CN110123589A - A kind of wearable lower limb rehabilitation walk-aiding exoskeleton of lightweight for hemiplegic patient - Google Patents
A kind of wearable lower limb rehabilitation walk-aiding exoskeleton of lightweight for hemiplegic patient Download PDFInfo
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- CN110123589A CN110123589A CN201910417534.7A CN201910417534A CN110123589A CN 110123589 A CN110123589 A CN 110123589A CN 201910417534 A CN201910417534 A CN 201910417534A CN 110123589 A CN110123589 A CN 110123589A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims abstract description 114
- 210000000689 upper leg Anatomy 0.000 claims abstract description 57
- 210000002414 leg Anatomy 0.000 claims abstract description 35
- 210000001624 hip Anatomy 0.000 claims abstract description 32
- 210000004394 hip joint Anatomy 0.000 claims abstract description 23
- 210000000629 knee joint Anatomy 0.000 claims abstract description 23
- 230000001012 protector Effects 0.000 claims description 22
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 claims description 10
- 210000004744 fore-foot Anatomy 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 11
- 206010019468 Hemiplegia Diseases 0.000 description 4
- 230000003183 myoelectrical effect Effects 0.000 description 4
- 238000011084 recovery Methods 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 210000002683 foot Anatomy 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000008358 core component Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010017585 Gait spastic Diseases 0.000 description 1
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 208000011644 Neurologic Gait disease Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010034701 Peroneal nerve palsy Diseases 0.000 description 1
- 241000469816 Varus Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000004243 sweat Anatomy 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
-
- 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
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of wearable lower limb rehabilitation walk-aiding exoskeletons of lightweight for hemiplegic patient, including lumbar support mechanism and two groups of lower limb driving mechanisms, two groups of lower limb driving mechanisms are symmetricly set on lumbar support mechanism two sides, lumbar support mechanism is fixed on hemiplegic patient's waist, two groups of lower limb driving mechanisms are symmetrically positioned in the lateral leg of hemiplegic patient, and lower limb driving mechanism includes the hip joint driving mechanism being sequentially connected in series from up to down, thigh support mechanism, knee joint driving mechanism, leg support mechanism, vola mechanism.The present invention takes light-weight design, small in size, light weight, at low cost, easy to wear; man-machine interface is comfortable; with joint defencive function, it can be used for rehabilitation and the assisted walk of hemiplegic patient, patient enable to be gradually recovered normal walking ability under the auxiliary of ectoskeleton.
Description
Technical field
The invention belongs to field of medical auxiliary equipment, and in particular to a kind of wearable lower limb health of lightweight for hemiplegic patient
Multiple walk-aiding exoskeleton.
Background technique
The research of human body ectoskeleton is earliest originating from individual soldier's weight bearing demand in Military Application, i.e. demand in terms of power-assisted.
As China enters aging society, because the middle-older patient that hemiplegia occurs in cardiovascular and cerebrovascular disease is increasing, patient is in addition to must
Outside the operative treatment and drug therapy wanted, scientific rehabilitation training restores particularly significant for extremity motor function, and lower limb help
Power ectoskeleton can also become the recovery training appliance for recovery and auxiliary walking device of hemiplegic patient.
Traditional rehabilitation mechanical by suspension mitigate patient self weight, then arrange in pairs or groups move treadmill make patient original place walk,
Patient cannot visual feedback spatially, be unfavorable for improving balanced capacity；Suspension easily rubs patient skin, and suspention generates
Sense of tying tight also make patient uncomfortable；And it is this kind of mechanical in order to increase the stability of suspension often chassis bulky.It is existing
Some are single leg structure to some hemiparalysis recovery ectoskeletons, though this scheme can reduce volume and reduce cost, this structure cannot be
Patient provides symmetry rehabilitation training mode, is unfavorable for improving lower limb gait synchronism.And some rehabilitation walk-aiding exoskeleton machines
It is all not provided with position limiting structure at the hip joint and knee joint of device people, cannot prevent ectoskeleton rotational angle is more than human body limit
Fortuitous event occurs, and is easy to cause harm to the human body；And its waist sizes is unadjustable, leg length also not continuously adjustable,
The people of different building shape is not adapted to.In addition, more ectoskeleton selection uses myoelectric sensor now, though myoelectric sensor can be quickly
It perceives wearer motion to be intended to, but skin must be close to when myoelectric sensor use, cannot have the barrier of clothing, this will cause to wear
Wear inconvenience；And the easy interference signal acquisition of sweat that wearer generates, also easily fall sensor.
