CN109172281B - Seven-degree-of-freedom lower limb rehabilitation robot - Google Patents

Seven-degree-of-freedom lower limb rehabilitation robot Download PDF

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Publication number
CN109172281B
CN109172281B CN201811208089.5A CN201811208089A CN109172281B CN 109172281 B CN109172281 B CN 109172281B CN 201811208089 A CN201811208089 A CN 201811208089A CN 109172281 B CN109172281 B CN 109172281B
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Prior art keywords
joint
hip
ankle
extension
adduction
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CN109172281A (en
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闫维新
钱阳
赵言正
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Suzhou Diweida Biotechnology Co ltd
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Suzhou Diweida Biotechnology Co ltd
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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
    • 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
    • A61H1/024—Knee
    • 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
    • A61H1/0244—Hip
    • 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
    • A61H1/0266—Foot
    • 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
    • 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
    • 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
    • A63B23/0482—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the hip joints
    • 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
    • A63B23/0494—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the knee joints
    • 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
    • A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • 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
    • A61H2205/08—Trunk
    • A61H2205/088—Hip
    • 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
    • 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
    • A61H2205/102—Knee
    • 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
    • A61H2205/12—Feet
    • 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
    • A63B2220/40—Acceleration
    • A63B2220/44—Angular acceleration
    • 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
    • A63B2220/80—Special sensors, transducers or devices therefor
    • 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
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors

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  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Biophysics (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention provides a seven-degree-of-freedom lower limb rehabilitation robot, which comprises: the hip adduction abduction joint, hip flexion and extension joint, hip internal rotation and external rotation joint, knee flexion and extension joint, ankle adduction and external rotation joint, ankle plantar flexion and dorsiflexion joint, ankle adduction and external extension joint, thigh extension part, shank extension part, thigh support part, shank support part, leg part and foot fixing part and control part are formed, and seven degrees of freedom are connected in series. The invention has convenient operation, and only needs to put the thighs and the shanks of the patient into the thigh supporting part and the shank supporting part, and the legs and the feet of the patient are fixed on the ankle adduction abduction joints through the leg and foot fixing parts, thus providing seven degrees of freedom rehabilitation training of hip adduction abduction movement, hip flexion extension movement, hip internal rotation external rotation movement, knee flexion extension movement, ankle varus external turning movement, ankle plantar flexion dorsiflexion movement and ankle adduction external extension movement of the patient.

Description

Seven-degree-of-freedom lower limb rehabilitation robot
Technical Field
The invention relates to the field of medical equipment, in particular to a seven-degree-of-freedom lower limb rehabilitation robot.
Background
At present, the most effective recovery method after the operation of a cerebral apoplexy patient or a limb injury patient is rehabilitation training, and the lower limb rehabilitation training is a very key link in the limb rehabilitation exercise of the patient, no effective mechanism for performing the lower limb exercise of the patient with multiple degrees of freedom exists on the market at present, the coordinated rehabilitation actions of the coworkers of the hip joint, the knee joint and the ankle joint are realized, and the patient is enabled to obtain the effective multi-degree of freedom lower limb rehabilitation training in the rehabilitation exercise process.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the seven-degree-of-freedom lower limb rehabilitation robot which is simple in structure, convenient to operate, good in rehabilitation effect and wide in popularization significance.
