CN110575363A - exoskeleton for lower limb rehabilitation - Google Patents
exoskeleton for lower limb rehabilitation Download PDFInfo
- Publication number
- CN110575363A CN110575363A CN201910921044.0A CN201910921044A CN110575363A CN 110575363 A CN110575363 A CN 110575363A CN 201910921044 A CN201910921044 A CN 201910921044A CN 110575363 A CN110575363 A CN 110575363A
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- Prior art keywords
- connecting rod
- guide wheel
- support rod
- wheel assembly
- rod
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 210000003423 ankle Anatomy 0.000 claims abstract description 60
- 238000000034 method Methods 0.000 claims description 28
- 230000008569 process Effects 0.000 claims description 26
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 18
- 210000003205 muscle Anatomy 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 11
- 238000009434 installation Methods 0.000 description 39
- 230000033001 locomotion Effects 0.000 description 29
- 210000003414 extremity Anatomy 0.000 description 8
- 210000000689 upper leg Anatomy 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 238000005452 bending Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 210000005013 brain tissue Anatomy 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 238000007634 remodeling Methods 0.000 description 2
- 208000037816 tissue injury Diseases 0.000 description 2
- 206010011985 Decubitus ulcer Diseases 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
- 208000033952 Paralysis flaccid Diseases 0.000 description 1
- 208000004210 Pressure Ulcer Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 210000003792 cranial nerve Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 208000028331 flaccid paralysis Diseases 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000020763 muscle atrophy Effects 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- 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 lower limb rehabilitation exoskeleton. The lower limb rehabilitation exoskeleton comprises: a first support bar; the second support rod is rotatably connected with the first support rod; the first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod; the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod, and the axis of the second guide wheel assembly is vertical to the axis of the second support rod; the angle adjusting mechanism is rotatably connected to the second guide wheel assembly, and the rotating axis of the angle adjusting mechanism is parallel to the axis of the second guide wheel assembly; and the ankle fixing piece is fixedly connected to the angle adjusting mechanism and rotates along with the angle adjusting mechanism. The technical scheme of the invention can improve the rehabilitation effect; and simultaneously, the muscle strength of the muscles around the ankle joint can be effectively improved.
Description
Technical Field
The invention relates to the technical field of exoskeletons, in particular to a lower limb rehabilitation exoskeleton.
Background
In clinical rehabilitation, in early and acute rehabilitation stages of patients with stroke, cerebral palsy and the like, the cerebral nervous system interrupted and disordered due to brain tissue injury is often required to be awakened and remodeled through joint movement, and meanwhile, the muscle strength can be improved through the joint movement, and other diseases such as muscle atrophy, pressure sores generated on limbs and the like can be avoided.
In clinical rehabilitation departments in the related art, most of the rehabilitation doctors manually help patients to perform corresponding rehabilitation actions. Because the patient can not provide active power for movement in the period of flaccid paralysis, the patient needs to be helped by the power of a rehabilitee at the moment, and the labor and time cost is greatly wasted. Because the daily recovery amount of each rehabilitee is limited, the demand of brain tissue injury patients and orthopedic injury patients for rapid growth cannot be met. Furthermore, the rehabilitation mode cannot be well controlled by artificially performing rehabilitation training in an acute stage, for example, effective switching between a passive mode, an active mode and an impedance mode is performed, or the rehabilitation training in the related art is assisted by some machines to guide rehabilitation, but the motion track of the assisted machines in the related art is not smooth enough, and has a large error with the motion track of limbs, so that the rehabilitation effect is not ideal, and the ankle part usually only adopts a fixed orthosis, so that the muscle strength of muscles around the ankle joint cannot be effectively improved.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
the invention mainly aims to provide a lower limb rehabilitation exoskeleton, which aims to play a role in guiding when an exoskeleton is adopted to assist human body rehabilitation, fit the motion trail of limbs and improve the rehabilitation effect; and simultaneously, the muscle strength of the muscles around the ankle joint can be effectively improved.
In order to achieve the above object, the present invention provides a lower limb rehabilitation exoskeleton comprising: a first support bar; the second support rod is rotatably connected with the first support rod; the first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod; the second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod, and the axis of the second guide wheel assembly is vertical to the axis of the second support rod; the angle adjusting mechanism is rotatably connected to the second guide wheel assembly, and the rotating axis of the angle adjusting mechanism is parallel to the axis of the second guide wheel assembly; and the ankle fixing piece is fixedly connected to the angle adjusting mechanism and rotates along with the angle adjusting mechanism.
