CN110151496A

CN110151496A - A kind of multidigit appearance lower limb rehabilitation robot and its application method

Info

Publication number: CN110151496A
Application number: CN201910588207.8A
Authority: CN
Inventors: 谢能刚; 王璐; 储继发; 王丙柱; 舒军勇
Original assignee: Anhui University of Technology AHUT
Current assignee: Anhui University of Technology AHUT
Priority date: 2019-07-02
Filing date: 2019-07-02
Publication date: 2019-08-23

Abstract

The invention discloses a kind of multidigit appearance lower limb rehabilitation robot and its application methods, belong to medical instruments field.The healing robot includes the pedestal, lifting mechanism and bed body set gradually from top to bottom, bed body two sides have been symmetrically arranged a pair of of thigh training institution and a pair of of Calf structure, thigh training institution and Calf structure are used to carry out lower limb rehabilitation training to the patient that lower limb have dyskinesia, lower limb rehabilitation training can be carried out to patient in several ways, and by the way that bed body and cushion are overturn, it can be realized the training under seat, sleeping, vertical three kinds of poses, training method is comprehensive, and training effect is good.This method uses above-mentioned multidigit appearance lower limb rehabilitation robot, and training effect is splendid.

Description

A kind of multidigit appearance lower limb rehabilitation robot and its application method

Technical field

The invention belongs to medical instruments fields, more specifically to a kind of multidigit appearance lower limb rehabilitation robot and its make Use method.

Background technique

With the reach of science, the one kind of healing robot technology as robot technology is rapidly developed.It Industrial robot and the combination of Medical Robot, research run through medical science of recovery therapy, biomethanics, mechanics, Mechanics of Machinery, The numerous areas such as electronics, materialogy, computer science and robotics have become one of international robot field Research hotspot.Currently, healing robot has been widely applied to rehabilitation nursing, artificial limb and rehabilitation etc., this is not only The development of medical science of recovery therapy is promoted, the new technology of related fields and the development of new theory have also been driven.

Lower limb rehabilitation robot is one of type of limb rehabilitating robot, lower extremity motor function can be assisted to hinder Hinder the gait rule of patient simulation normal person to do rehabilitation training campaign, to temper patient's lower limb muscles, restores nervous system pair The control ability of walking function and patient normally walk function.

Such as Chinese Patent Application No. are as follows: CN201610115660.3, publication date are as follows: the patent document on July 20th, 2016, A kind of lower limb rehabilitation robot, including pedestal, support column, lying board, support rod and lower limb exoskeleton are disclosed, before the pedestal Portion is equipped with support column, and rear portion is equipped with motor I and sliding rail；The lower end of the support rod is installed in sliding rail, the motor I with The lower end of support rod interlocks, and the lower end of support rod is driven to do feed motion along sliding rail；The upper end of the support column, which is equipped with, to be turned Axis I；The lower end of the lying board is installed on shaft I, and the middle part or rear portion of lying board are equipped with shaft II, the support rod Upper end is installed on shaft II；The lower limb exoskeleton is installed on the lower end of lying board.The lower limb rehabilitation robot can basis The height of patient carries out thick link length, shank link length, lying board length and the automation at inclination angle and adjusts.The health of the program It answers a pager's call by controlling between thigh, shank and sole of the mutual rotation to simulate patient between each connecting rod and sole support base Mutual rotation, to realize to the training of the adjustment rehabilitations of patient's lower limb.But it further includes leg that the lower limb movement of normal person, which is, Portion is lifted up and down, and the training method of the program is then more mechanical, so that be likely to be not achieved to the training effect of patient Desired degree.In addition, the whole height of the program is not adjustable, so that patient is more troublesome when entering equipment.And equipment Position fix, patient can not take sitting posture to be trained, be more troublesome the carrying of equipment, on the other hand for The training of patient is also not comprehensive enough.

For another example Chinese Patent Application No. are as follows: CN201511005432.2, publication date are as follows: the patent text on March 30th, 2016 It offers, discloses a kind of two-stage bed body, multi-angle regulation, upper and lower extremities coorinated training healing robot, second level bed body support frame can be with Lifting is equipped with the pulldown bed of energy pitch regulation on second level bed body support frame, and pulldown bed top, which is equipped with, constitutes prismatic pair with it Sliding table top, and the lower hollow part of pulldown bed be equipped with can first move the thigh support bed surface rotated afterwards, thigh support An entirety is constituted with pulldown bed bed surface when bed surface flips up, the two of near vertical can be formed when flipping down with pulldown bed A bed surface, knee joint can be trained by spinning upside down；It is equipped with pedal support in pulldown bed bottom end, rides and is driven by crank, connecting rod The movement of class elliptical orbit is done, by adjusting the installation site ridden in connecting rod, and the angle that adjustment is foot-operated, can also be adjusted The elliptical shape of class, that is, change foot-operated running track, the inventive structure is simple, conveniently, gait track is variable, weight is adjustable Section, suitable for the rehabilitation training crowd of different heights, and the lifting bed body of its setting also facilitates patient to enter equipment.But it should Scheme is to be trained for the patient of four limbs rehabilitation, therefore its part-structure is to carry out rehabilitation training to patient's upper limb, It is not directed to lower limb rehabilitation so as to cause it and takes comprehensive enough structures, and its posture when being trained to patient's lower limb Single, training effect is simultaneously bad.

Summary of the invention

1, it to solve the problems, such as

Single for existing lower limb rehabilitation robot training posture, poor for the training effect of patient's lower limb asks Topic, the present invention provide a kind of multidigit appearance lower limb rehabilitation robot, can carry out lower limb rehabilitation instruction to patient in several ways Practice, and by can be realized the training under seat, sleeping, vertical three kinds of poses, training method is comprehensive, training for bed body and back pad overturning Effect is good.

The present invention also provides a kind of application methods of multidigit appearance lower limb rehabilitation robot, using a kind of above-mentioned multidigit appearance lower limb Healing robot carries out lower limb rehabilitation training to patient in several ways, and training is comprehensive, and this method allows patient to exist It sits, carry out rehabilitation training under sleeping, vertical three kinds of poses, whole training effect is splendid.

2, technical solution

To solve the above problems, the present invention adopts the following technical scheme that.

A kind of multidigit appearance lower limb rehabilitation robot, including the pedestal, lifting mechanism and bed body set gradually from top to bottom, bed Body two sides have been symmetrically arranged a pair of of thigh training institution and a pair of of Calf structure；

The thigh training institution includes shank bar, fixed sole, thigh bar, sliding rail, sliding block and hip joint driving unit； The side of bed body is arranged in along the length direction of bed body for the sliding rail, and the sliding block connect to form prismatic pair with sliding rail, on sliding block End is articulated and connected with shank bar；One end of the shank bar, which is installed, fixes sole, and one end of the other end and thigh bar is articulated and connected, The other end of the thigh bar is hingedly connected in bed body；The hip joint driving unit is for driving thigh training institution along cunning Rail moves back and forth；

The Calf structure includes calf plate, rotation sole, knee joint driving unit and ankle-joint driving unit；Institute It states calf plate to be hingedly connected in bed body, the knee joint driving unit is used to drive calf plate along the hinged of calf plate and bed body Place's transmission；The rotation sole is hingedly connected to the rear side of calf plate, and the ankle-joint driving unit is for driving rotation sole It is rotated along the hinged place of rotation sole and calf plate；

The bed body is hinged on lifting mechanism, is provided with the back pad that can be overturn；It is hinged on the lifting mechanism One end of bed body driving unit is connected, the other end and bed body of the bed body driving unit are articulated and connected.

It further, further include the shank telescopic rod and extension of hip joint of mutually hinged connection between the shank bar and thigh bar Contracting bar；

Through-hole is axially arranged with along it on the end face of the shank bar, and the through-hole on shank telescopic rod insertion shank bar simultaneously passes through Fastening screw I is fixedly connected with shank bar；

Through-hole is axially arranged with along it on the end face of the thigh bar, and the through-hole on thigh telescopic rod insertion thigh bar simultaneously passes through Fastening screw II is fixedly connected with thigh bar.