To achieve the above object, the present invention provides a seven-degree-of-freedom lower limb rehabilitation robot, comprising: the hip adduction abduction joint, the hip flexion and extension joint, the hip internal rotation and external rotation joint, the knee flexion and extension joint, the ankle adduction and external rotation joint, the ankle plantar flexion and dorsiflexion joint, the ankle adduction and external extension joint, the thigh extension part, the shank extension part, the thigh support part, the shank support part, the leg foot fixing part and the control part, wherein the hip adduction and external extension joint is a first degree of freedom joint, the hip flexion and extension joint is a second degree of freedom joint, the hip internal rotation and external rotation joint is a third degree of freedom joint, the knee flexion and extension joint is a fourth degree of freedom joint, the ankle adduction and external rotation joint is a fifth degree of freedom joint, the ankle plantar flexion and dorsiflexion joint is a sixth degree of freedom joint, the ankle adduction and external extension joint is a seventh degree of freedom joint, and the seven degrees of freedom joints are connected in series; wherein:
the hip adduction abduction joint is concentric with the hip adduction and abduction action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop adduction and abduction movements of the hip joint;
the hip flexion extension joint is connected with the hip adduction abduction joint and is concentric with the hip flexion and extension action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop the flexion and extension movements of the hip joint;
the thigh telescopic part is connected with the hip buckling extension joint and is used for manually adjusting the size according to the length of the thigh of a human body so as to adapt to the requirements of different limb dimensions;
the hip internal rotation and external rotation joint is connected with the thigh telescopic part and is concentric with the hip joint internal rotation and external rotation action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop the internal rotation and external rotation movements of the hip joint;
the knee flexion and extension joint is connected with the thigh extension part and is concentric with a knee flexion and extension action joint shaft of the human knee joint and used for assisting the lower limb of a patient to develop flexion and extension action motions of the knee joint;
the shank extension part is connected with the knee flexion extension joint, and is used for manually adjusting the size according to the length of the shank of a human body so as to adapt to the requirements of different limb dimensions;
the ankle varus and valgus joint is connected with the shank extension part and is concentric with the ankle varus and valgus action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop the varus and valgus motions of the ankle joint;
the ankle plantar flexion dorsiflexion joint is connected with the ankle varus eversion joint and is concentric with the ankle plantar flexion and dorsiflexion action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop plantar flexion and dorsiflexion movements of the ankle joint;
the ankle adduction and abduction joint is connected with the ankle plantar flexion and dorsiflexion joint and is concentric with the ankle adduction and abduction action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop adduction and abduction movements of the ankle joint;
the thigh support part is connected with the thigh telescopic part and is used for supporting the thigh part of the limb of the person;
the shank support part is connected with the shank telescopic part and is used for supporting the shank part of the limb of the person;
the leg and foot fixing part is used for fixing the leg and the foot of the patient with the ankle adduction and abduction joint;
the control part is used for controlling the movement speed and the movement angle of the seven-degree-of-freedom joint, carrying out active, passive or resistance control on a patient according to requirements, and realizing the rehabilitation effect according to the rehabilitation requirements of different stages.
Preferably, the hip adduction abduction joint, the hip flexion and extension joint, the hip internal rotation and external rotation joint, the knee flexion and extension joint, the ankle varus and valgus joint, the ankle plantar flexion and dorsiflexion joint and the ankle adduction and external extension joint move independently or are linked by a plurality of degrees of freedom.
Preferably, the hip adduction abduction joint is perpendicular to the movement joint axis of the hip flexion-extension joint.
Preferably, the hip internal rotation and external rotation joint is perpendicular to the movement joint axis of the hip adduction and abduction joint and the hip flexion and extension joint.
Preferably, the thigh telescoping portion includes: thigh fixing part, thigh sliding part and thigh length locking part, wherein:
the thigh fixing part is connected with the hip buckling extension joint and is used for bearing the thigh sliding part and the thigh length locking part;
the thigh sliding part and the thigh fixing part perform linear sliding movement, and the length of the whole thigh telescopic part is adjusted according to the thigh length of the limb of the patient;
the thigh length locking part is used for locking after the thigh sliding part slides linearly and meets the thigh length requirement of a patient so as to fix the mutual positions of the thigh fixing part and the thigh sliding part.
Preferably, the lower leg extension part includes: shank fixation means, shank sliding means and shank length locking means, wherein:
the shank fixing part is connected with the knee flexion and extension joint and is used for bearing the shank sliding part and the shank length locking part;
the shank sliding part and the shank fixing part perform linear sliding motion, and the length of the whole shank telescopic part is adjusted according to the length of the limb shank of the patient;
the shank length locking part is used for linearly sliding the shank sliding part and locking the shank sliding part after meeting the shank length requirement of a patient so as to fix the mutual positions of the shank fixing part and the shank sliding part.
Preferably, the ankle varus-valgus joint is perpendicular to the motion joint axis of the ankle plantar flexion dorsiflexion joint.
Preferably, the ankle adduction abduction joint is perpendicular to the motion joint axis of the ankle adduction eversion joint and the ankle plantar flexion dorsiflexion joint.