In an embodiment of the invention, the ankle fixing member is abutted against the second guide wheel assembly in a limiting manner during the rotation of the angle adjusting mechanism.
In an embodiment of the present invention, the second guide wheel assembly includes a connecting frame and a second guide wheel, the connecting frame is disposed at an end of the second support rod away from the first support rod, the connecting frame has a length direction, the length direction of the connecting frame is an axial direction of the second guide wheel assembly, and the second guide wheel is rotatably connected to the connecting frame; the angle adjusting mechanism is rotatably connected to the connecting frame, and the ankle fixing piece is connected to the connecting frame in a limiting and abutting mode in the rotating process of the angle adjusting mechanism.
In an embodiment of the present invention, the connecting frame is recessed at a middle portion thereof to form a mounting location, the angle adjustment mechanism is rotatably connected to the mounting location, and the ankle fixing member is restrained and abutted against the mounting location during rotation of the angle adjustment mechanism.
In an embodiment of the present invention, the angle adjusting mechanism includes a first connecting rod and a second connecting rod that are connected in a bending manner, an end of the first connecting rod that deviates from the second connecting rod is rotatably connected to the installation position, and the second connecting rod is in limit abutment with the installation position in a rotating process along with the first connecting rod;
the ankle mounting includes the portion of trampling and the portion of binding of buckling the connection, trample a fixed connection in the second connecting rod orientation one side of first connecting rod, bind a fixed connection in the first connecting rod orientation one side of second connecting rod.
in an embodiment of the present invention, a junction of the binding portion and the stepping portion is smoothly transitioned, a junction of the first connecting rod and the second connecting rod is smoothly transitioned toward the ankle fixing member, and a junction of the binding portion and the stepping portion abuts against the junction of the first connecting rod and the second connecting rod during rotation.
In an embodiment of the invention, the installation position is provided with a abdicating notch, the abdicating notch extends along the length direction of the first connecting rod and penetrates through one side of the installation position facing the second supporting rod, the first connecting rod is movably accommodated in the abdicating notch, the end part of the first connecting rod departing from the second connecting rod is rotatably connected to the inner wall surface of the abdicating notch, and the second connecting rod is in limit and butt joint with the inner wall surface in the rotating process along with the first connecting rod.
In an embodiment of the present invention, a first connection hole is formed in an end portion of the first connection rod away from the second connection rod, two opposite inner wall surfaces of the abdicating notch are respectively formed with a second connection hole, and the two second connection holes are oppositely disposed; the second guide wheel assembly further comprises a connecting shaft, and the connecting shaft is inserted into the first connecting hole and the two second connecting holes.
In an embodiment of the present invention, the first connection hole is an arc-shaped hole; one side of the connecting frame, which is opposite to the ankle fixing piece, is provided with a mounting shaft, and the mounting shaft extends along the length direction of the connecting frame; one side of the first connecting rod, which is back to the second connecting rod, penetrates through the abdicating notch and is rotatably connected to the mounting shaft; the end part of the first connecting rod, which deviates from the second connecting rod, moves along the arc direction of the first connecting hole along with the rotation process of the first connecting rod around the mounting shaft.
in an embodiment of the invention, two ends of the mounting shaft are respectively exposed at two opposite end surfaces of the connecting frame along the length direction; the number of the second guide wheels is two, and the two second guide wheels are respectively and rotatably sleeved at the two exposed ends of the mounting shaft.
According to the technical scheme, the first support rod is rotatably connected with the second support rod, the first guide wheel assembly is arranged at the end part, away from the second support rod, of the first support rod, the second guide wheel assembly is arranged at the end part, away from the first support rod, of the second support rod, the axis of the second guide wheel assembly is perpendicular to the axis of the second support rod, when the first support rod rotates relative to the second support rod under the action of external force, the first guide wheel assembly can guide the movement of the end part, away from the second support rod, of the first support rod, and the second guide wheel assembly can also guide the movement of the end part, away from the first support rod, of the second support rod.