Further, the hip joint driving unit is motor, and motor is mounted on the side of bed body, passes through crank connecting link machine Structure I and thigh bar or shank bar are sequentially connected.

It further, further include the expansion plate being fixedly connected on calf plate；The two sides of the rotation sole are hinged with one To connecting rod, the length direction on the connecting rod along connecting rod offers card slot；The expansion plate is inserted between a pair of links, the company Bar is by being inserted into the card slot, and the holding screw being threadedly coupled with expansion plate is fixed on expansion plate.

Further, the knee joint driving unit is motor, is mounted on the lower end of bed body, passes through crank link mechanism II and calf plate are sequentially connected.

Further, the ankle-joint driving unit is motor, is mounted on calf plate or expansion plate or rotates sole Lower section passes through tape handler and rotation sole transmission connection.

Further, loss of weight bracket, bed body middle part two are housed relative to the other end of Calf structure in the bed body Side is symmetrically installed with a pair of armrests.

Further, the pedestal lower end is equipped with idler wheel.

A kind of application method of one of above-mentioned technical proposal multidigit appearance lower limb rehabilitation robot, comprising the following steps:

One, presetting: lie in patient in bed body, driving lifting mechanism lifting bed body to the position set, then control bed The angle of body driving unit adjusting bed body；

Two, training: including two kinds of training modes:

1. horizontal: patient lies low in bed body, and both legs are fixed in a pair of of thigh training institution, hip joint driving unit work Make, sliding block is made to move reciprocatingly on the slide rail；

2. sitting posture: driving back pad is overturn to the position of setting, makes patient before being sitting in back pad, and the both feet of patient, which are fixed on, to be turned On dynamic sole；The work of knee joint driving unit, driving calf plate rotation；The work of ankle-joint driving unit, driving rotation sole turn It is dynamic.

Further, when being equipped with loss of weight bracket in bed body,

Presetting step are as follows: lie in patient in bed body, put on the loss of weight vest being connected with loss of weight bracket, drive lifting mechanism Bed body is lifted to the position set, then controls the angle that bed body driving unit adjusts bed body；

Training step further include: 3. vertical: patient lies low in bed body, and control bed body driving unit adjusts bed body angle, Make patient close to upright state: (a) when both legs are fixed in a pair of of thigh training institution, the work of hip joint driving unit makes Sliding block moves reciprocatingly on the slide rail；(b) when both legs are fixed on a pair of of Calf structure, knee joint driving unit and ankle Joint drive unit work, drives patient rotational foot and bending knee.

3, beneficial effect

Compared with the prior art, the invention has the benefit that

(1) a kind of multidigit appearance lower limb rehabilitation robot of the present invention, by the way that the thigh individually to work is arranged in bed body Training institution and Calf structure enable the patient to respectively be trained hip joint, ankle-joint and knee joint, and training is complete Face, training effect is good, meanwhile, the lifting mechanism of the program patient can be convenient sit or lie in bed body after, then by bed Body is raised to the position of setting, and combines the bed body and back pad that can be overturn, enable the patient to it is sleeping, sit, vertical Three models into Row training, the angle of bed body can be adjusted according to the different situations of different patients, and adaptable, training effect is good, comfortably Degree is high；

(2) a kind of multidigit appearance lower limb rehabilitation robot of the present invention is stretched by installing shank between shank bar and thigh bar Contracting bar and thigh telescopic rod can be improved according to the long training length to adjust thigh training institution of the different legs of different patients The comfort level of rehabilitation training effect and patient；

(3) a kind of multidigit appearance lower limb rehabilitation robot of the present invention, it is flexible by being arranged between rotation sole and calf plate Plate, setting has the connecting rod of card slot on rotation sole, thus after being close to the side of connecting rod and expansion plate, by being inserted into card slot And the two is fixed together by the holding screw being threadedly coupled with expansion plate, has different shanks according to different patients Length can unclamp holding screw, move rotation sole along the length direction of bed body, when being adjusted to suitable length, then Holding screw is locked, a pair of links is used, so that the connection of the two is more stable；

(4) a kind of multidigit appearance lower limb rehabilitation robot of the present invention is equipped with loss of weight bracket in the one end of bed body close to thigh plate, When bed body turns to a bigger tilt angle, patient can be made to put on the vest being connected with loss of weight bracket, prevent patient Excessive pressure is generated to thigh training institution, in addition, a pair of armrests is arranged in the middle part of bed body, is further enhanced patient and is being instructed Stability when practicing, the two cooperate, and bed body are overturn to angle when walking close to human normal, utmostly The upper training effect for improving patient；

(5) a kind of multidigit appearance lower limb rehabilitation robot of the present invention is equipped with idler wheel in pedestal lower end, facilitates healing robot It carries, and when bed body is overturn to the angle walked close to person upright, it can be by mobile healing robot come so that patient feels By the feeling walked, reinforce training effect；

(6) a kind of application method of multidigit appearance lower limb rehabilitation robot of the present invention, using a kind of above-mentioned multidigit appearance lower limb health Multiple robot carries out lower limb rehabilitation training to patient, after patient can lie in bed body, is lifted bed body in driving lifting mechanism Extremely it is suitble to the position of training, so that patient is facilitated to enter healing robot, and it uses the leg training for patient, uses It sits, is sleeping, founding three kinds of training modes, improving the complete bright property of the leg training for patient, training effect is splendid.

Detailed description of the invention

Fig. 1 is the multidigit appearance lower limb rehabilitation robot under horizontal physical training condition；

Fig. 2 is the multidigit appearance lower limb rehabilitation robot under sitting posture physical training condition；

Fig. 3 is that bed body is in the multidigit appearance lower limb rehabilitation robot under rollover states；

Fig. 4 is the isometric side view of sitting type lower limb healing robot；

Fig. 5 is the main view of sitting type lower limb healing robot；

Fig. 6 is the isometric side view of horizontal lower limb rehabilitation robot；

Fig. 7 is the main view of horizontal lower limb rehabilitation robot；

Fig. 8 is the structural schematic diagram of this programme pedestal；

Fig. 9 is the structural schematic diagram of this programme lifting mechanism；

Figure 10 is the main view of the bed body in horizontal lower limb rehabilitation robot；

Figure 11 is the main view of sitting type lower limb healing robot and the bed body in multidigit appearance lower limb rehabilitation robot；

Figure 12 is the isometric side view of sitting type lower limb healing robot and the bed body in multidigit appearance lower limb rehabilitation robot；

Figure 13 is the structural schematic diagram of thigh training institution；

Figure 14 is the main view of Calf structure；

Figure 15 is the structural schematic diagram of Calf structure；

Figure 16 is fractional order PI^λD^μThe control structure block diagram of controller；

Figure 17 is to adjust PI with ion motion algorithm^λD^μThe flow chart of parameter lambda and μ in controller；

Figure 18 is the hardware controls flow chart of control system of the present invention；

Figure 19 builds flow chart for present invention control program；

Figure 20 is the control flow chart of control method of the present invention；

In figure: 1, pedestal；101, idler wheel；102, it is lifted driving unit；

2, lifting mechanism；201, lifting platform；202, fixing piece；203, triangle part；204, mounting platform；

3, bed body；301, back pad；302, bed body driving unit；303, loss of weight bracket；304, handrail；305, bracket；306, Cushion；307, back pad driving unit；308, mounting rack I；309, mounting rack II；

4, thigh training institution；401, shank bar；402, fixed sole；403, thigh bar；404, sliding rail；405, sliding block； 406, hip joint driving unit；407, shank telescopic rod；408, fastening screw I；409, crank link mechanism I；410, shank bar Support rod；411, thigh bar support rod；412, thigh telescopic rod；413, fastening screw II；

5, Calf structure；501, calf plate；502, sole is rotated；5021, pin block；503, knee joint driving unit； 504, ankle-joint driving unit；505, expansion plate；506, connecting rod；507, holding screw；508, crank link mechanism II；509, band Transmission mechanism；510, hinge.