Preferably, the motion source of the hip adduction abduction joint, the hip flexion extension joint, the hip internal rotation external rotation joint, the knee flexion extension joint, the ankle adduction external rotation joint, the ankle plantar flexion dorsiflexion joint and the ankle adduction external extension joint adopts one of a direct current stepping motor, a direct current permanent magnet motor, a direct current brushless motor, a direct current torque motor and an alternating current servo motor.
More preferably, the movement modes of the hip adduction abduction joint, the hip flexion and extension joint, the hip internal rotation and external rotation joint, the knee flexion and extension joint, the ankle varus and valgus joint, the ankle plantar flexion and dorsiflexion joint and the ankle adduction and external extension joint adopt a mode of direct driving by a rotating motor or adopt one of an RV speed reducer, a planetary speed reducer, a harmonic speed reducer, a gear speed reducer and a worm gear speed reducer.
More preferably, the hip adduction abduction joint, the hip flexion and extension joint, the hip internal rotation and external rotation joint, the knee flexion and extension joint, the ankle varus and valgus joint, the ankle plantar flexion and dorsiflexion joint and the ankle adduction and external extension joint are matched with a driving controller, and are independently used by adopting a rotary motor, a speed reducer and an encoder; or a rotating motor, a speed reducer, an encoder and a driving controller integrated module are adopted to control the joint shaft through communication.
More preferably, the hip adduction abduction joint, the hip flexion extension joint, the hip internal rotation and external rotation joint, the knee flexion extension joint, the ankle varus and valgus joint, the ankle plantar flexion and dorsiflexion joint and the ankle adduction and external extension joint are provided with torque sensors according to the requirement so as to calculate the torque output of the joint shaft in the rotation process for active rehabilitation control and anti-resistance rehabilitation control;
or, a torque sensor is not arranged, and the rotation of the joint shaft is directly driven for passive rehabilitation control.
More preferably, the hip adduction abduction joint, hip flexion extension joint, hip internal rotation and external rotation joint, knee flexion extension joint, ankle adduction and external rotation joint, ankle plantar flexion and dorsiflexion joint and ankle adduction and external extension joint are provided with inertial elements of gyroscopes, angular acceleration sensors or geomagnetic sensors as required to calculate the postures of the thighs, the lower legs and the feet of the patient.
Preferably, the hip adduction abduction joint and the hip flexion extension joint are transmitted by power through pulleys or are directly driven to rotate.
Preferably, the leg and foot fixing part is fixed with the ankle adduction abduction joint by using a magic tape or a sticking buckle tape or a mode of inserting and buckling a binding belt or a nylon belt.
Preferably, the control section includes: an articulation control component and a human-machine interaction component, wherein:
the joint shaft movement control part controls the movement speed and the movement angle of the seven-degree-of-freedom joint of the rehabilitation robot according to the parameters set by the man-machine interaction part;
the man-machine interaction component is used for setting the movement speed and the movement angle of each degree of freedom joint in different time periods.
More preferably, the man-machine interaction part directly sets different movement speeds and movement angles according to different time periods;
or the man-machine interaction component is based on a virtual reality technology, intuitively sets the movement speed and the movement angle of each joint in different time periods, and displays the effect in real time through virtual reality.
Preferably, the energy supply is directly connected to the mains or is provided in the form of a lead-acid battery, a lithium battery.
Preferably, the thigh support part is directly fixed on the thigh extension part, and the thigh of the patient is fixed on the thigh extension part by means of velcro, a fastening tape or a binding tape and nylon tape.
Preferably, the shank support part is directly fixed on the shank extension part, and the shank of the patient is fixed with the shank extension part by means of velcro, a fastening tape or a fastening tape and nylon tape.