For example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the first supporting rod is fixed with a thigh of the human body, and the second supporting rod is fixed with a shank of the human body, the first supporting rod is driven to rotate relative to the second supporting rod, so that the lower limbs are driven to do flexion and extension movement. When the human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture state, and the second guide wheel assembly is arranged on the second supporting rod, so that the second supporting rod is in contact with the supporting surface and rolls relative to the supporting surface when the second supporting rod moves, the resistance of the second supporting rod in the moving process can be reduced, the movement of the lower leg part is enabled to be more fit with the normal movement track of the limb, and the human body is ensured to move along the set direction. Correspondingly, when the first supporting rod moves, the first guide wheel assembly is in contact with the supporting surface, so that the resistance of the first supporting rod in the moving process can be reduced, and the movement of the thigh part is more fit with the normal movement track of the limb. Therefore, the technical scheme of the invention can play a role in guiding when the exoskeleton is adopted to assist the human body to recover and correct improper actions, thereby improving the recovery effect.
meanwhile, the ankle fixing piece is fixed on the angle adjusting mechanism and rotates along with the angle adjusting mechanism. Like this, when the lower limbs of the supplementary human body of exoskeleton were recovered, be fixed in the ankle mounting with human ankle joint, so, when angle adjustment mechanism took place to rotate for the second guide pulley subassembly, can drive human ankle joint and carry out the degree of freedom activity, can improve the muscular strength of ankle joint surrounding muscle like this effectively, help the remolding of cranial nerve. In addition, because the rotation axis of the angle adjusting mechanism is parallel to the axis of the second guide wheel component, the ankle part can be effectively prevented from turning outwards in the freedom degree movement process, and the rehabilitation of the ankle joint of the human body is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of an embodiment of a lower extremity rehabilitation exoskeleton of the present invention;
FIG. 2 is a schematic view of the partial structural assembly of the lower extremity rehabilitation exoskeleton of the present invention;
FIG. 3 is a schematic view of a partial configuration of a lower extremity rehabilitation exoskeleton of the present invention;
FIG. 4 is a schematic partially exploded view of the structure of FIG. 3 from another perspective;
Fig. 5 is a schematic view of the ankle securing member of fig. 4 from a further perspective, with the ankle securing member removed;
fig. 6 is an exploded view of the ankle securing member of fig. 4 with the ankle securing member removed;
Fig. 7 is an exploded view of the ankle securing member shown in fig. 4 from a further perspective.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
it should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a lower limb rehabilitation exoskeleton 100, which aims to facilitate lower limb rehabilitation of a patient.
Referring to fig. 1 and 2, in an embodiment of lower extremity rehabilitation exoskeleton 100 of the present invention, lower extremity rehabilitation exoskeleton 100 comprises: a first support bar 10; the second support rod 20, the second support rod 20 is connected with the first support rod 10 rotatably; the first guide wheel assembly 30 is arranged at the end part of the first support rod 10, which is far away from the second support rod 20; the second guide wheel assembly 40 is arranged at the end part of the second support rod 20, which is far away from the first support rod 10, and the axis of the second guide wheel assembly 40 is perpendicular to the axis of the second support rod 20; the angle adjusting mechanism 50 is rotatably connected to the second guide wheel assembly 40, and the rotating axis of the angle adjusting mechanism 50 is parallel to the axis of the second guide wheel assembly 40; and an ankle fixing member 70, the ankle fixing member 70 being fixedly coupled to the angle adjusting mechanism 50 and rotating following the angle adjusting mechanism 50.
Specifically, the first support rod 10 and the second support rod 20 are both substantially rod-shaped, and the material thereof generally adopts a metal material, so as to ensure the support stability of the first support rod 10 and the second support rod 20, thereby improving the practicability, reliability and durability of the first support rod 10 and the second support rod 20. When the lower limb rehabilitation exoskeleton 100 is used for carrying out rehabilitation training on the lower limbs of a patient, the first support rod 10 is used for supporting and fixing the thighs of the human body, the second support rod 20 is used for supporting and fixing the shanks of the human body, and the first support rod 10 is rotatably connected with the second support rod 20, so that when the second support rod 20 is driven to rotate relative to the first support rod 10, effective rehabilitation training on the shanks and the thighs of the patient can be realized. And, set up first guide wheel subassembly 30 and second guide wheel subassembly 40 respectively at the tip that first bracing piece 10 deviates from second bracing piece 20 and the tip that second bracing piece 20 deviates from first bracing piece 10 to play the guide effect to patient's rehabilitation training process. Meanwhile, the angle adjusting mechanism 50 is arranged on the second guide wheel assembly 40, the ankle fixing member 70 is fixedly installed on the angle adjusting mechanism 50 and used for fixing the ankle part of the human body, the angle adjusting mechanism 50 can rotate relative to the second guide wheel assembly 40, and the rotation axis of the angle adjusting mechanism 50 is parallel to the axis of the second guide wheel assembly 40, so that the ankle fixing member 70 can rotate relative to the second guide wheel 41 along with the angle adjusting mechanism 50, at this time, the ankle joint of the human body can move freely under the driving of the ankle fixing member 70, the muscle strength of muscles around the ankle joint can be effectively improved, and the brain nerve remodeling is facilitated.