Summary of the invention
The purpose of the present invention is to provide a kind of wearable lower limb rehabilitation walk-aiding exoskeletons of lightweight for hemiplegic patient.
The technical solution for realizing the aim of the invention is as follows: a kind of wearable lower limb rehabilitation of lightweight for hemiplegic patient helps
Exoskeleton, including lumbar support mechanism and two groups of lower limb driving mechanisms, two groups of lower limb driving mechanisms are symmetricly set on waist branch
Support mechanism two sides, lumbar support mechanism are fixed on hemiplegic patient's waist, and two groups of lower limb driving mechanisms are symmetrically positioned in hemiplegic patient's
Lateral leg, lower limb driving mechanism include the hip joint driving mechanism being sequentially connected in series from up to down, thigh support mechanism, knee joint
Driving mechanism, leg support mechanism, vola mechanism.
Lumbar support mechanism includes waist protector and two waist rigid supporting rods；Two waist rigid supporting rods are symmetrically solid
Waist protector two sides are scheduled on, waist rigid supporting rod is equipped with a hip joint driving mechanism.
Hip joint driving mechanism include first limit end cap, the first flexbile gear flange, first shaft coupling, the first firm gear flange,
First harmonic decelerator, first motor flange and first motor；Wherein the first limit end cap, the first flexbile gear flange, the first firm gear
Flange, first harmonic decelerator, first motor flange and first motor are set gradually；First motor and first motor flange connect
It connects；The motor shaft of first motor and the wave producer of first harmonic decelerator are connected by first shaft coupling；First motor flange,
First firm gear flange is connected and fixed with the firm gear of first harmonic decelerator respectively；First flexbile gear flange and first harmonic decelerator
Flexbile gear connection, the first limit end cap and the first firm gear flanged joint；Waist rigid supporting rod bottom end and the first firm gear flange top
The connection of lumbar support mechanism and hip joint driving mechanism is realized in connection；First flexbile gear flange bottom end and thigh support mechanism connect
It connects.
Thigh support mechanism includes thigh chute supported bar, thigh protector and thigh rigid supporting rod；Thigh chute supported
Bar top and the first flexbile gear flange are connected, and realize the connection of hip joint driving mechanism and thigh support mechanism；Thigh chute supported
Bar bottom end and thigh rigid supporting rod are connected；Thigh protector is arranged on the inside of thigh rigid supporting rod, and the two is connected；Thigh is rigid
Property support rod bottom end be connected knee joint driving mechanism.
Knee joint driving mechanism include second limit end cap, the second flexbile gear flange, second shaft coupling, the second firm gear flange,
Second harmonic retarder, the second motor flange and the second motor；Wherein the second limit end cap, the second flexbile gear flange, the second firm gear
Flange, second harmonic retarder, the second motor flange and the second motor are set gradually；Second motor and the second motor flange connect
It connects；The motor shaft of second motor is connect with the wave producer of second harmonic retarder by second shaft coupling；Second motor flange,
Firm gear of the second firm gear flange respectively with second harmonic retarder is connected and fixed；Second flexbile gear flange and second harmonic retarder
Flexbile gear connection, the second limit end cap and the second firm gear flanged joint；Thigh rigid supporting rod bottom end and the second firm gear flange top
The connection of thigh support mechanism and knee joint driving mechanism is realized in connection.Second flexbile gear flange bottom end and leg support mechanism connect
It connects.
Leg support mechanism includes shank chute supported bar, shank protective equipment and shank rigid supporting rod；Shank chute supported
Bar top and the second flexbile gear flange are connected, and realize the connection of knee joint driving mechanism and leg support mechanism；Shank chute supported
Bar bottom end and shank rigid supporting rod are connected, and shank protective equipment is located on the inside of shank rigid supporting rod, and the two is connected；Shank rigidity
Support rod bottom end and vola mechanism are connected.
Vola mechanism includes shoes and at least three pressure sensors, and three pressure sensors are respectively positioned on Human Sole and shoes
Contact surface, one is located at heel position, and two are located at forefoot position.
