CN109700628B

CN109700628B - Lower limb rehabilitation training device based on rehabilitation assessment

Info

Publication number: CN109700628B
Application number: CN201811654367.XA
Authority: CN
Inventors: 朱立红; 赵萍
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2016-11-17
Filing date: 2016-11-17
Publication date: 2021-04-06
Anticipated expiration: 2036-11-17
Also published as: CN106491310B; CN109700628A; CN106491310A

Abstract

The invention relates to a lower limb rehabilitation training device based on rehabilitation assessment, which comprises a sensing unit and a rehabilitation assessment unit, wherein the sensing unit and the rehabilitation assessment unit are arranged on a rack, the sensing unit can acquire physiological information, lower limb movement frequency, foot movement track and movement time of a training object, the rehabilitation assessment unit assesses the physical condition and the rehabilitation condition of the training object based on the physiological information and the movement information of the training object acquired by the sensing unit, and adjusts the movement frequency and the movement time of the training object in real time according to the physical condition, wherein: the rehabilitation evaluation unit comprises a data processing unit, an evaluation unit and a control unit, the data processing unit is used for screening effective data of the motion data collected by the sensing unit and sending the effective data to the evaluation unit, the evaluation unit is used for evaluating the physiological and rehabilitation conditions of the training object based on the effective data, and the control unit is used for adjusting the motion frequency and the motion time of the training object based on the evaluation result of the evaluation unit.

Description

Lower limb rehabilitation training device based on rehabilitation assessment

The invention discloses a divisional application of an intelligent rehabilitation medical device, which has the application number of 201611026826.0, the application date of 2016, 11 and 17, and the application type of the invention.

Technical Field

The invention relates to the field of rehabilitation medical treatment, in particular to a lower limb rehabilitation training device based on rehabilitation assessment.

Background

The application of the rehabilitation medical apparatus is the most effective means for helping disabled people, including disabled people, old people and patients to return to the society. The rehabilitation medical appliance is a bridge for the disabled to return to the society, and has important significance for promoting the stability and harmony of the society. Practice proves that the rehabilitation medical instrument is beneficial to improving the rehabilitation effect and shortening the rehabilitation time.

Nowadays, the rehabilitation medical instruments on the market are various in variety, and particularly aim at the shoulder, the neck, the leg and other parts. Some imported rehabilitation medical instruments are expensive and are not acceptable for ordinary families. In recent years, a plurality of research units for the rehabilitation medical instruments appear in China, and a large number of enterprises for the rehabilitation medical instruments appear in China. Along with market competition, the price of the rehabilitation medical instrument is more substantial and is accepted by wider groups of people.

The development of the rehabilitation medical appliance has the following processes: determination of beneficial objects, data acquisition, mechanism system design, product perfection and molding. The target population of the product is patients with lower limb walking disorder. In the aspect of data acquisition, a more advanced image-based information processing method is adopted. Labeling key parts of the lower limbs of the human body, extracting coordinates of points of the key parts from the video image, and further obtaining a gait curve of the human body during normal movement, thereby laying a foundation for mechanism design links. In the aspect of mechanism system design, the type of the selected mechanism, namely chain transmission, a rod mechanism, a cam mechanism and the like, is determined on the basis of the existing key point coordinate characteristics. The size of each mechanism is further determined by utilizing a mechanical design theory algorithm, the assembly and the process machining of the shaft are further considered, and the shaft sleeve, the rolling bearing, the end cover and the like are reasonably selected. In product perfection and molding, the installation position of the mechanism is reasonably arranged, the processing technology and the behavior habit of a human body are considered, and local adjustment is carried out. Such as left and right placement of cam slots and pedals, setting of seat height ranges, adjustment of armrest heights, and the like.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an intelligent rehabilitation medical device, which comprises a driving unit, a linkage unit, a sensing unit and a rehabilitation evaluation unit which are arranged on a frame, and is characterized in that,

the linkage unit comprises a connecting rod mechanism and a slide rail mechanism linked with the connecting rod mechanism, the slide rail mechanism slides along the curved track under the driving of the driving unit, the connecting rod mechanism is linked with the slide rail mechanism to move to a corresponding position, so that the slide rail mechanism assists a moving object to perform lower limb rehabilitation training,

the rehabilitation evaluation unit evaluates the physical condition and the rehabilitation condition of the training object based on the physiological information and the motion information of the training object acquired by the sensing unit, and adjusts the motion frequency and the motion time of the training object in real time according to the physical condition.

According to a preferred embodiment, the sliding rail mechanism comprises a sliding block, a guide rod, a connecting block and a curved rail, the sliding block connecting block is connected with the driving unit through a two-stage chain transmission mechanism and driven by the driving unit to rotate, and at least two guide rods for guiding the sliding block to move along the curved rail are arranged between the sliding block and the connecting block.