Therefore, it can be understood that, according to the technical solution of the present invention, by rotatably connecting the first support rod 10 and the second support rod 20, and then disposing the first guide wheel assembly 30 at the end of the first support rod 10 away from the second support rod 20, and disposing the second guide wheel assembly 40 at the end of the second support rod 20 away from the first support rod 10, and the axis of the second guide wheel assembly 40 is perpendicular to the axis of the second support rod 20, when the first support rod 10 rotates relative to the second support rod 20 under the action of an external force, the first guide wheel assembly 30 can play a role in guiding the movement of the end of the first support rod 10 away from the second support rod 20, and the second guide wheel assembly 40 also plays a role in guiding the movement of the end of the second support rod 20 away from the first support rod 10.
For example, when the exoskeleton assists in rehabilitation of lower limbs of a human body, the first support rod 10 is fixed to a thigh of the human body, and the second support rod 20 is fixed to a shank of the human body, the first support rod 10 is driven to rotate relative to the second support rod 20, so as to drive the lower limbs to make flexion and extension movements. When the human body does rehabilitation exercise, the human body is generally in a lying posture or a sitting posture, and the second guide wheel assembly 40 is arranged on the second support rod 20, so that when the second support rod 20 moves, the second guide wheel assembly 40 is in contact with the support surface and rolls relative to the support surface, the resistance of the second support rod 20 in the movement process can be reduced, the movement of the lower leg part is made to be more fit with the normal movement track of the limb, and the human body is guaranteed to move along the set direction. Accordingly, when the first support rod 10 moves, the first guide wheel assembly 30 is in contact with the support surface, so that the resistance of the first support rod 10 in the movement process can be reduced, and the movement of the thigh part is more fit with the normal movement track of the limb. Therefore, the technical scheme of the invention can play a role in guiding when the exoskeleton is adopted to assist the human body to recover and correct improper actions, thereby improving the recovery effect.
Meanwhile, the present invention is further provided with an angle adjusting mechanism 50 and an ankle fixing member 70, the angle adjusting mechanism 50 being rotatably coupled to the second guide wheel assembly 40 with a rotation axis of the angle adjusting mechanism 50 being parallel to an axis of the second guide wheel assembly 40, the ankle fixing member 70 being fixed to the angle adjusting mechanism 50 and rotating following the angle adjusting mechanism 50. In this way, when the exoskeleton assists the lower limbs of the human body to be recovered, the ankle joint of the human body is fixed to the ankle fixing member 70, so that the angle adjusting mechanism 50 can drive the ankle joint of the human body to move freely when rotating relative to the second guide wheel assembly 40, thereby effectively improving the muscle strength of the muscles around the ankle joint and facilitating the brain nerve remodeling. Moreover, since the rotation axis of the angle adjustment mechanism 50 is parallel to the axis of the second wheel assembly 40, the ankle can be effectively prevented from turning outwards during the freedom of movement, which is beneficial to the rehabilitation of the ankle joint of the human body.
further, the ankle fixing member 70 is restrained against the second idler wheel assembly 40 during the rotation of the angle adjusting mechanism 50. The ankle fixing piece 70 is limited to have a small-angle rotating range relative to the second guide wheel 41 along with the angle adjusting mechanism 50, so that the sole and the lower leg can slightly rotate in the flexion and extension process, the heel is always contacted with the ankle fixing piece 70, and the sole of a patient can have a stressed feeling due to the action of self gravity and the auxiliary force of the lower limb rehabilitation exoskeleton 100 in the moving process, so that the effect similar to the effect that the sole lands when the patient walks is achieved, the body consciousness of the stress of the foot of the patient is increased, and the autonomous participation feeling of the patient is improved. Alternatively, the ankle fixing member 70 may rotate with the angle adjusting mechanism 50 in a range of 5 ° to 10 °.