Specific embodiment

The present invention is further described below with attached drawing combined with specific embodiments below.

Embodiment 1

As shown in Figure 6 and Figure 7, a kind of horizontal lower limb rehabilitation robot, effect mainly have motor function in lower limb Rehabilitation training is carried out to the lower limb of patient when the patient of obstacle is in prone position state.The horizontal lower limb rehabilitation robot includes under To the pedestal 1, lifting mechanism 2 and bed body 3 above set gradually, 3 two sides of bed body are symmetrically arranged with a pair of of thigh training institution 4.Its In, pedestal 1 is used as mounting body, and for lifting mechanism 2 for going up and down bed body 3, bed body 3 is the position that patient enters healing robot, Thigh training institution 4 is used to drive the hip joint of patient to carry out rehabilitation training.Below to the tool of the healing robot of the present embodiment Body structure and working principle are described in detail.

It being composed of a fixed connection as shown in figure 8, pedestal 1 is arranged in pairs or groups in length and breadth by more steel pipes, the upper end is a rectangular frame, The lower end at four angles of rectangular frame is respectively welded the supporting steel pipe on a vertical direction.In order to make healing robot Movement is more convenient, and the lower end of steel pipe of the present embodiment on four vertical directions is respectively provided with an idler wheel 101, thus convenient Push healing robot.In two long sides of rectangular frame, it is hinged with the lifting driving that a control lifting mechanism 2 is gone up and down Unit 102, the lifting driving unit 102 can use cylinder, oil cylinder or electronic handspike.

As shown in figure 9, lifting mechanism 2 includes lifting platform 201, fixing piece 202, triangle part 203 and mounting platform 204. Wherein, fixing piece 202 has two pairs, is respectively symmetrically fixedly mounted on the front and back two of two long sides of the rectangular frame of pedestal 1 It holds, is hingedly connected with a pin shaft between adjacent pair fixing piece 202.There are two the tools of triangle part 203, is respectively and fixedly installed to On two pin shafts.Lifting platform 201 is a rectangular slab, and rear and front end is hinged with the lower end of two triangle parts 203 respectively Connection.The main structure of mounting platform 204 is similarly a rectangular slab, rear and front end respectively with two triangle parts 203 Upper end articulated connection.Therefore, lifting platform 201, triangle part 203 and mounting platform 204 collectively constitute one can go up and down it is flat Row quadrangular mechanism, and lifting platform 201 and mounting platform 204 keep horizontality in lifting process.Lifting on pedestal 1 One section of driving unit 102 is hinged on rectangular frame, and the other end is then articulated and connected with the lower end of lifting platform 201, thus Control the lifting of lifting mechanism 2.

As shown in Figure 10, bed body 3 includes rectangular support frame 305, the mattress being fixed on bracket 305, bed body driving Unit 302, loss of weight bracket 303 and a pair of armrests 304.Wherein, bracket 305 is hingedly connected to the upper end of mounting platform 204.Bed body Driving unit 302 can use cylinder, oil cylinder or electronic handspike, and one end and the mounting platform 204 of lifting mechanism 2 hingedly connect It connects, the other end is then hingedly connected on bracket 305.Loss of weight bracket 303 is fixedly mounted on wherein one end of bracket 305, connects thereon It is connected to a vest, a pair of armrests 304 is then symmetrically mounted on the on both sides of the middle of bracket 305.It, can when patient lies low on mattress To allow patient to put on vest, the both hands of patient can then hold handrail 304, increase itself steady that patient lies low when on mattress It is qualitative.Especially, when in order to adapt to different patient profiles, meet the leg training under different angle or meet different patients' It when comfort level is felt, needs to adjust the angle of bed body 3 by bed body driving unit 302, makes the inclination of bed body 3 even close to upright At this moment state can greatly reinforce the training stability of patient, and the two structure by loss of weight bracket 303 and handrail 304 Simply, cost is relatively low.In addition, cooperating the idler wheel 101 of 1 lower end of pedestal when bed body 3 is tilted to close to upright state, making to suffer from Person can push robot by staff while carrying out rehabilitation training back and forth, to make patient perceptions' normal walking Feel, improves rehabilitation training effect.

As shown in figure 13, thigh training institution 4 include shank bar 401, fixed sole 402, thigh bar 403, sliding rail 404, Sliding block 405 and hip joint driving unit 406.Wherein, sliding rail 404 is fixedly mounted on the side of bed body 3 along the length direction of bed body 3 Side, sliding block 405 are movably arranged on sliding rail 404, and it is secondary to form a linear movement with sliding rail 404.405 upper end of sliding block is provided with one Perpendicular to the shank bar support rod 410 of horizontal plane, one end of shank bar 401 and the upper end of shank bar support rod 410 hingedly connect root It connects, the other end is then articulated and connected with one end of thigh bar 403, and the other end of thigh bar 403 is then articulated and connected thigh bar support rod 411 upper end, the lower end of thigh bar support rod 411 are fixed on sliding rail 404, to guarantee that 405 movement of sliding block will not be by Resistance, fixed sole 402 are then fixedly mounted on the one end being connected on shank bar 401 with shank bar support rod 410.The effect of support rod Installation mainly for shank bar 401 and thigh bar 403 provides a convenient space, so that the installation of the two is simpler Just.For the present embodiment using motor as hip joint driving unit 406, motor is mounted on the side of bed body 3, passes through crank connecting link machine Structure I 409 and thigh bar 403 or shank bar 401 are sequentially connected, i.e. the output shaft of one end of crank link mechanism I 409 and motor Transmission connection, the other end are hingedly connected to thigh bar 403 or shank bar 401, are articulated and connected in the present embodiment with thigh bar 403. The structure and human body lower limbs structure of the thigh training institution 4 substantially remain in consistency, so that patient's lower limb be driven to complete human body Movement when normal walking, Movement consistency is high, improves to the rehabilitation training effect at the hip joint of patient's lower limb.

However, being wanted for the difference of comfort level in healing robot in use, the case where different patient is different It asking, we can adapt to by adjusting the tilt angle of bed body 3, but since the length of shank bar 401 and thigh bar 403 is Fixed, when the length of the lower limb corresponding site of patient is greater than shank bar 401 and thigh bar 403, just influence very much patient's Rehabilitation training effect.For this problem, this gives following solution.

Between shank bar 401 and thigh bar 403, shank telescopic rod 407 and thigh telescopic rod 412 are installed.Specifically, Through-hole is axially arranged with along it on the end face of shank bar 401, and the side of shank telescopic rod 407 and shank bar 401 is then axial etc. along it It is spaced apart and is equipped with multiple mutually matched screw holes, after shank telescopic rod 407 is inserted into the through-hole on shank bar 401, by successively inserting Enter the fastening screw I 408 of the screw hole of shank bar 401, the through-hole of shank bar 401 and shank telescopic rod 407 for 401 and of shank bar Shank telescopic rod 407 is fixedly connected.Similarly, the connection structure of thigh bar 403 and thigh telescopic rod 412 is similar with above content, Through-hole is axially arranged with along it on the end face of thigh bar 403, and the side of thigh bar 403 and thigh telescopic rod 412 is then along its axial direction Multiple mutually matched screw holes are offered at equal intervals, after thigh telescopic rod 412 is inserted into the through-hole on thigh bar 403, by successively The fastening screw II 413 for being inserted into the screw hole of the screw hole of thigh bar 403, the through-hole of thigh bar 403 and thigh telescopic rod 412 will be big Leg bar 403 is fixedly connected with thigh telescopic rod 412.After patient enters healing robot, staff can be according to patient's Thigh and lower-leg length adjust the training length of thigh training institution 4, specific adjustment process are as follows: stretch fastening screw from shank Back-out in the screw hole of contracting bar 407 or thigh telescopic rod 412, twitches shank telescopic rod 407 or thigh telescopic rod 412, make shank bar 401 and shank telescopic rod 407 overall length be equal to patient lower-leg length, make thigh bar 403 and the overall length of thigh telescopic rod 412 etc. In the thigh length of patient, so that healing robot be enable to be adjusted trained length according to different patients, rehabilitation is improved Training effect.