On waist protector lateral wall and it is located at the position of human body back equipped with Inertial Measurement Unit；On thigh protector lateral wall
And it is located at the position on rear side of human thigh and is equipped with Inertial Measurement Unit；On shank protective equipment lateral wall and it is located on rear side of human calf
Position is equipped with Inertial Measurement Unit.Encoder is respectively equipped on first motor and the second motor.
Compared with prior art, the present invention its remarkable advantage is: being directed to the rehabilitation medical device of lower limb hemiplegia patient at present
Tool is excessively heavy and huge and expensive, so can only use in hospital.However the disadvantage that treatment cycle is long, expense is expensive makes to be permitted
More patients fail to adhere to treating, so the invention of Household recovery medical auxiliary apparatus is particularly significant.Small in size, quality of the invention
Gently, easy to carry, at low cost, it is used at home suitable for patient, can be used for rehabilitation and the assisted walk of hemiplegic patient, make
Patient can be gradually recovered normal walking ability under the auxiliary of ectoskeleton.Compared with Traditional Rehabilitation machinery, lower limb rehabilitation ectoskeleton
Patient can be made spatially to walk, patient obtains movement vision feedback, helps to improve balanced capacity；With the rehabilitation of single leg structure
Ectoskeleton is compared, and both legs structure can provide symmetry rehabilitation training mode for patient, and hemiplegia leg imitates the movement of strong side leg, helps
In raising lower limb gait synchronism, stability.The advantages of present invention combination medical protective equipment, easy to wear, man-machine interface is comfortable, waist
The equal continuously adjustable of the size of portion and leg, can satisfy the needs of different crowd；With joint defencive function, when use
Securely and reliably.And it is intended to using Inertial Measurement Unit prediction human motion, it is more steady compared with muscular strength sensor and myoelectric sensor
It is fixed convenient.
Detailed description of the invention
Fig. 1 is a kind of wearable lower limb rehabilitation walk-aiding exoskeleton structure chart of lightweight for hemiplegic patient of the invention.
Fig. 2 is hip joint driving mechanism exploded view of the present invention.
Fig. 3 is knee joint driving mechanism exploded view of the present invention.
Specific embodiment
The present invention that the following is further explained with reference to the attached drawings.
In conjunction with Fig. 1, a kind of wearable lower limb rehabilitation walk-aiding exoskeleton of lightweight for hemiplegic patient includes lumbar support machine
Structure and two groups of lower limb driving mechanisms, two groups of lower limb driving mechanisms are symmetricly set on lumbar support mechanism two sides, lumbar support mechanism
It is fixed on hemiplegic patient's waist, two groups of lower limb driving mechanisms are symmetrically positioned in the lateral leg of hemiplegic patient, lower limb driving mechanism packet
Include the hip joint driving mechanism being sequentially connected in series from up to down, thigh support mechanism, knee joint driving mechanism, leg support mechanism,
Vola mechanism.
In conjunction with Fig. 1, lumbar support mechanism includes waist protector 1 and two waist rigid supporting rods 2；Waist protector 1 passes through
Porous flexible material is fitted closely with human body, and protector closure buckle has elastic, is made the adjustable section of waistline, is adapted to different crowd
It needs.Two waist rigid supporting rods 2 are symmetrically fixed on 1 two sides of waist protector, are rigidly propped up by changing waist protector 1 and waist
2 relative position of strut, the adjustable in length of lumbar support mechanism.Waist rigid supporting rod 2 is equipped with a hip joint driving machine
Structure 3.