Referring to fig. 1 again, the first guide wheel assembly 30 includes a first guide wheel 31 and a first rotating shaft (not shown), the first rotating shaft is disposed at an end of the first support rod 10 away from the second support rod 20, and the first guide wheel 31 is rotatably sleeved on the first rotating shaft, it can be understood that the first rotating shaft extends along a radial direction of the first support rod 10 to facilitate the sleeved installation of the first guide wheel 31. Here, a limiting portion may be disposed at an end of the first rotating shaft away from the first support rod 10 to axially position the first guide wheel 31, so that the first guide wheel 31 can be effectively prevented from being separated from the first rotating shaft and flying out during the rotation process.
referring to fig. 2, in an embodiment of the present invention, the second guide wheel assembly 40 includes a connecting frame 42 and a second guide wheel 41, the connecting frame 42 is disposed at an end of the second support rod 20 away from the first support rod 10, the connecting frame 42 has a length direction, the length direction of the connecting frame 42 is an axial direction of the second guide wheel assembly 40, and the second guide wheel 41 is rotatably connected to the connecting frame 42; the angle adjustment mechanism 50 is rotatably connected to the connecting frame 42, and the ankle fixing member 70 is in limit contact with the connecting frame 42 during the rotation of the angle adjustment mechanism 50.
Specifically, the connecting frame 42 is substantially in a long strip shape, has a length direction, and the length direction thereof is the axial direction of the second guide wheel assembly 40, so that when the connecting frame 42 is installed at the end of the second support bar 20 away from the first support bar 10, the lower limb rehabilitation exoskeleton 100 is substantially in a "T" shape, and thus, the structural stability can be ensured. The second guide wheel 41 may be disposed on one side or the bottom of the connecting frame 42, and the axial direction of the second guide wheel 41 is the length direction of the connecting frame 42. Generally, the connecting frame 42 is provided with a rotating shaft for mounting the second guide wheel 41, such that the second guide wheel 41 is rotatably sleeved on the rotating shaft and can rotate around the rotating shaft. The angle adjusting mechanism 50 is rotatably connected to the connecting frame 42, and is limited and abutted against the connecting frame 42 in the rotating process, so that the ankle fixing member 70 is enabled to rotate slightly along with the angle adjusting mechanism 50, the heel is enabled to be in contact with the ankle fixing member 70 all the time, the body awareness of the stress of the foot of the patient is increased, and the autonomous participation sense of the patient is improved.
Further, the middle of the connecting frame 42 is recessed to form a mounting position 4211, the angle adjusting mechanism 50 is rotatably connected to the mounting position 4211, and the ankle fixing member 70 is in limit abutment with the mounting position 4211 during the rotation process of the angle adjusting mechanism 50. With the arrangement, when the lower limb rehabilitation exoskeleton 100 is used for rehabilitation training of the lower limbs of a patient, the installation positions 4211 can ensure that the axes of the thighs and the shanks of the patient are on the same axis, so that the dislocation of the thighs and the shanks of the patient is effectively prevented, and the lower limb rehabilitation of the patient is facilitated.
Referring to fig. 2 to 4, in an embodiment of the present invention, the angle adjusting mechanism 50 includes a first connecting rod 51 and a second connecting rod 53 connected in a bending manner, an end of the first connecting rod 51 departing from the second connecting rod 53 is rotatably connected to the mounting position 4211, and the second connecting rod 53 is in limit abutment with the mounting position 4211 during a rotation process of the first connecting rod 51; the ankle fixing member 70 includes a stepping portion 73 and a binding portion 71 connected in a bent manner, the stepping portion 73 is fixedly connected to a side of the second connecting rod 53 facing the first connecting rod 51, and the binding portion 71 is fixedly connected to a side of the first connecting rod 51 facing the second connecting rod 53.