According to a preferred embodiment, the connecting rod mechanism comprises a rocker and a connecting rod, the connecting rod is rotatably connected between the rocker and the sliding block, the connecting rod is of a right-angle trapezoid structure, pedals convenient for the training subject to tread are arranged at two ends of the inclined edge of the right-angle trapezoid, and the sliding block drives one end of the connecting rod to move along the curve track to enable the pedals to assist the training subject to perform lower limb rehabilitation training.

According to a preferred embodiment, a linear bearing is arranged at a position where the connecting block contacts with at least one guide rod, and the guide rod moves linearly relative to the connecting block during the process that the sliding block moves along the curved track.

According to a preferred embodiment, the fixing points of the pedals are connected with both ends of the connecting rod through at least two connecting rods so as to form a stable triangular structure;

one end of the first connecting rod is connected with the connecting rod and the rocker together in a rotatable manner, and the other end of the first connecting rod is connected with a fixed point of the pedal;

one end of the second connecting rod is connected with the connecting rod and the sliding block together in a rotatable mode, and the other end of the second connecting rod is connected with a fixed point of the pedal;

the length ratio of the first connecting rod, the second connecting rod and the connecting rod is 5.4337: 1.6957: 4.2743, respectively;

the included angle between the first connecting rod and the plane of the pedal is 85 degrees.

According to a preferred embodiment, the linkage units are symmetrically arranged at two ends of the rack and are connected with the driving unit through symmetrically arranged secondary chain transmission mechanisms, and a driving device in the driving unit drives long shafts of two end gears respectively connected with the secondary chain transmission mechanisms to rotate through the primary chain transmission mechanisms, so that the linkage units are linked according to the driving frequency of the driving unit.

According to a preferred embodiment, a short shaft penetrating through a baffle of the curved track is arranged at the center of the curved track, one end of the short shaft is in transmission connection with the secondary chain transmission mechanism, the other end of the short shaft is connected with the connecting block, and the connecting block is driven by the secondary chain transmission mechanism to rotate according to a driving frequency.

According to a preferred embodiment, the sensing unit collects physiological information, lower limb movement frequency, foot movement track and movement time of the training object, the rehabilitation evaluation unit evaluates the rehabilitation condition of the training object based on the physiological information, the lower limb movement frequency, the pressure data generated by feet and pedals of the training object,

the rehabilitation evaluation unit adjusts the movement frequency of the pedal by adjusting the driving frequency of the driving unit based on the physiological information of the training subject.

According to a preferred embodiment, the sensing unit comprises at least a pressure sensor arranged on the pedal, a position information sensor and a physiological information sensor arranged at the position of the armrest of the frame.

According to a preferred embodiment, the rehabilitation evaluation unit comprises a data processing unit, an evaluation unit and a control unit, the data processing unit is used for screening effective data of the motion data collected by the sensing unit and sending the effective data to the evaluation unit, the evaluation unit is used for evaluating the physiology and rehabilitation condition of the training object based on the effective data, and the control unit is used for adjusting the motion frequency and the motion time of the training object based on the evaluation result of the evaluation unit.

The invention has the beneficial technical effects that:

(1) the invention is developed according to the normal motion data of the human body acquired by the early-stage experiment, and has strong adaptability and scientificity. The patient carries out rehabilitation training according to the normal walking curve of the human body, which is beneficial to improving the rehabilitation effect of the human body and shortening the rehabilitation period.

(2) The invention has wider market prospect. The selection of standard components, the stability of the rack and the processing technology of the shaft are considered, and the device is simple and reliable. Parts such as a rolling bearing, a linear bearing, a cam roller and the like are adopted, so that the abrasion of the parts is reduced, and the mechanical life of the product is prolonged.

(3) The invention combines the ergonomics, optimizes the size of the selected mechanism, considers the aspects of the height adjusting range of the saddle, the height setting of the handrail and the like, ensures the rehabilitation effect and improves the comfort level of the human body.

(4) The invention can independently assist the disabled with lower limb to do rehabilitation training action, and can also work with other rehabilitation medical appliances to assist the patient to do relevant rehabilitation treatment.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an intelligent medical device of the present invention;

FIG. 2 is a schematic structural diagram of a linkage unit according to the present invention;

FIG. 3 is a schematic cross-sectional view of the slide rail mechanism of the present invention;

FIG. 4 is a schematic structural diagram of a slide rail mechanism according to the present invention;

FIG. 5 is a schematic view of a frame and a seat of the smart medical device; and

fig. 6 is another schematic diagram of the linkage unit of the intelligent medical device.