In conjunction with Fig. 2, hip joint driving mechanism 3 includes the first limit end cap 12, the first flexbile gear flange 13, first shaft coupling
14, the first firm gear flange 15, first harmonic decelerator 16, first motor flange 17 and first motor 18；Wherein the first positive stop end
Lid 12, the first flexbile gear flange 13, the first firm gear flange 15, first harmonic decelerator 16, first motor flange 17 and first motor
18 set gradually.First harmonic decelerator 16 is the core component of hip joint driving mechanism 3, excellent with light weight small in size
Point possesses three wave producer, flexbile gear and firm gear input/output interfaces, by following connection, plays as the deceleration of first motor 18
The effect of torque increase.First motor 18 is connect with first motor flange 17；The motor shaft and first harmonic decelerator of first motor 18
16 wave producer is connected by first shaft coupling 14；First motor flange 17, the first firm gear flange 15 respectively with first harmonic
The firm gear of retarder 16 is connected and fixed；First flexbile gear flange 13 is connect with the flexbile gear of first harmonic decelerator 16；First positive stop end
Lid 12 is connect with the first firm gear flange 15.First limit end cap 12 is manufactured according to human hip extreme rotational angle, has machine
Tool limit function can be effectively prevented the excessive situation of hip joint driving mechanism rotational angle and occur, protects human synovial.Waist
2 bottom end of rigid supporting rod is connect with 15 top of the first firm gear flange, realizes the company of lumbar support mechanism and hip joint driving mechanism 3
It connects；First flexbile gear flange, 13 bottom end is connected with thigh support mechanism.Although slight hemiplegia patient still can be movable, dealing of walking
It is stretched toward upper limb buckling, lower limb, the lower limb of paralysis, which make a move, draws half of circle.For the hemiplegic gait for correcting patient, ectoskeleton is only protected
The case where staying the freedom degree of hip joint front and back lift leg, drawing circle on foot to avoid patient occurs.When human locomotion, 18 turns of first motor
Dynamic that flexbile gear flange 13 and thigh chute supported bar 4 is driven to rotate relative to waist rigid supporting rod 2, realization follows or supports lift
Leg movement.Swing when can realize walking using hip joint driving mechanism 3 on thigh front-rear direction.
In conjunction with Fig. 1, thigh support mechanism includes thigh chute supported bar 4, thigh protector 5 and thigh rigid supporting rod 6；Greatly
4 top of leg chute supported bar and the first flexbile gear flange 13 are connected, and realize the company of hip joint driving mechanism 3 and thigh support mechanism
It connects；4 bottom end of thigh chute supported bar and thigh rigid supporting rod 6 are connected, and change thigh chute supported bar 4 and thigh by sliding slot
6 relative position of rigid supporting rod, the adjustable in length of thigh support mechanism；Thigh protector 5 is arranged in thigh rigid supporting rod 6
Side, and the two is connected；6 bottom end of thigh rigid supporting rod is connected knee joint driving mechanism 7.
In conjunction with Fig. 2, knee joint driving mechanism 7 includes the second limit end cap 19, the second flexbile gear flange 20, second shaft coupling
21, the second firm gear flange 22, second harmonic retarder 23, the second motor flange 24 and the second motor 25；Wherein the second positive stop end
Lid 19, the second flexbile gear flange 20, the second firm gear flange 22, second harmonic retarder 23, the second motor flange 24 and the second motor
25 set gradually.Second harmonic retarder 23 is the core component of knee joint driving mechanism 7, excellent with light weight small in size
Point possesses three wave producer, flexbile gear and firm gear input/output interfaces, by following connection, plays as the deceleration of the second motor 25
The effect of torque increase.Motor is connect with the second motor flange 24；The motor shaft of second motor 25 and the wave of second harmonic retarder 23
Generator is connected by second shaft coupling 21；Second motor flange 24, the second firm gear flange 22 respectively with second harmonic retarder
23 firm gear is connected and fixed；Second flexbile gear flange 20 is connect with the flexbile gear of second harmonic retarder 23；Second limit end cap 19 with
The connection of second firm gear flange 22.Second limit end cap 19 makes according to human body knee joint extreme rotational angle, has mechanical position limitation
Function can be effectively prevented the excessive situation of knee joint driving mechanism rotational angle and occur, protects human synovial.Thigh rigidly props up
6 bottom end of strut is connect with 22 top of the second firm gear flange, realizes the connection of thigh support mechanism and knee joint driving mechanism 7.The
Two flexbile gear flanges, 20 bottom end is connected with leg support mechanism.When human locomotion, the rotation of the second motor 25 drives 20 He of flexbile gear flange
Shank chute supported bar 8 is rotated relative to thigh rigid supporting rod 6, and realization follows or support lift leg movement.Utilize knee joint
Shank is swung in the front-back direction when driving mechanism 7 can realize walking.