Specifically, the angle adjusting mechanism 50 is substantially an L-shaped rod, and includes a first connecting rod 51 and a second connecting rod 53 connected in a bent manner, an end of the first connecting rod 51 away from the second connecting rod 53 is rotatably connected to the mounting position 4211 and is disposed close to the second support rod 20, and the second connecting rod 53 is positioned and abutted on a side of the mounting position 4211 away from the second support rod 20 when the first connecting rod 51 rotates relative to the mounting position 4211, so that the angle adjusting mechanism 50 can rotate at a small angle relative to the mounting position 4211. Similarly, the ankle fixing member 70 is also substantially L-shaped, and includes a stepping portion 73 and a binding portion 71 which are connected in a bending manner, and a mounting groove for mounting the limb is formed on one side of the stepping portion 73 and the binding portion 71 facing away from the connecting frame 42, and the shape of the mounting groove is matched with the outer contour of the ankle portion of the human body, so that the ankle portion of the patient can be effectively fixed, the ankle portion of the patient can be prevented from moving or deflecting in the rehabilitation training process, and the lower limb rehabilitation effect of the patient can be further improved. The treading portion 73 and the second connecting rod 53 are fixed to each other by screws, and the binding portion 71 and the first connecting rod 51 are fixed to each other by screws. Alternatively, in order to ensure the installation stability of the binding portion 71, the binding portion 71 and the first connecting rod 51 are fixed by a plurality of screws, and the plurality of screws are arranged at intervals along the length direction of the first connecting rod 51. It can be understood that the angle adjustment mechanism 50 is configured to form the same L-shaped structure with the ankle fixing member 70, so that the connecting contact surface between the ankle fixing member 70 and the angle adjustment mechanism 50 can be effectively increased, and the mounting stability of the ankle fixing member 70 can be improved, so that the stability of the ankle joint freedom movement of the patient can be ensured when the patient performs rehabilitation training by using the lower limb rehabilitation exoskeleton 100 of the present invention.
Further, the connection between the binding portion 71 and the stepping portion 73 is smoothly transited, the connection between the first connecting rod 51 and the second connecting rod 53 is smoothly transited toward the ankle fixing member 70, and the connection between the binding portion 71 and the stepping portion 73 is abutted against the connection between the first connecting rod 51 and the second connecting rod 53 during rotation. Such an arrangement can further increase the connecting contact surface between the ankle fixing member 70 and the angle adjusting mechanism 50, thereby further improving the mounting stability of the ankle fixing member 70, and further effectively ensuring the stability of the ankle joint movement of the patient.
Referring to fig. 5, the installation site 4211 is provided with an abdicating notch 4213, the abdicating notch 4213 extends along the length direction of the first connecting rod 51 and penetrates through one side of the installation site 4211 facing the second support rod 20, the first connecting rod 51 is movably accommodated in the abdicating notch 4213, the end of the first connecting rod 51 departing from the second connecting rod 53 is rotatably connected to the inner wall surface of the installation site 4211 at the abdicating notch 4213, and the second connecting rod 53 is in limit contact with the inner wall surface in the rotating process of the first connecting rod 51.
Specifically, the abdicating notch 4213 is a substantially elongated notch, the length direction of the abdicating notch 4213 is perpendicular to the length direction of the connecting frame 42, and the abdicating notch 4213 is opened in the middle of the mounting position 4211 and penetrates through one side of the mounting position 4211 facing the second support bar 20. When the angle adjusting mechanism 50 is installed, the first connecting rod 51 is accommodated in the abdicating notch 4213, and the end part of the first connecting rod 51 departing from the second connecting rod 53 is rotatably connected with the inner wall surface of the abdicating notch 4213, so that the second connecting rod 53 rotates along with the first connecting rod 51, and the second connecting rod 53 is limited and abutted against the inner wall surface of the abdicating notch 4213 in the rotating process, so as to realize the rotation of the small angle. It can be understood that the length of the abdicating notch 4213 is slightly greater than the length of the first connecting rod 51, so that the second connecting rod 53 can be limited and abutted against the inner wall surface of the abdicating notch 4213 during the rotation process of the first connecting rod 51, so as to realize the rotation of the abdicating notch 4213 by a small angle, thereby ensuring that the ankle joint of the patient has a proper degree of freedom in movement.