List of reference numerals

1: a rack 2: curve track 3: short shaft assembly

4: a secondary chain transmission mechanism 5: the primary chain transmission mechanism 6: electric machine

7: major axis 8: a pedal 9: connecting rod

10: the rocker 11: guide arm assembly 12: armrest

13: seat 14: connecting block 15: linear bearing

16: the guide rod 17: the slide block 18: pin shaft

19: cam roller 20: end cap 21: short shaft

22: shaft sleeve 23: rolling bearing EG: first connecting rod

DG: second connecting rod GN: third connecting rod

Detailed Description

The following detailed description is made with reference to the accompanying drawings.

The invention provides an intelligent rehabilitation medical device which comprises a driving unit, a linkage unit, a sensing unit and a rehabilitation evaluation unit, wherein the driving unit, the linkage unit, the sensing unit and the rehabilitation evaluation unit are arranged on a rack. The linkage unit comprises a connecting rod mechanism and a sliding rail mechanism linked with the connecting rod mechanism. The slide rail mechanism slides along the curved rail under the driving of the driving unit. The connecting rod mechanism moves along the motion trail of the foot under the linkage of the sliding rail mechanism, so that the lower limb rehabilitation training of the moving object is assisted. The rehabilitation evaluation unit evaluates the physical condition and the rehabilitation condition of the training object based on the physiological information and the motion information of the training object acquired by the sensing unit, and adjusts the motion frequency and the motion time of the training object in real time according to the physical condition.

Example 1

As shown in fig. 1, an intelligent rehabilitation medical device comprises a driving unit, a linkage unit, a sensing unit and a rehabilitation evaluation unit which are arranged on a rack.

The frame 1 is formed by connecting a plurality of strip-shaped rods to form a symmetrical bracket. The frame 1 comprises a rectangular bracket and a U-shaped bracket vertically connected with the rectangular bracket. The U-shaped support is arranged in the middle of the rectangular support. The U-shaped support comprises two vertical rods perpendicular to the rectangular support and a cross rod parallel to the plane of the rectangular support. The horizontal pole is connected between two montants. The two inclined rods are respectively connected between the U-shaped support vertical rod and the corresponding rectangular support, so that the two inclined rods, the two vertical rods and the rectangular support form two stable triangles on two sides of the rack respectively. The rack 1 is made of industrial aluminum profiles which are formed by welding and connecting bolts in multiple sections, sectional assembly can facilitate length adjustment of the aluminum profiles, and the rack has the characteristics of high stability and strong operability.

The linkage units are symmetrically arranged on two sides of the rack and are connected with the driving units through the symmetrically arranged secondary chain transmission mechanisms, and driving devices in the driving units drive long shafts, connected with the secondary chain transmission mechanisms, of the gears at two ends to rotate through the primary chain transmission mechanisms, so that the linkage units are linked according to the driving frequency of the driving units.

The linkage units are arranged on two sides of the U-shaped support in the middle of the rack. The linkage unit comprises a first linkage unit arranged on one side of the machine frame 1 and a second linkage unit arranged on the other side of the machine frame. Since the first linkage unit and the second linkage unit have the same structure, the first linkage unit and the second linkage unit are simply referred to as linkage units and the structure of the linkage units is described.

As shown in fig. 2, the linkage unit includes a link mechanism and a slide rail mechanism linked therewith.

The linkage mechanism comprises a rocker 10 and a link 9. One end of the rocker 10 is rotatably connected with the vertical rod of the U-shaped bracket through a rotating shaft, and the other end of the rocker is rotatably connected with the connecting rod 9. The connecting rod 9 is arranged in a rotatable connection between the rocker 10 and the slide 17. The link 9 is in the shape of a right trapezoid. The two ends of the inclined side of the right trapezoid are respectively connected with one end of the rocker 10 and the sliding block 17. Wherein, one end of the inclined edge, which is intersected with the lower bottom, is connected with one end of the rocker 10 in a rotatable connection way. One end of the oblique edge, which is intersected with the upper bottom, is connected with the sliding block 17 in a rotatable connection mode. The high edge between the upper bottom edge and the lower bottom edge is provided with a pedal 8 which is convenient for the training subject to tread.

Preferably, as shown in fig. 6, the fixing point of the pedal 8 is connected to both ends of the connecting rod 9 by at least two connecting rods to form a stable triangular structure.

The fixing points of the pedals 8 are connected with the two ends of the connecting rod 9 through the first connecting rod EG and the second connecting rod DG so as to form a stable triangular structure. One end of the first connecting rod EG is connected to the connecting rod 9 and the rocker 10 together in a rotatable manner, and the other end is connected to a fixed point of the pedal 8. One end of the second connecting rod DG is connected to the link 9 and the slide 17 together in a rotatable manner, and the other end is connected to a fixed point of the pedal 8. The length ratio of the first connecting rod EG to the second connecting rod DG to the connecting rod 9 is 5.4337: 1.6957: 4.2743. the angle between the first connecting rod EG and the plane of the pedal 8 is 85 degrees.