Compared with the prior art, the invention has the following beneficial effects:
the invention is convenient to operate, only the thigh and the shank of a patient are placed in the thigh supporting part and the shank supporting part, the leg and the foot of the patient are fixed on the ankle adduction abduction joint through the leg and foot fixing part, and the rehabilitation training of seven degrees of freedom joint can be provided for the hip adduction abduction motion, hip flexion extension motion, hip internal rotation and external rotation motion, knee flexion extension motion, ankle varus and valgus motion, ankle plantar flexion dorsiflexion motion and ankle adduction and abduction motion of the patient, thereby playing the role of limb rehabilitation. The invention has simple structure, good rehabilitation effect and wide popularization significance.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
figure 1 is a schematic overall structure of a preferred embodiment of the present invention,
in the figure: 010-hip adduction abduction joint, 020-hip flexion extension joint, 030-hip internal rotation and external rotation joint, 040-knee flexion extension joint, 050-ankle adduction and external rotation joint, 060-ankle plantar flexion and dorsiflexion joint, 070-ankle adduction and abduction joint, 080-thigh extension part, 090-shank extension part, 100-thigh support part, 110-shank support part, 120-leg foot fixing part;
FIGS. 2a and 2b are schematic views of hip adduction and abduction movements according to a preferred embodiment of the present invention;
FIGS. 3a, 3b are schematic views of hip flexion-extension movements of a preferred embodiment of the present invention;
fig. 4a, 4b are schematic views of a hip internal and external rotation movement according to a preferred embodiment of the present invention;
FIGS. 5a and 5b are schematic views of knee flexion and extension movements according to a preferred embodiment of the present invention;
FIGS. 6a and 6b are schematic views of an ankle varus valgus motion according to a preferred embodiment of the invention;
FIGS. 7a and 7b are schematic views of ankle plantarflexion dorsiflexion motion in accordance with a preferred embodiment of the present invention;
FIGS. 8a and 8b are schematic views of ankle adduction and abduction movements according to a preferred embodiment of the present invention;
figure 9 is a schematic view of the thigh telescoping section of a preferred embodiment of the invention,
in the figure: 081-thigh securing members, 082-thigh sliding members, 083-thigh length locking members;
FIGS. 10a and 10b are schematic views illustrating the operation of the thigh telescoping section in accordance with a preferred embodiment of the present invention;
figure 11 is a schematic view of the structure of the calf telescoping section of a preferred embodiment of the invention,
in the figure: 091-shank fixation means, 092-shank sliding means, 093-shank length locking means;
fig. 12a and 12b are schematic views showing the operation of the calf telescoping part according to a preferred embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
As shown in fig. 1, a seven-degree-of-freedom lower limb rehabilitation robot includes: hip adduction abduction joint 010, hip flexion extension joint 020, hip internal rotation and external rotation joint 030, knee flexion extension joint 040, ankle adduction and external rotation joint 050, ankle plantar flexion and dorsiflexion joint 060, ankle adduction and abduction joint 070, thigh telescoping portion 080, calf telescoping portion 090, thigh support portion 100, calf support portion 110, leg foot fixing portion 120, and control portion, wherein:
the hip adduction abduction joint 010 is a first degree of freedom joint, the hip flexion and extension joint 020 is a second degree of freedom joint, the hip internal rotation and external rotation joint 030 is a third degree of freedom joint, the knee flexion and extension joint 040 is a fourth degree of freedom joint, the ankle adduction and external rotation joint 050 is a fifth degree of freedom joint, the ankle plantar flexion and external rotation joint 060 is a sixth degree of freedom joint, the ankle adduction and external extension joint 070 is a seventh degree of freedom joint, the seven degrees of freedom joints are connected in series, and the seven degrees of freedom joints move independently or are linked in a plurality of degrees of freedom.