In conjunction with Fig. 1, leg support mechanism includes shank chute supported bar 8, shank protective equipment 9 and shank rigid supporting rod 10；
8 top of shank chute supported bar and the second flexbile gear flange 20 are connected, and realize the company of knee joint driving mechanism 7 and leg support mechanism
It connects；8 bottom end of shank chute supported bar and shank rigid supporting rod 10 are connected, by sliding slot change shank chute supported bar 8 with it is small
10 relative position of leg rigid supporting rod, the adjustable in length of leg support mechanism；Shank protective equipment 9 is located at shank rigid supporting rod 10
Inside, and the two is connected；10 bottom end of shank rigid supporting rod and vola mechanism are connected.
Vola mechanism includes shoes 11 and at least three pressure sensors.Shoes 11 pass through porous flexible material and adjustable buckle
It is bonded with human foot.Often there is foot drop or varus since foot muscle tone is low or excessively high in hemiplegic patient, and medicine is controlled
More immobilized patients ankles in treatment.Therefore the present invention also cancels the freedom degree at ankle, and leg support mechanism and vola mechanism are connected,
Multi-cambered surface design is added in sole keeps patient's walking smooth to compensate ankle-joint freedom degree.
The distribution of plantar pressure when in order to acquire people's movement, to be needed come gait locating when judging people's movement
At least three pressure sensors are installed on shoes 11.Three pressure sensors are respectively positioned on vamp, and one is located at heel position, and two
It is a to be located at forefoot position.In order to acquire motion pose signal of the human body lower limbs in walking, need to install on ectoskeleton used
Property measuring unit.On 1 lateral wall of waist protector and it is located at the position of human body back equipped with Inertial Measurement Unit；Outside thigh protector 5
Position on side wall and on rear side of human thigh is equipped with Inertial Measurement Unit；It is on 9 lateral wall of shank protective equipment and small positioned at human body
Position on rear side of leg is equipped with Inertial Measurement Unit.For the angle that precise measurement human body knee joint and hip joint turn over, need to close
It saves and encoder is installed at driving.Encoder is respectively equipped on first motor 18 and the second motor 25.
When wearing, lower limb rehabilitation walk-aiding exoskeleton is dressed in both legs two sides by patient, by porous flexible material and elastic
Buckle the lower limb for making protector be tightly attached to wearer.Every leg all has 2 controllable degrees of freedom, and ectoskeleton is driven to be moved.
Claims (9)
1. a kind of wearable lower limb rehabilitation walk-aiding exoskeleton of lightweight for hemiplegic patient, it is characterised in that: including lumbar support
Mechanism and two groups of lower limb driving mechanisms, two groups of lower limb driving mechanisms are symmetricly set on lumbar support mechanism two sides, lumbar support machine
Structure is fixed on hemiplegic patient's waist, and two groups of lower limb driving mechanisms are symmetrically positioned in the lateral leg of hemiplegic patient, lower limb driving mechanism
Including the hip joint driving mechanism, thigh support mechanism, knee joint driving mechanism, leg support machine being sequentially connected in series from up to down
Structure, vola mechanism.
2. the wearable lower limb rehabilitation walk-aiding exoskeleton of the lightweight according to claim 1 for hemiplegic patient, feature exist
In: lumbar support mechanism includes waist protector (1) He Lianggen waist rigid supporting rod (2)；Two waist rigid supporting rods (2) are right
Title is fixed on waist protector (1) two sides, and waist rigid supporting rod (2) is equipped with a hip joint driving mechanism (3).
3. the wearable lower limb rehabilitation walk-aiding exoskeleton of the lightweight according to claim 2 for hemiplegic patient, feature exist
In: hip joint driving mechanism (3) includes the first limit end cap (12), the first flexbile gear flange (13), first shaft coupling (14), first
Firm gear flange (15), first harmonic decelerator (16), first motor flange (17) and first motor (18)；Wherein the first positive stop end
Cover (12), the first flexbile gear flange (13), the first firm gear flange (15), first harmonic decelerator (16), first motor flange (17)
It is set gradually with first motor (18)；First motor (18) is connect with first motor flange (17)；The motor of first motor (18)
Axis is connect with the wave producer of first harmonic decelerator (16) by first shaft coupling (14)；First motor flange (17), first
Firm gear of the firm gear flange (15) respectively with first harmonic decelerator (16) is connected and fixed；First flexbile gear flange (13) and first harmonic
The flexbile gear of retarder (16) connects, and the first limit end cap (12) is connect with the first firm gear flange (15)；Waist rigid supporting rod (2)
Bottom end is connect with first firm gear flange (15) top, realizes the connection of lumbar support mechanism and hip joint driving mechanism (3)；First
Flexbile gear flange (13) bottom end is connected with thigh support mechanism.