Preferably, the fixed point of the pedal 8 is connected to the point N in the middle of the link 9 by a third connecting rod GN. The third connecting rod GN can evenly disperse the force borne by the two ends of the connecting rod 9, and the service life of the connecting rod 9 is prolonged.

The sliding rail mechanism comprises a sliding block 17, a guide rod 16, a connecting block 14 and a curved rail 2. As shown in fig. 3, the curved track 2 is arranged inside the blind. The sliding track 2 is a groove track on the inner side of the baffle. The sliding track 2 is a curve track designed according to statistical data of human body movement physiological process, and accords with the rule of human body lower limb movement, so that a training object can be recovered to be healthy in a comfortable training process.

One end of the baffle is fixed with the vertical rod of the U-shaped support, and the other end of the baffle is fixed on the baffle support parallel to the vertical rod. The central position of the curved track 2 on the baffle is provided with a short shaft 21 penetrating through the baffle. The stub shaft 21 is rotatably fixed to the center of the slide rail 2 by a rolling bearing 23. One end of the short shaft 21 is in transmission connection with the secondary chain transmission mechanism 4, and the other end is fixedly connected with the connecting block 14. The connecting block 14 is driven by the secondary chain drive 4 to rotate at a drive frequency. The two ends of the short shaft 21 are respectively provided with an end cover 20 with a protection function. The part of the stub shaft 21 exposed to the air is sleeved with a bushing 22 for protecting the stub shaft.

As shown in fig. 4, one end of the slider 17 contacting the curved track 2 is provided with a cam roller 19. The slider 17 slides along the curved track 2 by means of the cam roller 19. The other end of the slider 17 is provided with a pin 18 for rotatable connection with the bevelled edge of the link 9. The slide 17 is connected to the connecting rod 9 by a pin 18. At least two guide rods 16 for guiding the slider 17 to move along the curved track 2 are arranged between the slider 17 and the connecting block 14. The connecting block 14 is provided with a linear bearing 15 at a position where it contacts at least one guide bar 16. The cam roller 19 makes a curve motion in the curve track 2, and the guide rod 16 makes a straight line motion relative to the connecting block 14 in the process that the sliding block 17 moves along the curve track 2 along with the difference of the curvature radius, so that the abrasion of parts is reduced, and the mechanical life is prolonged. That is, the connecting block 14 is connected to the drive unit via the two-stage chain transmission 4 and is driven to rotate by the drive unit. The slide block 17 drives one end of the connecting rod 9 to move along the curve track 2 so as to enable the pedal 8 to assist the moving object to carry out lower limb rehabilitation training.

Preferably, the number of the guide rods 16 is not limited to 2, and may be 3 or more.

The drive unit is arranged at the front end of the frame 1. The drive unit comprises a motor 6, a long shaft 7, a primary transmission mechanism 5 and a secondary transmission mechanism 4. The connecting block 14 is connected to one end of the secondary transmission 4 via a stub shaft 21. The other end of the secondary transmission mechanism 4 is in transmission connection with one end of the long shaft 7. Preferably, the primary transmission mechanism 5 and the secondary transmission mechanism 4 are transmission chains. And gear mechanisms matched with the transmission chains are arranged at two ends of the long shaft 7. A large gear mechanism in transmission linkage with the primary transmission mechanism 5 is arranged in the middle of the long shaft 7. Two ends of the primary transmission mechanism 5 are respectively connected with a large gear mechanism and a motor 6. The motor 6 is a servo motor and has a feedback regulation function. The motor 6 provides positive and negative rotation power, the two-stage chain transmission mechanism 4 and the long shaft 7 divide the power into two branches and transmit the power to the linkage units on the two sides of the rack, and the precision and the transmission efficiency are high. The movement frequency of the linkage unit is controlled by the driving unit and is consistent with the driving frequency of the driving unit.

As shown in fig. 5, a height-adjustable seat 13 is provided on the frame 1. The seat 13 is provided at one end of the frame 1 opposite to the position of the drive unit. The seat is arranged according to the physiological characteristics of the human body, so that the training object can sit down comfortably and stably. The cross bar of the U-shaped frame of the frame 1 is provided with a corresponding friction device as the handrail 12, which facilitates the balance of the training subject and stabilizes the limbs and prevents the body of the training subject from being out of balance due to the sliding of the metal bar. For example, the handrail 12 is provided with a frosted rubber cover. The training subject sits in the seat 13 while the upper limbs rest on the armrests 12 in balance. The lower limbs of the training subject are placed on the corresponding pedals 8, respectively, and lower limb rehabilitation training is performed according to the driving frequency of the driving unit.

