torque is excessive
Body is without installation safeguard；When people carries out work against resistance, resistance can not be adjusted.
Through the above search, it has been found that above technical scheme does not influence the novelty of the present invention；And the above existing skill
The intercombination of art is without destroying creativeness of the invention.
Invention content
It is magnetorheological to provide a kind of disc type precisely in order to avoid above-mentioned existing deficiencies in the technology by the present invention
Damper lower limb rehabilitation robot.
The present invention is to solve technical problem to adopt the following technical scheme that：A kind of disc type MR damper leg rehabilitation instrument
Device people, waist bar two-end structure are symmetrical arranged, and hip joint cantilever tip and waist bar one end are connected, the hip joint holder, big
Leg bar, shank bar and sole from top to bottom pass sequentially through axis rotation connection, hip joint motor, knee joint motor and ankle-joint motor
It is respectively arranged on the hip joint holder, the thigh bar and shank bar side face；The output shaft of the ankle-joint motor and institute
State sole connection；
Output shaft, hip joint disc type magnetic current rheostat and the hip joint retarder of the hip joint motor are sequentially connected,
Two hip joint belt wheels are respectively connected to the side top of the output end and the thigh bar of the hip joint retarder, hip joint
Belt is installed on two hip joint belt wheels, is used for the power of the hip joint motor through two hip joint belt wheels
It is transferred to the thigh bar；
Output shaft, knee joint disc type magnetic current rheostat and the knee joint retarder of the knee joint motor are sequentially connected,
Two knee joint belt wheels are respectively connected to the side top of the output end and the shank bar of the knee joint retarder, knee joint
Belt is installed on two knee joint belt wheels, is used for the power of the knee joint motor through two knee joint belt wheels
It is transferred to the shank bar.
Further, the waist bar, the thigh bar and the shank bar are made of the two parts for constituting sliding pair, and two
Portion is respectively equipped with intermeshing adjustment gear and adjustment rack；The adjustment gear is equipped with locking structure.
Further, the hip joint retarder, the knee joint retarder and the ankle-joint retarder are harmonic wave
Retarder.
Further, the whole arc-shaped structure of the waist bar.
The present invention provides a kind of disc type MR damper lower limb rehabilitation robots, have the advantages that：
1, respectively between hip joint motor and hip joint retarder and between knee joint motor and knee joint retarder
Hip joint disc type MR damper and knee joint disc type MR damper are set, the control of motor output torque is realized
System, solves the problems, such as that driving motor output torque is excessive, while resistance effect can be provided in patient's active training, is conducive to
Enhance the effect of rehabilitation；
2, the joint motions of robot are driven using the Wire driven robot mode of hip joint belt and knee joint belt transmission, are passed
It is dynamic submissive reliable, there is higher safety；
3, the length of waist bar, thigh bar and shank bar can be adjusted, and be suitable for the patient of various statures, adaptable, real
It is good with property.
4, overall structure is simplified, easy to use, and practicability is good.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
In figure：
1, waist bar, 2, hip joint holder, 3, hip joint motor, 4, hip joint disc type MR damper, 5, hip joint
Retarder, 6, hip joint belt, 7, hip joint belt wheel, 8, knee joint motor, 9, knee joint disc type MR damper, 10,
Knee joint retarder, 11, knee joint belt, 12, knee joint belt wheel, 13, shank bar rack, 14, ankle-joint motor, 15, sole,
16, thigh bar, 17, shank bar gear, 18 shank bars, 19, thigh bar gear, 20, thigh bar rack, 21, ankle-joint retarder.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention,
Technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention one
Divide embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, its structural relation is：1 two-end structure of waist bar is symmetrical arranged, 2 top of hip joint holder and waist bar 1 one
End is connected, and hip joint holder 2, thigh bar 16, shank bar 18 and sole 15 from top to bottom pass sequentially through axis rotation connection, hip joint
Motor 3, knee joint motor 8 and ankle-joint motor 14 are respectively arranged on 18 side of hip joint holder 2, thigh bar 16 and shank bar；Ankle
The output shaft of joint motor 14 is connect with sole 15；
Output shaft, hip joint disc type magnetic current rheostat 4 and the hip joint retarder 5 of hip joint motor 3 are sequentially connected, and two
A hip joint belt wheel 8 is respectively connected to the side top of the output end and thigh bar 16 of hip joint retarder 5, hip joint belt 6
It is installed on two hip joint belt wheels 8, for the power of hip joint motor 3 to be transferred to thigh bar through two hip joint belt wheels 7
16；
Output shaft, knee joint disc type magnetic current rheostat 9 and the knee joint retarder 10 of knee joint motor 8 are sequentially connected,
Two knee joint belt wheels 12 are respectively connected to the side top of the output end and shank bar 18 of knee joint retarder 10, knee joint skin
Band 11 is installed on two knee joint belt wheels 12, for the power of knee joint motor 8 to be transferred to through two knee joint belt wheels 12
Shank bar 18.