referring to fig. 5 to 7, in an embodiment of the invention, an end of the first connecting rod 51 away from the second connecting rod 53 is provided with a first connecting hole 511, two inner wall surfaces of the abdicating notch 4213 opposite to each other are respectively provided with a second connecting hole 431, and the two second connecting holes 431 are opposite to each other; the second guide wheel assembly 40 further includes a connecting shaft 45, and the connecting shaft 45 is inserted into the first connecting hole 511 and the two second connecting holes 431. The rotation of the end of the first connecting rod 51 facing away from the second connecting rod 53 relative to the mounting location 4211 is achieved here by the cooperation of the connecting shaft 45 and the connecting bore.
it should be noted that, for the convenience of the installation operation of the first connecting rod 51, the installation position 4211 may be a split structure, that is, the split structure includes a main body portion (not labeled) and two connecting arms 43, the two connecting arms 43 are both fixedly connected to the main body portion and extend toward the second supporting rod 20, the two connecting arms 43 are disposed opposite to each other, a gap (not labeled) is formed in the main body portion corresponding to the two connecting arms 43, the width of the gap is substantially the same as the distance between the two connecting arms 43, and an abdicating gap 4213 is formed jointly, so that the first connecting rod 51 is accommodated in the abdicating gap 4213. The end of each connecting arm 43 away from the main body portion corresponding to the first connecting hole 511 is provided with a second connecting hole 431, so that when assembling, the first connecting rod 51 is first placed in the avoiding gap 4213, and the second connecting rod 53 extends upwards to fix the ankle fixing member 70. Then, the position of the first connecting rod 51 is adjusted to align the first connecting hole 511 with the second connecting hole 431, and the connecting shaft 45 is inserted into the second connecting hole 431 and the first connecting hole 511, so that the first connecting rod 51 can rotate relative to the installation position 4211.
Further, in an embodiment of the present invention, the first connection hole 511 is an arc-shaped hole; a mounting shaft 425 is arranged on one side of the connecting frame 42 opposite to the ankle fixing piece 70, and the mounting shaft 425 extends along the length direction of the connecting frame 42; one side of the first connecting rod 51, which is opposite to the second connecting rod 53, passes through the abdicating notch 4213 and is rotatably connected to the mounting shaft 425; the end of the first connecting rod 51 facing away from the second connecting rod 53 moves in the arc direction of the first connecting hole 511 as the first connecting rod 51 rotates about the mounting shaft 425.
In this embodiment, the first connection hole 511 is an arc hole, and the end of the first connection rod 51 away from the second connection rod 53 can move along the arc hole relative to the connection shaft 45. One side of the connecting frame 42, which faces away from the ankle fixing member 70, is provided with an installation shaft 425, the installation shaft 425 is arranged corresponding to the abdicating notch 4213, the axial direction of the installation shaft 425 is the length direction of the connecting frame 42, the first connecting rod 51 is rotatably connected to the installation shaft 425 corresponding to the installation shaft 425, the rotating connection mode of the connecting shaft is generally that a connecting portion is convexly arranged on one side of the first connecting rod 51, which faces away from the second connecting rod 53, the connecting portion is provided with an installation hole, and the installation shaft is inserted into the installation hole, so that the rotating connection. Naturally, to facilitate the assembling operation, referring to fig. 7, the angle adjusting mechanism 50 further includes a connecting member 55, the connecting member 55 is fixedly connected to a side of the first connecting rod 51 opposite to the second connecting rod 53, and encloses with the first connecting rod 51 to form a mounting hole 471 for assembling the mounting shaft 425, wherein the fixing connection between the connecting member 55 and the first connecting rod 51 is generally a screw fixing, which is simple, effective and easy to assemble and disassemble. Specifically, a first installation notch 513 is disposed at a position of the first connecting rod 51 corresponding to the installation shaft 425, the connecting member 55 is formed with a second installation notch 551, and when the connecting member 55 is fixed to the first connecting rod 51, the first installation notch 513 is disposed corresponding to the second installation notch 551 and encloses to form an installation hole 471 for fixing the installation shaft 425. It can be understood that, during assembly, the first installation notch 513 of the first connecting rod 51 abuts against the installation shaft 425, and then the connecting member 55 is fixed to the first connecting rod 51 such that the second installation notch 551 corresponds to the first installation notch 513, thereby limiting the installation shaft 425 in the installation hole 471 defined by the first installation notch 513 and the second installation notch 551. So set up, rotation can take place around installation axle 425 for first connecting rod 51, and its rotation in-process, limiting displacement is played to the rotation that first connecting hole 511 deviates from second connecting rod 53 to first connecting rod 51 to play small-angle pivoted effect, also promptly, first connecting hole 511's arc length can restrict first connecting rod 51 pivoted angle, and then the degree of freedom of ankle joint activity when the restriction patient uses. It will be appreciated that the center of the arc-shaped hole of the first connection hole 511 is located exactly on the axis of the mounting shaft 425, so that the end of the first connection rod 51 facing away from the second connection rod 53 can move in the arc direction of the first connection hole 511 during the rotation of the first connection rod 51 about the mounting shaft 425.