The sensing unit collects the physiological information, the lower limb movement frequency, the foot movement track and the movement time of the training object, the rehabilitation evaluation unit evaluates the rehabilitation condition of the training object based on the physiological information, the lower limb movement frequency, the pressure data generated by the foot and the pedal of the training object,

the sensing unit is used for acquiring motion data of the training object in the motion process. The motion data comprises sole stress data, lower limb motion frequency, motion time, physiological information data and foot motion trail of the training object. The physiological information data includes changes of physiological parameters such as weight, heartbeat frequency, blood pressure, body temperature, pulse, respiratory frequency and the like.

The sensing unit at least comprises a pressure sensor arranged on the pedal 8, a position information sensor and a physiological information sensor arranged at the position of the armrest of the frame 1. Preferably, at least one pressure sensor is provided on the pedal 8. The pressure sensor is used for monitoring the foot step stress condition of the training object. The position information sensor is used for monitoring the moving track of the pedal 8, thereby monitoring the foot motion track and the motion frequency of the training object. At least one physiological information sensor is arranged on the armrest 12, and comprises a heart rate sensor, a body temperature sensor and a blood pressure sensor. Preferably, the sensing unit further includes a pulse sensor provided on the wrist band.

The rehabilitation evaluation unit adjusts the movement frequency of the pedal by adjusting the driving frequency of the driving unit based on the physiological information of the training object, so that the training object achieves the optimal rehabilitation effect.

The rehabilitation evaluation unit can be arranged on the rack 1 or the armrest 12 to perform data transmission in a wired or wireless mode, and can also be arranged in the intelligent mobile terminal to perform data transmission in a wireless mode. The rehabilitation evaluation unit stores the foot motion trail and the motion frequency which are scientifically calculated. When the lower limb rehabilitation training of the training object is carried out for the first time, the rehabilitation evaluation unit receives the motion frequency, the foot motion track and the physiological information data transmitted by the sensing unit and compares the physiological information with the standard physiological information data corresponding to the motion frequency. If the difference between the physiological information data and the standard physiological information data is within the allowable error range, the motion frequency of the training object is not adjusted. If the difference between the physiological information data and the standard physiological information data is large, the rehabilitation evaluation unit sends an instruction to the driving unit to adjust the driving frequency of the motor 6, so that the movement frequency of the training object is indirectly adjusted, the movement frequency is matched with the physiological information data, and the training object achieves the optimal effect of lower limb rehabilitation training.

Preferably, if the training subjects are of a particular group, such as children. The rehabilitation evaluation unit adjusts the lower limb movement frequency of the training object based on the pressure data of the training object standing on the pedal 8 and the physiological information data of the training object, so that special groups such as children and the like can obtain lower limb rehabilitation training.

Preferably, if the training object is a robot. The rehabilitation evaluation unit readjusts the movement frequency and the seat height based on the pressure data of the training object standing on the pedal 8 and the foot movement track. When the pressure monitored by the pressure sensor of the step 8 disappears while the training subject is seated on the seat, it is confirmed that the shortest distance between the seat and the step exceeds the length of the lower limb of the training subject. The rehabilitation evaluation unit adjusts the distance between the seat 13 and the armrests 12 and the pedals 8 until the respective data and the movement frequency during the movement of the training subject are adjusted to be within the normal range.

Preferably, the rehabilitation evaluation unit evaluates the health condition of the training subject based on the physiological information data and the exercise frequency of the training subject acquired by the sensing unit. The exercise frequency and exercise time are adjusted based on the physiological information data of the training subject. In the case where the physiological information data of the training subject is abnormal, the rehabilitation evaluation unit stops assisting the training subject in performing lower limb rehabilitation training, and restores the training subject to the standard sitting posture. Preferably, the rehabilitation evaluation unit comprises an alarm unit. In case of abnormality of physiological information data of the training subject, the alarm unit emits alarm information in a manner of sound alarm, light alarm and/or combination.

Preferably, the rehabilitation evaluation unit comprises a data processing unit, an evaluation unit and a control unit. The data processing unit is used for screening effective data of the motion data collected by the sensing unit and sending the effective data to the evaluation unit. The evaluation unit evaluates the physiology and rehabilitation condition of the training subject based on the valid data. The control unit adjusts the movement frequency and the movement time of the training subject based on the evaluation result of the evaluation unit.

The data processing unit is used for screening effective data of the motion related data collected by the sensing unit and sending the effective data to the evaluation unit. The data collected by each sensor of the sensing unit is not all valid data, and includes a plurality of error data with error exceeding the error range. The data processing unit screens the data transmitted by the data acquisition unit, eliminates the data exceeding the error range, retains accurate effective data and sends the accurate effective data to the evaluation unit.