Preferably, waist bar 1, thigh bar 16 and shank bar 18 are made of the two parts for constituting sliding pair, and two parts are not set
There are intermeshing adjustment gear and adjustment rack；It adjusts gear and is equipped with locking structure.
Preferably, hip joint retarder 5, knee joint retarder 10 and ankle-joint retarder 21 are harmonic speed reducer.
Preferably, the whole arc-shaped structure of waist bar 1.
When specifically used, lower limb rehabilitation robot there are three types of rehabilitation training pattern, respectively Passive Mode, aggressive mode and
Resistance pattern.Before use waist bar 1, thigh bar 16 and shank should be adjusted using adjusting gear rack and adjustment gear according to patient size
The length of bar 18.
Under Passive Mode, robot active matrix driving, the power that hip joint motor 3 exports is through hip joint disc type magnetic current variable resistance
Buddhist nun's device 4 is transferred to hip joint retarder 5 after controlling, and by hip joint retarder 5 by after power adjustment to suitable rotational speed, is closed by hip
It saves belt 6 and two hip joint belt wheels 7 drives thigh bar 16 to be rotated relative to hip joint holder 2；Knee joint motor 8 exports dynamic
Power is transferred to knee joint retarder 10 after the control of knee joint disc type MR damper 9, will be moved by knee joint retarder 10
After power is adjusted to suitable rotational speed, drive shank bar 18 relative to thigh bar by knee joint belt 11 and two knee joint belt wheels 12
16 rotations.Due to safety concerns, directly ankle-joint motor 14 is used to drive at ankle, can passes through ankle-joint retarder 21 when training
Adjust the output to the torque and rotating speed of sole 15.
Under aggressive mode, healing robot passive drive does not provide power, and wearing patient drives by active limb movement
Mobile robot moves.
Under resistance pattern, patient's active movement is dressed, lower limb rehabilitation robot passes through hip joint disc type magnetorheological damping
Device 4 and knee joint disc type MR damper 9 provide resistance, and patient is made to carry out reconditioning in the environment of resistance.
Under Passive Mode and resistance pattern, medical staff should be directed to conditions of patients and design hip joint disc type magnetorheological damping
The input current of device 4 and knee joint disc type MR damper 9, so that hip joint disc type MR damper 4 and knee close
Pitch circle disc type MR damper 9 provides suitable damping, and then lower limb rehabilitation robot is made to realize different degrees of rehabilitation instruction
Practice.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features；And these modification or
It replaces, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution.
Claims (4)
1. a kind of disc type MR damper lower limb rehabilitation robot, it is characterised in that：Waist bar (1) two-end structure is symmetrically set
It sets, hip joint holder (2) top is connected with described waist bar (1) one end, the hip joint holder (2), thigh bar (16), shank bar
(18) and sole (15) from top to bottom passes sequentially through axis rotation connection, hip joint motor (3), knee joint motor (8) and ankle-joint
Motor (14) is respectively arranged on the hip joint holder (2), the thigh bar (16) and the shank bar (18) side；The ankle closes
The output shaft of section motor (14) is connect with the sole (15)；
Output shaft, hip joint disc type magnetic current rheostat (4) and the hip joint retarder (5) of the hip joint motor (3) are successively
Connection, two hip joint belt wheels (8) are respectively connected to the output end and the thigh bar (16) of the hip joint retarder (5)
Side top, hip joint belt (6) are installed on two hip joint belt wheels (8), are used for the hip joint motor (3)
Power is transferred to the thigh bar (16) through two hip joint belt wheels (7)；
Output shaft, knee joint disc type magnetic current rheostat (9) and the knee joint retarder (10) of the knee joint motor (8) are successively
Connection, two knee joint belt wheels (12) are respectively connected to the output end and the shank bar (18) of the knee joint retarder (10)
Side top, knee joint belt (11) is installed on two knee joint belt wheels (12), for by the knee joint motor
(8) power is transferred to the shank bar (18) through two knee joint belt wheels (12).