In conclusion a kind of horizontal lower limb rehabilitation robot of the present embodiment, thigh training institution 4 can under patient Limb keeps Movement consistency well, and training effect is good, and lifting and turning operation can be carried out to bed body 3, facilitate patient into Enter healing robot, and according to the angle of different situation adjustment bed bodies 3, improves training effect and comfort level.

Embodiment 2

As shown in Figure 4 and Figure 5, a kind of sitting type lower limb healing robot, effect mainly have motor function in lower limb Rehabilitation training is carried out to the joint of lower extremity of patient when the patient of obstacle is under sitting posture.The sitting type lower limb healing robot include from Under to the pedestal 1, lifting mechanism 2, bed body 3 above set gradually, the two sides of the wherein one end of bed body 3 are symmetrically arranged with a pair of of shank instruction Practice mechanism 5.Wherein, pedestal 1 is used as mounting body, and for lifting mechanism 2 for going up and down bed body 3, bed body 3 is that patient enters rehabilitation machine The position of people, Calf structure 5 are used to drive the ankle-joint of patient's lower limb and knee joint to carry out rehabilitation training.Below to this reality The specific structure and working principle for applying the healing robot of example are described in detail.

It is formed as shown in figure 8, pedestal 1 arranges in pairs or groups to be fixedly connected in length and breadth by more steel pipes, the upper end is a rectangle frame Frame, the lower end at four angles of rectangular frame are respectively welded the supporting steel pipe on a vertical direction.In order to make rehabilitation machine The movement of people is more convenient, and the lower end of steel pipe of the present embodiment on four vertical directions is respectively provided with an idler wheel 101, thus Facilitate push healing robot.In two long sides of rectangular frame, it is hinged with the lifting that a control lifting mechanism 2 is gone up and down Driving unit 102, the lifting driving unit 102 can use cylinder, oil cylinder or electronic handspike.

As shown in figure 9, lifting mechanism 2 includes lifting platform 201, fixing piece 202, triangle part 203 and mounting platform 204. Wherein, fixing piece 202 has two pairs, is respectively symmetrically fixedly mounted on the front and back two of two long sides of the rectangular frame of pedestal 1 It holds, is hingedly connected with a pin shaft between adjacent pair fixing piece 202.There are two the tools of triangle part 203, is respectively and fixedly installed to On two pin shafts.Lifting platform 201 is a rectangular slab, and rear and front end is hinged with the lower end of two triangle parts 203 respectively Connection.The main structure of mounting platform 204 is similarly a rectangular slab, rear and front end respectively with two triangle parts 203 Upper end articulated connection.Therefore, lifting platform 201, triangle part 203 and mounting platform 204 collectively constitute one can go up and down it is flat Row quadrangular mechanism, and lifting platform 201 and mounting platform 204 keep horizontality in lifting process.Lifting on pedestal 1 One end of driving unit 102 is hinged on rectangular frame, and the other end is then articulated and connected with the lower end of lifting platform 201, thus Control the lifting of lifting mechanism 2.

As is illustrated by figs. 11 and 12, bed body 3 includes rectangular support frame 305, the mattress being fixed on bracket 305, bed Body driving unit 302 and a pair of armrests 304.Wherein, bracket 305 is hingedly connected to the upper end of mounting platform 204.Mattress includes back Pad 301 and cushion 306, cushion 306, which is in a horizontal state, to be fixedly mounted on bracket 305；Back pad 301 is hingedly connected to cushion 306 On, it can be rotated along the hinged place of back pad 301 and cushion 306, be driven and rotated by back pad driving unit 307.More specifically, it props up 305 lower end of frame is equipped with one for installing the mounting rack II 309 of back pad driving unit 307, and back pad driving unit 307 can be adopted With cylinder, oil cylinder or electronic handspike, one end is hingedly connected on mounting rack II 309, the other end then back side with back pad 301 Articulated connection.Bed body driving unit 302 can use cylinder, oil cylinder or electronic handspike, and the installation of one end and lifting mechanism 2 is flat Platform 204 is articulated and connected, and the other end is then hingedly connected on bracket 305.A pair of armrests 304 is symmetrically mounted on the middle part of bracket 305 Two sides, when patient is sitting on cushion 306, the both hands of patient can hold handrail 304, increase oneself when patient is sitting on mattress The stability of body.Especially, when in order to adapt to different patient profiles, meet leg training under different angle or meet different It when the comfort level of patient is felt, needs to adjust the angle of bed body 3 by bed body driving unit 302, tilts bed body 3, at this moment lead to The training stability of patient can be greatly reinforced by crossing handrail 304, and its structure is simple, and cost is relatively low.And back pad 301 and bed The angle of body 3 can be adjusted according to the different situations of different patients, to enable patient can be under the sitting posture of different angle The rehabilitation training in joint is carried out, the comfort level of training effect and patient is improved.

As shown in figure 14, Calf structure 5 includes calf plate 501, rotation sole 502,503 and of knee joint driving unit Ankle-joint driving unit 504.Wherein, calf plate 501 is articulated and connected by hinge 510 and cushion 306, knee joint driving unit 503 for driving calf plate 501 to be driven along the hinged place of calf plate 501 and bed body 3.In the present embodiment, using motor as knee Joint drive unit 503, bed body 3 bracket 305 lower end close to the position of calf plate 501, two sides are symmetrically arranged with a pair Mounting rack I 308, motor are fixedly mounted on mounting rack I 308, are driven by crank link mechanism II 508 and calf plate 501 Connection, the i.e. output shaft of one end of crank link mechanism II 508 and motor are sequentially connected, and the other end is hingedly connected to calf plate 501 lower end.Rotation sole 502 is hingedly connected to the rear side of calf plate 501, and ankle-joint driving unit 504 is for driving rotation Sole 502 is rotated along the hinged place of rotation sole 502 and calf plate 501.In the present embodiment, driven using motor as ankle-joint Unit 504 is mounted on the bracket 305 of the lower section of calf plate 501 or expansion plate 505 or rotation sole 502, passes through V belt translation Mechanism 509 and rotation sole 502 are sequentially connected.More specifically, the lower end for rotating sole 502, which is fixedly installed with a pair, has gap Pin block 5021, offer mutually matched pin hole in the opposite one side of two pin blocks 5021, a pin shaft, band be inserted in pin hole One end of transmission mechanism 509 is connect with pin shaft, the other end then with the output axis connection of motor, the simple and ingenious structure, convenient for peace Dress production and maintenance.The Calf structure 5 controls calf plate 501 in which can be convenient and rotation sole 502 rotates, to drive The knee joint and ankle-joint of patient rotates, and the two both can individually be trained, and can also link and train together, training mode be more Sample, training effect are good.

However, being wanted for the difference of comfort level in healing robot in use, the case where different patient is different Ask, we can adapt to by adjusting the tilt angle of bed body 3, but due to the length of calf plate 501 be it is fixed, work as trouble When the lower-leg length of person is greater than the length of calf plate 501, the rehabilitation training effect of patient is just influenced very much.It is asked for this Topic, this gives following solution.