The evaluation unit evaluates the physical condition and the shoulder movement curve of the training subject based on the valid data. The evaluation unit evaluates the physical condition of the training subject based on the received valid data. For example, if the heart rate of the training subject accelerates and exceeds the normal range during the standing training, the evaluation unit instructs the control unit to decrease the exercise frequency, so that the heart rate of the training subject is adjusted to the normal frequency. The evaluation unit stores the physiological information data which is scientifically calculated and the movement frequency matched with the physiological information data. When the training subject performs lower limb rehabilitation training for the first time, the evaluation unit compares the physiological information data of the training subject with the stored standard physiological information data. If the difference between the physiological information data and the standard physiological information data is within the allowable error range, the motion frequency of the training object is not adjusted. If the difference between the physiological information data and the standard physiological information data is large, the rehabilitation evaluation unit sends an instruction to the driving unit to adjust the driving frequency of the motor 6, so that the movement frequency of the training object is indirectly adjusted, the movement frequency is matched with the physiological information data, and the training object achieves the optimal effect of lower limb rehabilitation training.

The control unit is connected with the driving unit and the linkage unit. The control unit corrects the movement frequency, the movement time, and the position of the seat 13 of the training subject based on the evaluation result of the evaluation unit.

Example 2

This embodiment is a further description of embodiment 1, and the same contents as embodiment 1 are not described again.

As shown in fig. 6, the linkage unit includes a link mechanism and a slide rail mechanism linked therewith.

The linkage mechanism comprises a rocker 10 and a link 9. One end of the rocker 10 and a vertical rod of the U-shaped bracket are fixed at the center F point of the hinge in a rotatable mode. The other end of the rocker 10 is pivotally connected to one end of the link 9 at point E. The other end of the link 9 is rotatably connected to the slider 17 at point C.

The slide mechanism includes a slide rail 2, a connecting block 14, a slider 17, and a cam roller 19 connected to the slider 17 to move along the slide rail. The fixed center of the revolute pair of the crank DB of the slide rail 2 is connected to the joint block 14 at point a. The slider 17 is connected to the cam roller 19 at point D. The pedal 8 and the connecting rod 9 are fixedly connected to a point G. The dimensional ratio of the link unit will be described with reference to the link unit shown in fig. 6. And establishing a rectangular coordinate system by taking the O as an origin, the horizontal direction as an X axis and the vertical direction as a Y axis. The coordinates of the point a of the center point are fixed to be (9.0000, 2.8593) and the coordinates of the point F of the center point are fixed to be (7.2664, 8.6082). The rocker length EF is 2.3523 cm. The link length DE is 4.2743 cm. The distance EG between the end E of the rocker 10 and the pedal attachment point G is 5.4337 cm. The center of the cam roller 19 to the fixed point DG of the foot board is 1.6957 cm. The plane of the pedal 8 is fixed to the link 9 in a direction forming an angle of 85 ° with the connecting line EG. The track coordinates of the slide track 2 include at least nine point coordinates. The rail coordinates of the slide rail 2 facilitate the nine coordinates disclosed in the present invention, and further include a plurality of coordinate points that enable the cam roller 19 to move more smoothly between the nine coordinate points. The trajectory of the sliding track 2 does not require a high degree of precision and can be rounded and fine-tuned to make the movement of the cam roller 19 along the sliding track 2 smoother. The preferred nine coordinate points of the sliding track 2 are shown in table 1.

TABLE 1

Coordinate serial number	1	2	3	4	5	6	7	8	9
										X axis (cm)	10.0966	9.8138	9.4072	9.1915	8.9212	8.6629	7.9973	7.5225	8.2912
Y axis (cm)	2.6041	3.6807	4.0818	4.0651	3.8782	3.6400	3.0327	2.4986	2.4346

Since there are both proximity and difference between individuals of the training subject, for example, there are slight difference in height, upper limb length and lower limb length, the rail coordinate of the sliding rail 2 can have slight difference from the rail coordinate shown in the present invention, so that the intelligent medical device of the present invention can be adapted to different individuals.

The linkage unit of the present invention can be scaled up or down in equal proportion according to the linkage unit structure shown in fig. 6, and thus can be installed on intelligent medical devices of different sizes to meet the training/medical needs of adults, children or robots of different sizes.

Example 3

This embodiment is a further improvement and description of

embodiments

1 and 2, and the same contents as those of embodiment 1 are not repeated.

First, the position of the seat 13, including the shortest distance between the seat 13 and the step 8 and the seat height, is adjusted to make the training subject feel comfortable. Preferably, the distance between the seat 13 and the pedal 8 is adjustable, the support of the seat 13 being movably arranged on the frame 1. Preferably, at least one pressure sensor is arranged on the seat 13 for monitoring the pressure change between the buttocks and the seat 13 during the rehabilitation training of the training subject.

After the position of the seat is adjusted to a position matching the training subject, the training subject sits on the seat 13. The step 8 is located at the lowermost initial position. After the training subject places the lower limbs on the footrests 8, the hands are placed on the armrests 12.