As shown in fig. 1, 2a and 2b, the hip adduction and abduction joint 010 is concentric with the hip adduction and abduction action joint axis of the lower limb of the human body, and helps the lower limb of the patient develop adduction and abduction movements of the hip joint;
as shown in fig. 1, 3a and 3b, the hip flexion and extension joint 020 is connected with the hip adduction and abduction joint 010, the hip flexion and extension joint 020 is concentric with the hip flexion and extension action joint axis of the lower limb of the human body, the lower limb of the patient is assisted to develop the flexion and extension movements of the hip joint, and the hip adduction and abduction joint 010 is mutually perpendicular to the movement joint axis of the hip flexion and extension joint 020;
as shown in fig. 1, the thigh telescopic part 080 is connected with the hip buckling extension joint 020, and the thigh telescopic part 080 is manually adjusted in size according to the length of the thigh of the human body so as to adapt to the requirements of different limb dimensions;
as shown in fig. 1, fig. 4a and fig. 4b, the hip internal rotation and external rotation joint 030 is connected with the thigh telescopic part 080, and the hip internal rotation and external rotation joint 030 is concentric with the hip joint internal rotation and external rotation action joint shaft of the lower limb of the human body, so as to help the lower limb of the patient develop the internal rotation and external rotation movements of the hip joint; simultaneously, the hip internal rotation and external rotation joint 030 is mutually perpendicular to the motion joint shaft of the hip adduction and abduction joint 010 and the hip flexion and extension joint 020;
as shown in fig. 1, 5a and 5b, the knee flexion and extension joint 040 is connected with the thigh telescopic part 080, and the knee flexion and extension joint 040 is concentric with the knee flexion and extension action joint shaft of the human knee joint, so as to help the lower limb of the patient develop the flexion and extension action movements of the knee joint;
as shown in fig. 1, the shank extension and contraction part 090 is connected with the knee flexion and extension joint 040, and the shank extension and contraction part 090 is manually adjusted in size according to the length of the human shank so as to adapt to the requirements of different limb dimensions;
as shown in fig. 1, 6a and 6b, the ankle varus-valgus joint 050 is connected with the shank telescopic part 090, and the ankle varus-valgus joint 050 is concentric with the ankle varus and valgus action joint shaft of the lower limb of the human body, so as to help the lower limb of the patient develop the varus and valgus movements of the ankle joint;
as shown in fig. 1, 7a and 7b, the ankle plantar flexion dorsiflexion joint 060 is connected with the ankle varus eversion joint 050, and the ankle plantar flexion dorsiflexion joint 060 is concentric with the ankle plantar flexion and dorsiflexion action joint shaft of the lower limb of the human body, so as to help the lower limb of the patient develop plantar flexion and dorsiflexion movements of the ankle joint; simultaneously, the motion joint axes of the ankle varus valgus joint 050 and the ankle plantar flexion dorsiflexion joint 060 are mutually perpendicular;
as shown in fig. 1, 8a and 8b, the ankle adduction and abduction joint 070 is connected with the ankle plantar flexion and dorsiflexion joint 060, and the ankle adduction and abduction joint 070 is concentric with the ankle adduction and abduction action joint axis of the lower limb of the human body, so as to help the lower limb of the patient develop adduction and abduction movements of the ankle joint; meanwhile, the ankle adduction abduction joint 070 is perpendicular to the motion joint axes of the ankle adduction eversion joint 050 and the ankle plantar flexion dorsiflexion joint 060.
As shown in fig. 1, the thigh support part 100 is a U-shaped plate for supporting the thigh part of the human limb;
as shown in fig. 1, the lower leg supporter 110 is a U-shaped plate for supporting the lower leg portion of the limb of the person;
as shown in fig. 1, the leg and foot securing portion 120 is a flexible strap for securing the patient's leg and foot to the ankle adduction and abduction joint 070;
the control part is a set of control system with calculation capability and is used for controlling the movement speed and the movement angle of the seven-degree-of-freedom joint, carrying out active, passive or anti-resistance control on a patient according to requirements and realizing the rehabilitation effect according to the rehabilitation requirements of different stages.
As a preferred embodiment, the control section includes: an articulation control component and a human-machine interaction component, wherein:
the joint shaft movement control component controls the movement speed and the movement angle of a seven-degree-of-freedom joint of the rehabilitation robot;
the man-machine interaction component is used for setting the movement speed and the movement angle of each degree of freedom joint in different time periods.
Further, the man-machine interaction part directly sets different movement speeds and movement angles according to different time periods;
or the man-machine interaction component is based on a virtual reality technology, intuitively sets the movement speed and the movement angle of each joint in different time periods, and displays the effect in real time through virtual reality.
As a preferred embodiment, the hip adduction and abduction joint 010 and the hip flexion and extension joint 020 are powered by pulleys or directly driven to rotate.
As a preferred embodiment, the leg and foot fixing portion 120 is fixed to the lower limb rehabilitation robot by means of velcro, or a strap, nylon, or a buckle.