Between calf plate 501 and rotation sole 502, expansion plate 505 and connecting rod 506 are installed.Specifically, expansion plate 505 are fixedly connected on calf plate 501, and end face and the upper end surface of calf plate 501 are in same level thereon.Connecting rod 506 has There are two, the two sides of rotation sole 502 are symmetrically hinged on, the length direction along connecting rod 506 offers strip card slot thereon.Two A connecting rod 506 is tightly attached to the two sides of expansion plate 505 respectively, by being inserted into the card slot, and is threadedly coupled with expansion plate 505 tight Determine screw 507 to be fixed on expansion plate 505.When installation, connecting rod 506 is first tightly attached to expansion plate 505, and is made on expansion plate 505 Screw hole be in card slot, then holding screw 507 is screwed in screw hole and fixes expansion plate 505 and connecting rod 506.When needing to adjust When saving shank training length, holding screw 507, mobile connecting rod 506, when connecting rod 506, expansion plate 505 and calf plate 501 are unclamped When total length is consistent with the lower-leg length of patient, then passes through holding screw 507 and fix expansion plate 505 and connecting rod 506, thus So that healing robot is adjusted according to different patients, improves rehabilitation training effect.

In conclusion a kind of sitting type lower limb healing robot of the present embodiment, can according to the case where different patients to bed Body 3 and back pad 301 carry out the adjusting in angle, and patient is made to carry out sitting posture rehabilitation training under various angles, and training effect is good, relax Appropriateness is improved.

Embodiment 3

As shown in Figure 1 to Figure 3, a kind of multidigit appearance lower limb rehabilitation robot, for there is dyskinesia to lower limb Patient carries out lower limb rehabilitation training.The healing robot includes the pedestal 1, lifting mechanism 2, bed body 3 set gradually from top to bottom Two sides have been symmetrically arranged a pair of of thigh training institution 4 and a pair of of Calf structure 5.Wherein, pedestal 1 is as installation master Body, lifting mechanism 2 are the positions that patient enters healing robot for going up and down bed body 3, bed body 3, and thigh training institution 4 is used for band The hip joint of dynamic patient carries out rehabilitation training, and Calf structure 5 is used to drive the ankle-joint of patient's lower limb and knee joint to carry out Rehabilitation training.The specific structure and working principle of the healing robot of the present embodiment are described in detail below.

As is illustrated by figs. 11 and 12, bed body 3 includes rectangular support frame 305, the mattress being fixed on bracket 305, bed Body driving unit 302, loss of weight bracket 303 and a pair of armrests 304.Wherein, bracket 305 is hingedly connected to the upper of mounting platform 204 End.Mattress includes back pad 301 and cushion 306, and cushion 306, which is in a horizontal state, to be fixedly mounted on bracket 305；Back pad 301 is hinged It is connected on cushion 306, can be rotated along the hinged place of back pad 301 and cushion 306, turned by the driving of back pad driving unit 307 It is dynamic.More specifically, 305 lower end of bracket is equipped with one for installing the mounting rack II 309 of back pad driving unit 307, back pad driving Unit 307 can use cylinder, oil cylinder or electronic handspike, and one end be hingedly connected on mounting rack II 309, the other end then with The back side of back pad 301 is articulated and connected.Bed body driving unit 302 can use cylinder, oil cylinder or electronic handspike, one end and lifting The mounting platform 204 of mechanism 2 is articulated and connected, and the other end is then hingedly connected on bracket 305.A pair of armrests 304 is symmetrically mounted on The on both sides of the middle of bracket 305, when patient lies low on cushion 306, the both hands of patient can hold handrail 304, increase patient The stability of itself when being sitting on mattress.Especially, under in order to adapt to different patient profiles, meet under different angle When limb training or the comfort level for meeting different patients are felt, needs to adjust the angle of bed body 3 by bed body driving unit 302, make At this moment the inclination of bed body 3 can greatly reinforce patient's by loss of weight bracket 303 and handrail 304 even close to upright state Training stability, and the two structure is simple, cost is relatively low.In addition, when bed body 3 is tilted to close to upright state, cooperation The idler wheel 101 of 1 lower end of pedestal makes patient while carrying out rehabilitation training, can push robot back and forth by staff, from And make the feeling of patient perceptions' normal walking, improve rehabilitation training effect.In actual use, the angle energy of back pad 301 and bed body 3 It is enough to be adjusted according to the different situations of different patients, to enable patient that can carry out the health in joint under the sitting posture of different angle Refreshment is practiced, and the comfort level of training effect and patient is improved.

As shown in figure 13, thigh training institution 4 include shank bar 401, fixed sole 402, thigh bar 403, sliding rail 404, Sliding block 405 and hip joint driving unit 406.Wherein, sliding rail 404 is fixedly mounted on the side of bed body 3 along the length direction of bed body 3 Side, sliding block 405 are movably arranged on sliding rail 404, and it is secondary to form a linear movement with sliding rail 404.405 upper end of sliding block is provided with one Perpendicular to the shank bar support rod 410 of horizontal plane, one end of shank bar 401 and the upper end of shank bar support rod 410 hingedly connect root It connects, the other end is then articulated and connected with one end of thigh bar 403, and the other end of thigh bar 403 is then articulated and connected thigh bar support rod 411 upper end, the lower end of thigh bar support rod 411 are fixed on sliding rail 404, to guarantee that 405 movement of sliding block will not be by Resistance, fixed sole 402 are then fixedly mounted on the one end being connected on shank bar 401 with shank bar support rod 410.The effect of support rod Installation mainly for shank bar 401 and thigh bar 403 provides a convenient space, so that the installation of the two is simpler Just.For the present embodiment using motor as hip joint driving unit 406, motor is mounted on the side of bed body 3, passes through crank connecting link machine Structure I 409 and thigh bar 403 or shank bar 401 are sequentially connected, i.e. the output shaft of one end of crank link mechanism I 409 and motor Transmission connection, the other end are hingedly connected to thigh bar 403 or shank bar 401, are articulated and connected in the present embodiment with thigh bar 403. The structure and human body lower limbs structure of the thigh training institution 4 substantially remain in consistency, so that patient's lower limb be driven to complete human body Movement when normal walking, Movement consistency is high, improves the rehabilitation training effect to the hip joint of patient's lower limb.

Between shank bar 401 and thigh bar 403, shank telescopic rod 407 and thigh telescopic rod 412 are installed.Specifically, Through-hole is axially arranged with along it on the end face of shank bar 401, and the side of shank telescopic rod 407 and shank bar 401 is then axial etc. along it It is spaced apart and is equipped with multiple mutually matched screw holes, after shank telescopic rod 407 is inserted into the through-hole on shank bar 401, by successively inserting Enter the fastening screw I 408 of the screw hole of shank bar 401, the through-hole of shank bar 401 and shank telescopic rod 407 for 401 and of shank bar Shank telescopic rod 407 is fixedly connected.Similarly, the connection structure of thigh bar 403 and thigh telescopic rod 412 is similar with above content, Through-hole is axially arranged with along it on the end face of thigh bar 403, and the side of thigh bar 403 and thigh telescopic rod 412 is then along its axial direction Multiple mutually matched screw holes are offered at equal intervals, after thigh telescopic rod 412 is inserted into the through-hole on thigh bar 403, by successively The fastening screw II 413 for being inserted into the screw hole of the screw hole of thigh bar 403, the through-hole of thigh bar 403 and thigh telescopic rod 412 will be big Leg bar 403 is fixedly connected with thigh telescopic rod 412.After patient enters healing robot, staff can be according to patient's Thigh and lower-leg length adjust the training length of thigh training institution 4, specific adjustment process are as follows: stretch fastening screw from shank Back-out in the screw hole of contracting bar 407 or thigh telescopic rod 412, twitches shank telescopic rod 407 or thigh telescopic rod 412, make shank bar 401 and shank telescopic rod 407 overall length be equal to patient lower-leg length, make thigh bar 403 and the overall length of thigh telescopic rod 412 etc. In the thigh length of patient, so that healing robot be enable to be adjusted according to different patients, rehabilitation training effect is improved.