After the training subject sits and places the lower limbs on the pedals and the hands on the armrests 12, the motion switch is clicked. The motor 6 starts to provide a forward and reverse rotation power within a certain angle. The motor 6 rotates in a positive direction and drives the long shaft 7 to rotate through the primary chain transmission mechanism 5. The long shaft 7 drives the connecting block 14 to rotate through the two-stage chain transmission mechanisms 4 at the two ends of the long shaft. The connecting block 14, when rotating, guides the slide 17, by means of at least two guide rods 16, with the aid of cam rollers 19, along the curved track 2.

The motor 7 rotates forwards and backwards repeatedly within a certain angle, and the crank mechanism 1 rotates forwards and backwards under the transmission of the first chain transmission mechanism 8, the long shaft 9, the second chain transmission mechanism 10 and the second chain transmission speed reducing wheel 19. Along with the difference of curvature radius, the guide rod 16 makes a linear motion relative to the connecting block 14 in the process that the sliding block 17 moves along the curved track 2, and the linear bearing 15 between the connecting block 14 and the guide rail 16 can reduce the abrasion of parts and prolong the mechanical life.

The slide 17 is connected to the connecting rod 9 by a pin 18. The connecting rod 9 and the rocker 10 are correspondingly linked during the movement of the sliding block 17, so that the pedal 8 moves along the foot motion track conforming to the human body structure. Preferably, the pedals in the two units are a first pedal and a second pedal. The first and second pedals move in the same rotational direction. The first pedal and the second pedal always maintain relative position difference. For example, the first and second pedals are always maintained at 180 degrees relative positions. The motor 6 adjusts the driving frequency according to the motion frequency fed back by the rehabilitation evaluation unit.

In the process of carrying out lower limb rehabilitation training on a training object for the first time, the sensing unit acquires relevant data such as weight, blood pressure, heart rate, temperature, movement frequency, foot movement track and the like of the training object. Specifically, after the training subject stands on the pedals 8 with both feet and stably stands by means of the armrests, respectively, the weight of the training subject is recorded by the pressure sensors on the pedals 8. After the training subject sits down, the pressure sensor on the foot plate 8 monitors the pressure change between the training subject and the foot plate 8 during training of the training subject. A position information sensor on the pedal monitors the foot motion track and the motion frequency of the training object. When the motion trail of the foot has deviation, the connecting parts of partial mechanisms in the linkage unit are loosened or failed. Temperature sensors, heart rate sensors, and blood pressure sensors on the armrests 12 monitor the temperature changes, heart rate changes, and blood pressure changes of the training subjects. The pressure sensor on the seat 13 monitors the pressure change of the buttocks of the training subject after sitting down.

The sensing unit sends the acquired data to the rehabilitation evaluation unit in a wired or wireless mode. The rehabilitation evaluation unit comprises a data processing unit, an evaluation unit and a control unit. The data processing unit is used for screening effective data of the motion data collected by the sensing unit and sending the effective data to the evaluation unit. The evaluation unit evaluates the physiology and rehabilitation condition of the training subject based on the valid data. The control unit adjusts the movement frequency and the movement time of the training subject based on the evaluation result of the evaluation unit.

Preferably, the rehabilitation evaluation unit is an electronic module, and can be arranged at any position of the machine frame 1. Preferably, the data processing unit and the evaluation unit in the rehabilitation evaluation unit are arranged on the intelligent mobile terminal, and the control unit is arranged at any position on the rack 1. The data acquisition unit sends the acquired data to the data processing unit of the intelligent mobile terminal in a wireless mode. For example, the data acquisition unit transmits the data to the data processing unit in a wireless transmission mode such as bluetooth, WiFi, ZigBee, iBecon, and the like. The evaluation unit 502 evaluates based on the useful data sent by the data processing unit and sends the adjustment instructions wirelessly to the control unit. For example, the evaluation unit transmits data to the control unit in a wireless transmission manner such as bluetooth, WiFi, ZigBee, iBecon, or the like.

According to a preferred embodiment, the pressure sensor, the temperature sensor, the heart rate sensor, the blood pressure sensor and the respiratory rate sensor in the data acquisition unit are provided with an EnOcean module for providing energy. The EnOcean module converts the heat energy and the mechanical energy of the training object into electric energy to provide energy for the sensor.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.