As a preferred embodiment, the energy supply of the rehabilitation robot is directly connected to the commercial power or is provided by a lead-acid storage battery or a lithium battery.
As a preferred embodiment, as shown in fig. 9 and 10a and 10b, the thigh telescoping portion 080 includes: thigh fixing part 081, thigh sliding part 082 and thigh length locking part 083, wherein:
the thigh fixing part 081 is connected with the hip flexion and extension joint 020, and is used for bearing the thigh sliding part 082 and the thigh length locking part 083;
the thigh sliding part 082 and the thigh fixing part 081 are in linear sliding motion, and the length of the whole thigh telescopic part 080 is adjusted according to the thigh length of the limb of the patient;
the thigh length locking part 083 is used for locking after the thigh sliding part 082 is linearly slid and meets the thigh length requirement of the patient, so as to fix the mutual positions of the thigh fixing part 081 and the thigh sliding part 082.
As a preferred embodiment, as shown in fig. 11 and 12a and 12b, the lower leg extension 090 includes: a shank fixation member 091, a shank sliding member 092, and a shank length locking member 093; wherein:
the shank fixation device 091 is connected to the knee flexion-extension joint 040 and is used for bearing a shank sliding member 092 and a shank length locking member 093;
the shank sliding part 092 and the shank fixing part 091 are in linear sliding motion, and the length of the whole shank telescopic part 090 is adjusted according to the length of the limb shank of the patient;
the shank length locking means 093 is adapted to lock the shank slide means 092 after it is linearly slid and meets the patient's shank length requirement to fix the mutual positions of the shank fixing means 091 and the shank slide means 092.
As a preferred embodiment, the motion sources of the hip adduction abduction joint 010, the hip flexion and extension joint 020, the hip internal rotation and external rotation joint 030, the knee flexion and extension joint 040, the ankle adduction and external turning joint 050, the ankle plantar flexion and dorsiflexion joint 060 and the ankle adduction and external extension joint 070 adopt one of a direct current stepping motor, a direct current permanent magnet motor, a direct current brushless motor, a direct current torque motor and an alternating current servo motor.
As a preferred embodiment, the movement modes of the hip adduction abduction joint 010, the hip flexion and extension joint 020, the hip internal rotation and external rotation joint 030, the knee flexion and extension joint 040, the ankle varus and valgus joint 050, the ankle plantar flexion and dorsiflexion joint 060 and the ankle adduction and external extension joint 070 adopt a direct driving mode of a rotating motor, or adopt one of an RV reducer, a planetary reducer, a harmonic reducer, a gear reducer and a worm gear reducer.
As a preferred embodiment, the hip adduction abduction joint 010, the hip flexion and extension joint 020, the hip internal rotation and external rotation joint 030, the knee flexion and extension joint 040, the ankle adduction and external turning joint 050, the ankle plantar flexion and dorsiflexion joint 060 and the ankle adduction and external extension joint 070 are matched with a driving controller, and are independently used by adopting a rotating motor, a speed reducer and an encoder; or a rotating motor, a speed reducer, an encoder and a driving controller integrated module are adopted to control the joint shaft through communication.
As a preferred embodiment, the hip adduction abduction joint 010, the hip flexion and extension joint 020, the hip internal rotation and external rotation joint 030, the knee flexion and extension joint 040, the ankle adduction and external turning joint 050, the ankle plantar flexion and dorsiflexion joint 060 and the ankle adduction and external extension joint 070 are provided with torque sensors according to the requirement so as to calculate the torque output of the joint shaft in the rotation process for active rehabilitation control and anti-resistance rehabilitation control; or, a torque sensor is not arranged, and the rotation of the joint shaft is directly driven for passive rehabilitation control.
As a preferred embodiment, the hip adduction abduction joint 010, the hip flexion and extension joint 020, the hip internal rotation and external rotation joint 030, the knee flexion and extension joint 040, the ankle adduction and external rotation joint 050, the ankle plantar flexion and dorsiflexion joint 060 and the ankle adduction and external extension joint 070 are provided with inertial elements of gyroscopes, angular acceleration sensors or geomagnetic sensors according to the need, so as to calculate the postures of the thigh, the calf and the foot of the patient.