In conclusion a kind of multidigit appearance lower limb rehabilitation robot of the present embodiment, can in several ways to patient into Row lower limb rehabilitation training, and by overturning bed body 3 and back pad 301, it can be realized the training under seat, sleeping, vertical three kinds of poses, instruction The mode of white silk is comprehensive, and training effect is good.

When carrying out rehabilitation training to patient, we can use above-mentioned multidigit appearance lower limb rehabilitation machine by following steps People:

One, presetting

It before to patient's lower limb rehabilitation training, needs that healing robot is adjusted, keeps patient preferable easypro at one It is trained under appropriateness.

Firstly, lifting mechanism 2 is in initial contraction state, bed body 3 keeps horizontal, and patient enters healing robot and lies low After in bed body 3, patient puts on the vest being connected with loss of weight bracket 303, and bed body 3 is raised to the height set by lifting mechanism 2 Degree, after this need to highly meet bed body 3 in 90 ° of overturnings, Calf structure 5 is not contacted with ground.Since patient transports with lower limb Dynamic dysfunction, therefore it is more difficult into healing robot, and bed body 3 is first made to be in a lower height, wait patients Bed body 3 is raised to by lifting mechanism 2 by the height set again into after in healing robot, so that patient can be convenient ground Into in healing robot.

Then, turned by the flexible driving bed body 3 of bed body driving unit 302 along the hinged place of lifting mechanism 2 and bed body 3 It is dynamic, a subtle angle adjustment is carried out, patient is made to be in the state of a preferable comfort level.

Two, training

The step includes three kinds of training modes in total:

1. horizontal: under the mode, patient lies low in bed body 3, and both legs are solid by fixation members such as velcro or adhesive plasters It is scheduled in a pair of of thigh training institution 4, then, hip joint driving unit 406 works, and driving thigh training institution 4, which does, back and forth stretches Contracting movement, sliding block 405 move reciprocatingly on sliding rail 404, and sliding block 405 and sliding rail 404 ensure that 4 side of moving, thigh training institution To accuracy.

2. sitting posture: under the mode, patient needs to take off vest, and is sitting on cushion 306, then, back pad driving unit 307 Work, driving back pad 301 are overturn, and flip angle is adjusted according to the actual conditions of patient, guarantees that patient leans against in back pad 301 When be in preferable comfort level.At this point, the both legs of patient are flattened, shank instruction is fixed on by fixation members such as velcro or adhesive plasters Practice in mechanism 5, the thigh of patient is located on cushion 306 and calf plate 501, and the shank of patient is then located at calf plate 501, expansion plate On 505, the both feet of patient are bonded with rotation sole 502.Knee joint driving unit 503 works, and driving calf plate 501 rotates, band Dynamic patient does bending knee movement, the knee joint of training patient；Ankle-joint driving unit 504 works, and driving rotation sole 502 rotates, The foot of patient is driven to rotate upwardly and downwardly, the ankle-joint of training patient.The training of knee joint and ankle-joint can be separated and is directed to Training, can also cooperate with and be trained, training effect is splendid.

3. vertical: after patient lies low in bed body 3, control bed body driving unit 302 adjusts bed body 3 near normal angle Degree, patient's both hands hold the handrail 304, at this point, the state of patient is close to state when walking upright.Then, it according to circumstances selects Following two mode is trained: patient's both legs (a) being fixed on thigh training airplane by fixation members such as velcro or adhesive plaster On structure 4, then, driving hip joint driving unit 406 works, and patient is driven to carry out the rehabilitation training of hip joint；(b) patient is double Leg is fixed on Calf structure 5 by fixation members such as velcro or adhesive plasters, then, drives 503 He of knee joint driving unit Ankle-joint driving unit 504 works, and the knee joint and ankle-joint to patient carry out rehabilitation training.In addition, 1 lower end of pedestal is equipped with rolling Wheel 101, therefore healing robot can be pushed by staff, and driving velocity is adjusted according to the movement of patient, it further strengthens Patient improves rehabilitation training effect for the feeling of normal walking.

In conclusion the application method of the multidigit appearance lower limb rehabilitation robot, takes lower limb to patient in several ways Rehabilitation training, training is comprehensive, and this method allows patient sitting, carry out rehabilitation training under sleeping, vertical three kinds of poses, whole to train Excellent.

Embodiment 4

As shown in figure 18, a kind of lower limb rehabilitation robot control system is mainly used for controlling the lower limb rehabilitation in embodiment 3 Robot is trained work.It includes power plant module, development board, drive module, robot body, data acquisition module and work Control machine is below described in detail the structure and working principle of the system.

Power plant module is used to for whole system provide working power, including based on CAN communication lithium battery and power supply convert Device, lithium battery connect power adapter, and power adapter connects development board.Development board is embedded board, internal implantation There is the control program of entire control system, is connect with drive module.One of robot body, that is, embodiment 3 multidigit appearance lower limb Healing robot.Drive module is connect with the driving unit on robot body, for driving robot body to work, Main includes six joint drive units (a pair of of ankle-joint, a pair of of knee joint and a pair of of hip joint) on control robot body Six drivers and control lifting driving unit 102, bed body driving unit 302 and back pad driving unit 307 of work work Three drivers, driving unit can be used motor, electromagnetism push rod etc., and the type of driver is then corresponded with driving unit.

Data acquisition module is connected with industrial personal computer, for acquiring and transmitting information to industrial personal computer.It includes for acquiring It the sEMG Acquisition Instrument of patient's lower limb electromyography signal and is installed on robot body, for when acquiring robot body work Data and the sensor and photoelectric encoder for passing data to industrial personal computer.Wherein, the core of the sEMG Acquisition Instrument of the present embodiment Part be NIUSB-6211 data collecting card, AD conversion module and data processing module, respectively acquire patient's lower limb rectus femoris, Musculus vastus lateralis, vastus medialis, hamstring, row myenteron, six channels of musculus soleus sEMG signal and obtain phase after treatment The numerical value answered.Sensor includes angular transducer, pressure sensor and pulse transducer.Angular transducer is mounted on robot sheet On the crank link mechanism of each joint of body, for measuring the angle change situation in joint；Pressure sensor is mounted on solid Determine the pressure value being applied on sole on sole 402 and rotation sole 502 for acquiring patient feet；Pulse transducer is used for The pulse variation of patient is measured, installation site is simultaneously not fixed, and holding is connect with industrial personal computer, when work, fills on a patient body It is able to detect the position of pulse.In addition, being installed on the output shaft of six motors when six joint drive units use motor There is torque sensor, for detecting each Motor torque.Photoelectric encoder is mounted in the shaft of motor, for measuring each pass Save the revolving speed of motor.When especially abnormal conditions occurs to all data in patient pulse, can select to terminate according to the actual situation Training, and keep a record.Industrial personal computer receives all data of data acquisition module, and after handling data, feeds back to exploitation Plate is adjusted the work of robot body by development board.

In addition, being also equipped with wireless blue tooth module in industrial personal computer.Wireless blue tooth module and remote equipment establish connection, so that Remote equipment can remotely control industrial personal computer work by wireless blue tooth module.In the present embodiment, in Android Studio collection Developed under development environment can with the cell phone application of remote control lower limb rehabilitation robot, using Handler, Message and The communication mechanism of AsyncTask realizes the communication control between mobile phone terminal and wireless blue tooth module, meanwhile, using based on TCP/ The Socket communication mechanism of IP agreement realizes the data transmission and record of the two.In this way, it can be convenient rehabilitation machine The control of people and carry out multi-faceted training monitoring, it is ensured that safety when training and efficiently.

In order to increase aggressive property of the patient in training, it is provided with wireless module in industrial personal computer, and built virtual The program of reality scene.Virtual reality scenario shown by external camera, meanwhile, wireless module and sEMG Acquisition Instrument, pressure pass Sensor is connected with pulse transducer, the motion information of lower limb when acquisition patient trains, and is fed back to external camera, thus real The variation of existing virtual reality scenario is synchronous with patient's lower extremity movement.In the present embodiment, external camera uses ZED binocular solid phase Machine.