Claims

1. A lower limb rehabilitation training device based on rehabilitation assessment comprises a sensing unit and a rehabilitation assessment unit which are arranged on a frame, and is characterized in that,

the sensing unit can acquire physiological information, lower limb movement frequency, foot movement track and movement time of a training object, the rehabilitation evaluation unit evaluates the physical condition and rehabilitation condition of the training object based on the physiological information and the movement information of the training object acquired by the sensing unit, and adjusts the movement frequency and the movement time of the training object in real time according to the physical condition, wherein:

the rehabilitation evaluation unit comprises a data processing unit, an evaluation unit and a control unit, the data processing unit is used for screening effective data of the motion data acquired by the sensing unit and sending the effective data to the evaluation unit, the evaluation unit is used for evaluating the physiological and rehabilitation conditions of the training object based on the effective data, and the control unit is used for adjusting the motion frequency and the motion time of the training object based on the evaluation result of the evaluation unit;

the device is still including setting up drive unit and the linkage unit in the frame, the linkage unit include link mechanism and with the slide rail mechanism of link mechanism linkage, slide rail mechanism is in drive unit's drive is down along the curved track slip, link mechanism cooperation slide rail mechanism linkage and remove to relevant position to make slide rail mechanism assist training object carry out low limbs rehabilitation training, wherein:

the sliding rail mechanism comprises a sliding block (17), a guide rod (16), a connecting block (14) and a curved rail (2), the sliding block connecting block (14) is connected with the driving unit through a two-stage chain transmission mechanism (4) and rotates under the driving of the driving unit, and at least two guide rods (16) used for guiding the sliding block (17) to move along the curved rail (2) are arranged between the sliding block (17) and the connecting block (14).

2. The lower limb rehabilitation training device according to claim 1, wherein the sensing unit acquires physiological information of the training subject, lower limb movement frequency, foot movement track and movement time, the rehabilitation evaluation unit evaluates rehabilitation of the training subject based on the physiological information of the training subject, the lower limb movement frequency, pressure data generated by a foot and a pedal (8), and the rehabilitation evaluation unit adjusts the movement frequency of the pedal (8) by adjusting the driving frequency of the driving unit based on the physiological information of the training subject, wherein:

under the condition that the physiological information data is greatly different from the standard physiological information data, the rehabilitation evaluation unit adjusts the driving frequency of the motor (6) according to the mode of sending instructions to the driving unit, so that the movement frequency of the training object is indirectly adjusted.

3. The lower limb rehabilitation training device of claim 2, wherein the linkage mechanism comprises a rocker (10) and a connecting rod (9), the connecting rod (9) is rotatably connected between the rocker (10) and the sliding block (17), the connecting rod (9) is of a right trapezoid structure, pedals (8) which are convenient for the training subject to step on are arranged at two ends of a bevel edge in the right trapezoid, and the sliding block (17) drives one end of the connecting rod (9) to move along the curved track (2) to enable the pedals (8) to assist the training subject in lower limb rehabilitation training.

4. The lower limb rehabilitation training device of claim 3, wherein a linear bearing (15) is arranged at the position where the connecting block (14) contacts with at least one guide rod (16), and the guide rod (16) moves linearly relative to the connecting block (14) during the movement of the sliding block (17) along the curved track (2).

5. The lower limb rehabilitation training device of claim 4, wherein the drive unit comprises at least an electric motor (6), a long shaft (7), a primary chain drive (5) and a secondary chain drive (4), the connecting block (14) is connected with one end of the secondary chain drive (4) through a short shaft (21), the other end of the secondary chain drive (4) is in transmission connection with one end of the long shaft (7), wherein:

a motor (6) in the driving unit rotates through a long shaft (7) of the primary chain transmission mechanism (5), the long shaft (7) is respectively connected with the secondary chain transmission mechanism (4) through gears on two ends of the long shaft,

the linkage units are symmetrically arranged at two ends of the rack and are connected with the driving unit through the symmetrically arranged secondary chain transmission mechanisms (4) so as to enable the linkage units to be linked according to the driving frequency of the driving unit.

6. The lower limb rehabilitation training device of claim 5, wherein the short shaft (21) is arranged at the center of the curved track (2) in a manner of penetrating through a baffle of the curved track (2), one end of the short shaft (21) is in transmission connection with the secondary chain transmission mechanism (4), the other end of the short shaft is connected with the connecting block (14), and the connecting block (14) is driven by the secondary chain transmission mechanism (4) to rotate according to a driving frequency.

7. The lower limb rehabilitation training device of claim 6, wherein the fixing point of the pedal (8) is connected with the two ends of the connecting rod (9) through at least two connecting rods so as to form a stable triangular structure;

one end of a first connecting rod (EG) is connected with the connecting rod (9) and the rocker (10) together in a rotatable mode, and the other end of the first connecting rod is connected with a fixed point of the pedal (8);

one end of a second connecting rod (DG) is connected with the connecting rod (9) and the sliding block (17) together in a rotatable mode, and the other end of the second connecting rod is connected with a fixed point of the pedal (8);

the length proportion of the first connecting rod (EG) to the second connecting rod (DG) to the connecting rod (9) is 5.4337: 1.6957: 4.2743, respectively;

the included angle between the first connecting rod (EG) and the plane of the pedal (8) is 85 degrees.

8. The lower limb rehabilitation training device of claim 7, wherein the sensing unit comprises at least a pressure sensor provided on the pedal (8), a position information sensor, and a physiological information sensor provided at a position of the armrest (12) of the frame.