As a preferred embodiment, the energy supply of the rehabilitation robot is directly connected to the commercial power or is provided by a lead-acid storage battery or a lithium battery.
The seven-degree-of-freedom lower limb rehabilitation robot is convenient to operate, and can provide seven degrees-of-freedom rehabilitation exercises for the hip adduction and abduction movements, hip flexion and extension movements, hip internal rotation and external rotation movements, knee flexion and extension movements, ankle adduction and external rotation movements, ankle plantar flexion and dorsiflexion movements and ankle adduction and external rotation movements of a patient by only placing the thighs and the shanks of the patient into the thigh support part 100 and the shank support part 110 and fixing the legs and feet of the patient on the ankle adduction and external extension joints 070 through the leg and foot fixing parts 120, thereby playing a role in limb rehabilitation. The invention has simple structure, good rehabilitation effect and wide popularization significance.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.

Claims (6)

1. A seven degrees of freedom lower limb rehabilitation robot, comprising: the hip adduction abduction joint, the hip flexion and extension joint, the hip internal rotation and external rotation joint, the knee flexion and extension joint, the ankle adduction and external rotation joint, the ankle plantar flexion and dorsiflexion joint, the ankle adduction and external extension joint, the thigh extension part, the shank extension part, the thigh support part, the shank support part, the leg foot fixing part and the control part, wherein the hip adduction and external extension joint is a first degree of freedom joint, the hip flexion and extension joint is a second degree of freedom joint, the hip internal rotation and external rotation joint is a third degree of freedom joint, the knee flexion and extension joint is a fourth degree of freedom joint, the ankle adduction and external rotation joint is a fifth degree of freedom joint, the ankle plantar flexion and dorsiflexion joint is a sixth degree of freedom joint, the ankle adduction and external extension joint is a seventh degree of freedom joint, and the seven degrees of freedom joints are connected in series; wherein:
the hip adduction abduction joint is concentric with the hip adduction and abduction action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop adduction and abduction movements of the hip joint;
the hip flexion extension joint is connected with the hip adduction abduction joint and is concentric with the hip flexion and extension action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop the flexion and extension movements of the hip joint;
the thigh telescopic part is connected with the hip buckling extension joint and is used for manually adjusting the size according to the length of the thigh of a human body so as to adapt to the requirements of different limb dimensions;
the hip internal rotation and external rotation joint is connected with the thigh telescopic part and is concentric with the hip joint internal rotation and external rotation action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop the internal rotation and external rotation movements of the hip joint;
the knee flexion and extension joint is connected with the thigh extension part and is concentric with a knee flexion and extension action joint shaft of the human knee joint and used for assisting the lower limb of a patient to develop flexion and extension action motions of the knee joint;
the shank extension part is connected with the knee flexion extension joint, and is used for manually adjusting the size according to the length of the shank of a human body so as to adapt to the requirements of different limb dimensions;
the ankle varus and valgus joint is connected with the shank extension part and is concentric with the ankle varus and valgus action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop the varus and valgus motions of the ankle joint;
the ankle plantar flexion dorsiflexion joint is connected with the ankle varus eversion joint and is concentric with the ankle plantar flexion and dorsiflexion action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop plantar flexion and dorsiflexion movements of the ankle joint;
the ankle adduction and abduction joint is connected with the ankle plantar flexion and dorsiflexion joint and is concentric with the ankle adduction and abduction action joint shaft of the lower limb of the human body and is used for assisting the lower limb of the patient to develop adduction and abduction movements of the ankle joint;
the thigh support part is connected with the thigh telescopic part and is used for supporting the thigh part of the limb of the person;
the shank support part is connected with the shank telescopic part and is used for supporting the shank part of the limb of the person;
the leg and foot fixing part is used for fixing the leg and the foot of the patient with the ankle adduction and abduction joint;
the control part is used for controlling the movement speed and the movement angle of the seven-degree-of-freedom joint;
the thigh telescoping portion includes: thigh fixing part, thigh sliding part and thigh length locking part, wherein:
the thigh fixing part is connected with the hip buckling extension joint and is used for bearing the thigh sliding part and the thigh length locking part;
the thigh sliding part and the thigh fixing part perform linear sliding movement, and the length of the whole thigh telescopic part can be adjusted according to the length of the thigh of the limb of the patient;
the thigh length locking part is used for linearly sliding the thigh sliding part and locking after meeting the thigh length requirement of a patient so as to fix the mutual positions of the thigh fixing part and the thigh sliding part;
the calf telescoping portion includes: shank fixation means, shank sliding means and shank length locking means, wherein:
the shank fixing part is connected with the knee flexion and extension joint and is used for bearing the shank sliding part and the shank length locking part;
the shank sliding part and the shank fixing part perform linear sliding motion, and the length of the whole shank telescopic part can be adjusted according to the length of the limb shank of a patient;
the shank length locking component is used for linearly sliding the shank sliding component and locking the shank sliding component after meeting the shank length requirement of a patient so as to fix the mutual positions of the shank fixing component and the shank sliding component;
the hip adduction abduction joint is perpendicular to the motion joint axis of the hip flexion and extension joint;
the hip internal rotation and external rotation joint is perpendicular to the motion joint axis of the hip internal contraction and external expansion joint and the hip flexion and extension joint;
the ankle varus-valgus joint is perpendicular to the motion joint axis of the ankle plantar flexion-dorsiflexion joint;
the ankle adduction abduction joint is perpendicular to the motion joint axis of the ankle adduction eversion joint and the ankle plantar flexion dorsiflexion joint;
the control section includes: an articulation control component and a human-machine interaction component, wherein: the man-machine interaction component is used for setting the movement speed and the movement angle of each degree of freedom joint in different time periods; the joint axis motion control component controls the motion speed and the motion angle of the seven-degree-of-freedom joint of the rehabilitation robot according to the parameters set by the man-machine interaction component, wherein the man-machine interaction component is based on a virtual reality technology, intuitively sets the motion speed and the motion angle of each joint in different time periods and displays the effect in real time through virtual reality.
2. The seven-degree-of-freedom lower limb rehabilitation robot according to claim 1, wherein the hip adduction abduction joint, the hip flexion extension joint, the hip internal rotation external rotation joint, the knee flexion extension joint, the ankle varus external rotation joint, the ankle plantar flexion dorsiflexion joint, and the ankle adduction external extension joint are independently moved, or any of the seven degrees of freedom joints are linked.
3. The seven-degree-of-freedom lower limb rehabilitation robot according to claim 1, wherein the motion source of the hip adduction abduction joint, the hip flexion extension joint, the hip internal rotation external rotation joint, the knee flexion extension joint, the ankle varus external rotation joint, the ankle plantar flexion dorsiflexion joint and the ankle adduction external extension joint adopts one of a direct current stepping motor, a direct current permanent magnet motor, a direct current brushless motor, a direct current torque motor and an alternating current servo motor.
4. A seven degree-of-freedom lower limb rehabilitation robot according to claim 3, wherein the hip adduction abduction joint, hip flexion extension joint, hip internal rotation external rotation joint, knee flexion extension joint, ankle varus external rotation joint, ankle plantar flexion dorsiflexion joint and ankle adduction external extension joint are provided with torque sensors to calculate torque output of the joint shaft during rotation for active rehabilitation control and anti-resistance rehabilitation control; or, a torque sensor is not arranged, and the rotation of the joint shaft is directly driven for passive rehabilitation control.
5. A seven degree-of-freedom lower limb rehabilitation robot according to claim 3, wherein the hip adduction abduction joint, hip flexion extension joint, hip internal rotation external rotation joint, knee flexion extension joint, ankle varus external rotation joint, ankle plantar flexion dorsiflexion joint and ankle adduction external extension joint are provided with inertial elements of gyroscopes, angular acceleration sensors or geomagnetic sensors to calculate the postures of the patient's thigh, calf and foot.
6. A seven degree of freedom lower limb rehabilitation robot according to any of the claims 1-5, characterised by one or more of the following features:
-the hip adduction abduction joint, the hip flexion extension joint being power transmitted with a pulley or being directly driven in rotation;
the leg and foot fixing part is fixed with the ankle adduction abduction joint in a magic tape, a sticking buckle tape or a binding tape and nylon tape inserting buckle mode.
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