In conclusion a kind of lower limb rehabilitation robot control system of the present embodiment, solve healing robot in use, The real-time condition that patient cannot be monitored well causes the training mode and training extent control for healing robot inconvenient The problem of, training and the recovery situation of patient's lower limb can be real-time and accurately detected, thus according to patient's lower limb actual conditions Adjusting training mode and training degree, improve the rehabilitation training effect of patient.

As shown in figure 20, in order to further increase healing robot to the rehabilitation training effect of patient, the present embodiment is also mentioned The control method for having supplied a kind of healing robot, using the rehabilitation machines in above-mentioned healing robot control system control embodiment 3 Device people carries out rehabilitation training to patient.Itself the following steps are included:

One, the rectus femoris of sEMG Acquisition Instrument acquisition patient's lower limb, musculus vastus lateralis, vastus medialis, hamstring, row's intestines are utilized Flesh, six channels of musculus soleus sEMG signal obtain original sEMG signal by removing dryness, filtering, amplify.In order to avoid idol Right error and machine error etc. randomnesss interference, when acquiring signal, each movement of muscular movement at six is allowed to do 120 groups, Each action cycle is 2s, i.e., each channel acquires 120 groups of data, and removes the maximum 10 groups of data of divider value and numerical value respectively most 100 groups of data are stayed in 10 groups of small data, each channel, are handled the 600 groups of data left to obtain original sEMG letter later Number.

Two, it in industrial personal computer, by the MATLAB R2018a software in industrial personal computer, is extracted using temporal analysis original Integral myoelectricity value and root-mean-square value, formula in sEMG is as follows:

Wherein, IEMG is integral myoelectricity value, and RMS is root-mean-square value, and N is the hits of sEMG signal；X_iFor sEMG signal The amplitude of ith sample points.

Three, the step and step 2 can carry out simultaneously, acquire patient feet by pressure sensor and are applied to robot Pressure signal on the sole of ontology, and it is transferred to industrial personal computer processing, by the way that the analog signal of plantar pressure is turned in industrial personal computer It changes digital signal into, obtains plantar pressure value by removing dryness, amplifying, after rectification processing.

Four, firstly, setting two kinds of threshold value T in industrial personal computer₁And T₂, wherein T₁It is carried out in normal state for health worker The sum of lower limb sEMG value size and plantar pressure value size after normalized when slow gait walking, T₂For Healthy People Lower limb sEMG value size and plantar pressure value size sum by normalized after of the member when riding vehicle using motor.Then, to step Integral myoelectricity value in rapid two, root-mean-square value are added after being normalized with the plantar pressure value in step 3, are counted Value T₀.According to the numerical value T acquired with patient₀Size, be divided into three kinds of training modes:

It should be noted that needing the oint motion trajectory of planning robot's ontology, and to robot before starting training The driving element of ontology carries out type selecting.

The planning process of oint motion trajectory are as follows: normal human's walking step state track, warp are acquired by motion capture system Joint trajectories curve is obtained after crossing processing.

The type selecting process of driving element are as follows: establish lower limb rehabilitation robot kinematics model, establish healing robot hip pass Position dynamic relationship between section, knee joint and ankle-joint.Then the kinetic model for establishing man-machine simplification, utilizes Lagrange Method analyzes its kinetic model, establishes three relationships between joint position and driving moment, and calculate by simulation analysis Power needed for driving element, to complete the type selecting work of corresponding driving element.

Work as T₀< T₁When, take passive exercise, under this state, the rehabilitation state of patient is not up to standard, needs by robot Ontology provides power-assisted for patient's lower limb, and patient is driven to carry out rehabilitation training.And robot body drive patient training when, due to The rotation in the joint of robot body is a nonlinear control process, and flexibility and impedance control are poor.Such as Figure 16 institute Show that (wherein, r (t) is general input, and e (t) is the input quantity of controller, and u (t) is the output quantity of controller, and G (s) is fractional order The transmission function and y (t) of closed-loop system are general output), in order to solve this problem, the present embodiment takes fractional order PI^λD^μ Controller controls the passive exercise process of patient, due to fractional order PI^λD^μController handles nonlinear Control with unique excellent Gesture, and overshoot is small, fast response time, can efficiently solve the above problem.Further, in order to improve above-mentioned fractional order PI^λD^μThe control effect of controller, the present embodiment also pass through Caputo type operator and it are optimized, the specific formula of the operator It is as follows:

Wherein,For differential or integration operation operator, a and t are the bound of calculus, and m is constant, and λ is integral rank Secondary, μ is differential order.

In addition, the present embodiment also utilizes bionic intelligence algorithm ion motion algorithm in the prior art to PI^λD^μController into Improvement is gone, which is divided into liquid and solid-state two states, in liquid, adaptively optimizes using cloud；In solid-state rank Section, is optimized using chaotic maps, so that PI^λD^μParameter lambda and μ in controller quickly adjusted, very good solution this The cumbersome tuning process of two kinds of parameters.Detailed process is as shown in figure 17.By the processing of such strategy, so that in passive exercise mould Under formula, robot body movement is more steady, submissive, it is ensured that safety and training of the initial stage patient in training in proper order gradually Into.

Work as T₀> T₂When, training of taking the initiative, specific work process are as follows: by the product of step 2 sEMG signal obtained Myoelectricity value and root-mean-square value is divided to be input in extreme learning machine and be trained, resulting data combination plantar pressure value carries out later Pattern-recognition, to judge the lower extremity movement movement for wanting to complete on patient's subjective consciousness, then robot body follows it Corresponding actions are completed, but power-assisted is not provided during this period, has an effect by patient itself and is trained movement.In addition, being led When dynamic training, also setting there are three types of training method, the respectively 0 ° training that lies low, 45 ° recline training and 90 ° walk upright, pass through The angle of bed body 3 is adjusted to change training mode.

Work as T₁< T₀< T₂When, take power-assisting training, detailed process are as follows: work as T₀Size is by being less than T₁Become T₁< T₀< T₂ When, the training institution on robot body starts to become mentioning by the passive exercise mode for driving patient to be trained movement completely Patient motion is driven for part power-assisted, another part then leans on the state of patient itself having an effect.With T₀Size is gradually to T₂It leans on Closely, the power-assisted that robot body is provided to patient can be gradually reduced, until T₀Greater than T₂When, into active training mode, robot Ontology no longer provides power-assisted for patient, and the training of patient is had an effect by itself completely.Conversely, working as T₀Size by T₂Gradually to T₁It leans on When close, the power-assisted that robot body provides can be gradually increased, when less than T₁When enter passive exercise, completely by robot body band Dynamic patient is trained.

In this way, so that healing robot is when switching training mode, can according to the rehabilitation situation of patient into Row pattern switching, adaptive effect is preferable when switching training mode, so that switching is more smooth, lofty switching will not occur to trouble The case where person damages or patient is made to generate the inadaptable sense of strengthening training mutation.

Five, the build process for controlling program is as shown in figure 19, for the exploitation environment based on Qt/E 5.9C++.It installs first Then translation and compiling environment and cross compilation environment write the application journey of drive module, data acquisition module and industrial personal computer in PC machine Sequence, and be transplanted in development board, finishing man-machine interaction interface is built with control program.

Six, control program is built on a remote device and is connect with wireless blue tooth module, control industrial personal computer work.Specific side Formula be developed under Android Studio Integrated Development Environment can with the cell phone application of remote control lower limb rehabilitation robot, Using the communication mechanism of Handler, Message and AsyncTask, the communication control between mobile phone terminal and wireless blue tooth module is realized System, meanwhile, the data transmission and record of the two are realized using the Socket communication mechanism based on ICP/IP protocol.