2. a kind of disc type MR damper lower limb rehabilitation robot according to claim 1, it is characterised in that：It is described
Waist bar (1), the thigh bar (16) and the shank bar (18) are made of the two parts for constituting sliding pair, and two parts are not equipped with
Intermeshing adjustment gear and adjustment rack；The adjustment gear is equipped with locking structure.
3. a kind of disc type MR damper lower limb rehabilitation robot according to claim 1, it is characterised in that：It is described
Hip joint retarder (5), the knee joint retarder (10) and the ankle-joint retarder (21) are harmonic speed reducer.
4. a kind of disc type MR damper lower limb rehabilitation robot according to claim 1, it is characterised in that：It is described
The whole arc-shaped structure of waist bar (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810702765.8A CN108721059A (en) | 2018-06-30 | 2018-06-30 | A kind of disc type MR damper lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810702765.8A CN108721059A (en) | 2018-06-30 | 2018-06-30 | A kind of disc type MR damper lower limb rehabilitation robot |
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| Publication Number | Publication Date |
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| CN108721059A true CN108721059A (en) | 2018-11-02 |
Family
ID=63925523
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810702765.8A Pending CN108721059A (en) | 2018-06-30 | 2018-06-30 | A kind of disc type MR damper lower limb rehabilitation robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318208A (en) * | 2018-11-12 | 2019-02-12 | 郑州轻工业学院 | A kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom |
| CN109846672A (en) * | 2019-03-07 | 2019-06-07 | 合肥工业大学 | The ankle foot healing orthoses and its motion control method of stiffness variable |
| CN113876544A (en) * | 2021-09-23 | 2022-01-04 | 北京邮电大学 | Dual-mode driven seven-degree-of-freedom upper limb rehabilitation mechanical arm |
| US20220015977A1 (en) * | 2020-07-17 | 2022-01-20 | Toyota Motor Engineering & Manufacturing North America, Inc. | Therapeutic motion devices including artificial muscle drive units |
| CN116059085A (en) * | 2022-12-08 | 2023-05-05 | 河北工业大学 | Lower limb exoskeleton rehabilitation robot with adjustable |
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|---|---|---|---|---|
| CN101584636A (en) * | 2009-07-03 | 2009-11-25 | 东南大学 | Double-output shaft active passive upper and lower limbs rehabilitation training mechanism |
| CN102114318A (en) * | 2011-01-19 | 2011-07-06 | 大连交通大学 | Lower limb joint rehabilitation training device |
| CN107049713A (en) * | 2017-03-13 | 2017-08-18 | 东北大学 | Wearable lower limb rehabilitation walk help mechanical device |
| CN208864744U (en) * | 2018-06-30 | 2019-05-17 | 中国科学院合肥物质科学研究院 | A kind of disc type MR damper lower limb rehabilitation robot |
-
2018
- 2018-06-30 CN CN201810702765.8A patent/CN108721059A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101584636A (en) * | 2009-07-03 | 2009-11-25 | 东南大学 | Double-output shaft active passive upper and lower limbs rehabilitation training mechanism |
| CN102114318A (en) * | 2011-01-19 | 2011-07-06 | 大连交通大学 | Lower limb joint rehabilitation training device |
| CN107049713A (en) * | 2017-03-13 | 2017-08-18 | 东北大学 | Wearable lower limb rehabilitation walk help mechanical device |
| CN208864744U (en) * | 2018-06-30 | 2019-05-17 | 中国科学院合肥物质科学研究院 | A kind of disc type MR damper lower limb rehabilitation robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318208A (en) * | 2018-11-12 | 2019-02-12 | 郑州轻工业学院 | A kind of adaptive knee-joint rehabilitation training ectoskeleton of multiple degrees of freedom |
| CN109846672A (en) * | 2019-03-07 | 2019-06-07 | 合肥工业大学 | The ankle foot healing orthoses and its motion control method of stiffness variable |
| CN109846672B (en) * | 2019-03-07 | 2021-08-10 | 合肥工业大学 | Variable-rigidity ankle-foot rehabilitation orthosis and motion control method thereof |
| US20220015977A1 (en) * | 2020-07-17 | 2022-01-20 | Toyota Motor Engineering & Manufacturing North America, Inc. | Therapeutic motion devices including artificial muscle drive units |
| CN113876544A (en) * | 2021-09-23 | 2022-01-04 | 北京邮电大学 | Dual-mode driven seven-degree-of-freedom upper limb rehabilitation mechanical arm |
| CN116059085A (en) * | 2022-12-08 | 2023-05-05 | 河北工业大学 | Lower limb exoskeleton rehabilitation robot with adjustable |
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