4. the wearable lower limb rehabilitation walk-aiding exoskeleton of the lightweight according to claim 3 for hemiplegic patient, feature exist
In: thigh support mechanism includes thigh chute supported bar (4), thigh protector (5) and thigh rigid supporting rod (6)；Thigh sliding slot
Support rod (4) top and the first flexbile gear flange (13) are connected, and realize the company of hip joint driving mechanism (3) and thigh support mechanism
It connects；Thigh chute supported bar (4) bottom end and thigh rigid supporting rod (6) are connected；Thigh protector (5) is arranged in thigh rigid support
On the inside of bar (6), and the two is connected；Thigh rigid supporting rod (6) bottom end is connected knee joint driving mechanism (7).
5. the wearable lower limb rehabilitation walk-aiding exoskeleton of the lightweight according to claim 4 for hemiplegic patient, feature exist
In: knee joint driving mechanism (7) includes the second limit end cap (19), the second flexbile gear flange (20), second shaft coupling (21), second
Firm gear flange (22), second harmonic retarder (23), the second motor flange (24) and the second motor (25)；Wherein the second positive stop end
Cover (19), the second flexbile gear flange (20), the second firm gear flange (22), second harmonic retarder (23), the second motor flange (24)
It is set gradually with the second motor (25)；Second motor (25) is connect with the second motor flange (24)；The motor of second motor (25)
Axis is connect with the wave producer of second harmonic retarder (23) by second shaft coupling (21)；Second motor flange (24), second
Firm gear of the firm gear flange (22) respectively with second harmonic retarder (23) is connected and fixed；Second flexbile gear flange (20) and second harmonic
The flexbile gear of retarder (23) connects, and the second limit end cap (19) is connect with the second firm gear flange (22)；Thigh rigid supporting rod (6)
Bottom end is connect with second firm gear flange (22) top, realizes the connection of thigh support mechanism and knee joint driving mechanism (7)；Second
Flexbile gear flange (20) bottom end is connected with leg support mechanism.
6. the wearable lower limb rehabilitation walk-aiding exoskeleton of the lightweight according to claim 5 for hemiplegic patient, feature exist
In: leg support mechanism includes shank chute supported bar (8), shank protective equipment (9) and shank rigid supporting rod (10)；Shank sliding slot
Support rod (8) top and the second flexbile gear flange (20) are connected, and realize the company of knee joint driving mechanism (7) and leg support mechanism
It connects；Shank chute supported bar (8) bottom end and shank rigid supporting rod (10) are connected, and shank protective equipment (9) is located at shank rigid support
On the inside of bar (10), and the two is connected；Shank rigid supporting rod (10) bottom end and vola mechanism are connected.
7. the wearable lower limb rehabilitation walk-aiding exoskeleton of the lightweight according to claim 5 for hemiplegic patient, feature exist
In: vola mechanism includes shoes (11) and at least three pressure sensors, and three pressure sensors are respectively positioned on Human Sole and shoes
(11) contact surface, one is located at heel position, and two are located at forefoot position.
8. the wearable lower limb rehabilitation walk-aiding exoskeleton of lightweight of hemiplegic patient is directed to according to claim 2,4,6,
It is characterized in that: on waist protector (1) lateral wall and being located at the position of human body back equipped with Inertial Measurement Unit；Thigh protector (5)
Position on lateral wall and on rear side of human thigh is equipped with Inertial Measurement Unit；On shank protective equipment (9) lateral wall and it is located at people
The position of body posterior leg is equipped with Inertial Measurement Unit.
9. being directed to the wearable lower limb rehabilitation walk-aiding exoskeleton of lightweight of hemiplegic patient, feature according to claim 3 or 5
It is: is respectively equipped with encoder on first motor (18) and the second motor (25).
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| CN110974607A (en) * | 2019-12-07 | 2020-04-10 | 宿州学院 | Driving system of exoskeleton device for lower limb rehabilitation training |
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