Seven, by creation virtual scene, installation external camera, load entity, finally rendering and etc. build virtual reality Scene, wherein building for virtual reality scenario carries out in industrial personal computer, then is shown by external camera, meanwhile, industrial personal computer receives Motion information when patient's training of sEMG Acquisition Instrument, pressure sensor and pulse transducer acquisition, and fed back to outside Camera, to realize that the variation of virtual reality scenario is synchronous with patient's lower extremity movement, virtual reality scenario mainly has city, mountain Area's walking, stair climbing, soccer goal-shooting isotype.Relative to traditional build process, the present embodiment utilizes the third party library of WebGL Three.js tool, operating process is simple, and scene is more vivid.Moreover, it is added to Virtual force field effect in the scene, It can accomplish the function of avoidance.Meanwhile the sense of reality of scene interactivity is substantially increased, when such as going up a slope, the revolving speed of joint motor becomes Slowly, when descending, the revolving speed of joint motor becomes faster.Scene synchronous effect is good, can almost accomplish and human action amplitude and position Set range exact matching and synchronous effect.In this way, enable the patient to experience scene changes when true walking Sense increases training interest, improves the training initiative and training effect of patient.

In conclusion a kind of control method of lower limb rehabilitation robot of the present embodiment, the flexibility of healing robot and Impedance control effect is good, and adaptive effect is preferable when switching training mode, can accurately identify the active consciousness instruction of patient, with The interactivity of patient is high, effectively increases the training enthusiasm and training effect of patient.

Example of the present invention is only that preferred embodiments of the present invention will be described, not to present inventive concept and Range is defined, and under the premise of not departing from design philosophy of the present invention, this field engineers and technicians are to technology of the invention The various changes and improvements that scheme is made should all fall into protection scope of the present invention.

Claims

1. a kind of multidigit appearance lower limb rehabilitation robot, including the pedestal (1), lifting mechanism (2) and bed set gradually from top to bottom Body (3), it is characterised in that: further include be symmetrically arranged at bed body (3) two sides a pair of of thigh training institution (4) and a pair it is small Leg training institution (5)；

The thigh training institution (4) includes shank bar (401), fixed sole (402), thigh bar (403), sliding rail (404), slides Block (405) and hip joint driving unit (406)；The sliding rail (404) is arranged along the length direction of bed body (3) in bed body (3) Side, the sliding block (405) connect to form prismatic pair with sliding rail (404), and sliding block (405) upper end hingedly connects with shank bar (401) It connects；One end of the shank bar (401) is installed fixed sole (402), and one end of the other end and thigh bar (403) is articulated and connected, The other end of the thigh bar (403) is hingedly connected on bed body (3)；The hip joint driving unit (406) is big for driving Leg training institution (4) moves back and forth along sliding rail (404)；

The Calf structure (5) includes calf plate (501), rotation sole (502), knee joint driving unit (503) and ankle Joint drive unit (504)；The calf plate (501) is hingedly connected on bed body (3), the knee joint driving unit (503) For driving calf plate (501) to be driven along the hinged place of calf plate (501) and bed body (3)；The rotation sole (502) hingedly connects The rear side in calf plate (501) is connect, the ankle-joint driving unit (504) is for driving rotation sole (502) along rotation sole (502) it is rotated with the hinged place of calf plate (501)；

The bed body (3) is hinged on lifting mechanism (2), is provided with the back pad (301) that can be overturn；The lifting mechanism (2) one end of articulated connection bed body driving unit (302) on, the other end of the bed body driving unit (302) and bed body (3) are cut with scissors It connects in succession.

2. a kind of multidigit appearance lower limb rehabilitation robot according to claim 1, it is characterised in that: the shank bar (401) It further include the shank telescopic rod (407) and thigh telescopic rod (412) of mutually hinged connection between thigh bar (403)；

Through-hole is axially arranged with along it on the end face of the shank bar (401), and shank telescopic rod (407) is inserted on shank bar (401) Through-hole and be fixedly connected with shank bar (401) by fastening screw I (408)；

Through-hole is axially arranged with along it on the end face of the thigh bar (403), and thigh telescopic rod (412) is inserted on thigh bar (403) Through-hole and be fixedly connected with thigh bar (403) by fastening screw II (413).

3. a kind of multidigit appearance lower limb rehabilitation robot according to claim 2, it is characterised in that: the hip joint driving is single First (406) are motor, and motor is mounted on the side of bed body (3), passes through crank link mechanism I (409) and thigh bar (403) or small Leg bar (401) transmission connection.

4. a kind of multidigit appearance lower limb rehabilitation robot according to claim 1, it is characterised in that: further include being fixedly connected on Expansion plate (505) on calf plate (501)；The two sides of rotation sole (502) are hinged with a pair of links (506), the company Length direction on bar (506) along connecting rod (506) offers card slot；Between expansion plate (505) insertion a pair of links (506) And contacted with connecting rod (506), the connecting rod (506) is by being inserted into the card slot, and the tightening being threadedly coupled with expansion plate (505) Screw (507) is fixed on expansion plate (505).

5. a kind of multidigit appearance lower limb rehabilitation robot according to claim 4, it is characterised in that: the knee joint driving is single First (503) are motor, are mounted on the lower end of bed body (3), are driven by crank link mechanism II (508) and calf plate (501) Connection.

6. a kind of multidigit appearance lower limb rehabilitation robot according to claim 4, it is characterised in that: the ankle-joint driving is single First (504) are motor, are mounted on calf plate (501) or expansion plate (505) or rotate the lower section of sole (502), are passed by band Motivation structure (509) and rotation sole (502) transmission connection.

7. a kind of multidigit appearance lower limb rehabilitation robot described in any one of -6 according to claim 1, it is characterised in that: described Loss of weight bracket (303) are housed relative to the other end of Calf structure (5) in bed body (3), bed body (3) on both sides of the middle is symmetrically pacified Equipped with a pair of armrests (304).

8. a kind of multidigit appearance lower limb rehabilitation robot described in any one of -6 according to claim 1, it is characterised in that: described Pedestal (1) lower end is equipped with idler wheel (101).

9. a kind of application method of multidigit appearance lower limb rehabilitation robot described in a kind of any one of claim 1-8, including Following steps:

One, presetting: to lie in patient on bed body (3), driving lifting mechanism (2) is lifted bed body (3) to the position set, then controls Bed body driving unit (302) processed adjusts the angle of bed body (3)；

Two, training: including two kinds of training modes:

1. horizontal: patient lies low on bed body (3), and both legs are fixed on a pair of of thigh training institution (4), hip joint driving unit (406) it works, sliding block (405) is made to move reciprocatingly on sliding rail (404)；

2. sitting posture: driving back pad (301) overturning to the position of setting makes patient before being sitting in back pad (301), and the both feet of patient are solid It is scheduled in rotation sole (502)；Knee joint driving unit (503) work, driving calf plate (501) rotation；Ankle-joint driving is single First (504) work, driving rotation sole (502) rotation.

10. a kind of application method of multidigit appearance lower limb rehabilitation robot according to claim 9, it is characterised in that: work as bed When loss of weight bracket (303) are housed on body (3),

Presetting step are as follows: lie in patient on bed body (3), put on the loss of weight vest being connected with loss of weight bracket (303), driving lifting Mechanism (2) is lifted bed body (3) to the position set, then controls the angle that bed body driving unit (302) adjust bed body (3)；

Training step further include: 3. vertical: patient lies low on bed body (3), and control bed body driving unit (302) adjusts bed body (3) angle makes patient close to upright state: (a) when both legs are fixed on a pair of of thigh training institution (5), hip joint driving Unit (406) work, makes sliding block (405) move reciprocatingly on sliding rail (404)；(b) when both legs are fixed on a pair of of shank training When in mechanism (4), knee joint driving unit (503) and ankle-joint driving unit (504) work drive patient rotational foot and bend Knee.