Here, the connection frame 42 includes a connection plate 421 and two mounting plates 423, the connection plate 421 is substantially rectangular, a middle portion of the connection plate is recessed to form a mounting position 4211, the angle adjusting mechanism 50 and the ankle fixing member 70 are both rotatably mounted on the mounting position 4211, the two mounting plates 423 are oppositely disposed on a side of the connection plate 421 facing away from the ankle fixing member 70, the two mounting plates 423 are respectively disposed at two ends of the connection plate 421 in a length direction, and a plate surface of the mounting plate 423 is perpendicular to a plate surface of the connection plate 421. The two mounting plates 423 are mainly configured to fixedly mount the mounting shaft 425, that is, both ends of the mounting shaft 425 are respectively and fixedly connected to the two mounting plates 423, so that the stability of the mounting shaft 425 can be ensured, thereby ensuring the stability of the rotation process of the angle adjusting mechanism 50 and the ankle fixing member 70, that is, ensuring the stability of the ankle joint freedom degree movement of the patient during use.
Further, referring to fig. 7 again, in order to ensure that the first connecting rod 51 does not slide along the axial direction of the mounting shaft 425 during the rotation process of the first connecting rod 51 around the mounting shaft 425, two positioning sleeves 4251 are usually sleeved on the mounting shaft 425, and the two positioning sleeves 4251 are respectively located at two sides of the connecting member 55 and are used for limiting and fixing the connecting member 55 to prevent the connecting member 55 from sliding along the axial direction of the mounting shaft 425, thereby ensuring the stability of the rotation process of the first connecting rod 51 around the mounting shaft 425.
Further, referring to fig. 6 and 7, two ends of the mounting shaft 425 are respectively exposed at two opposite end surfaces of the connecting frame 42 along the length direction; two second guide wheels 41 are provided, and the two second guide wheels 41 are respectively rotatably sleeved on two exposed ends of the mounting shaft 425.
Specifically, each mounting plate 423 is provided with a mounting hole 471, two ends of the mounting shaft 425 are respectively inserted into the mounting holes 471 of the mounting plates 423 and exposed on the outer surface of the mounting plates 423, and the mounting shaft 425 is fixedly connected to the inner wall surface of the mounting hole 471, so as to ensure the stability of the installation of the mounting shaft 425. Here, two second guide wheels 41 are provided, and the two second guide wheels 41 are respectively rotatably sleeved on two exposed ends of the mounting shaft 425, so that the second guide wheels 41 can rotate. The two second guide wheels 41 are arranged to further increase the contact area with the supporting surface, thereby improving the structural stability of the lower limb rehabilitation exoskeleton 100.
Further, referring to fig. 2 to 4 again, a mounting seat 47 is further disposed on one side of the connecting plate 421 facing the ankle fixing member 70, a mounting hole 471 is formed in the mounting seat 47, the size of the mounting hole 471 is matched with the size of the cross section of the second support bar 20, and the axial direction of the mounting hole 471 is perpendicular to the length direction of the connecting plate 421 for inserting and fixing the second support bar 20. The surface of the mounting seat 47 is provided with a first fixing hole 473 communicated with the mounting hole 471, and one end of the second supporting rod 20 departing from the first supporting rod 10 is provided with a second fixing hole 21 in a clamping manner, so that when the mounting seat is assembled, one end of the second supporting rod 20 departing from the first supporting rod 10 is inserted into the mounting hole 471 of the mounting seat 47 and is inserted into the first fixing hole 473 and the second fixing hole 21 through fasteners, so that the second supporting rod 20 is fixed on the mounting seat 47, and the setting mode is simple and has good stability. Here, the fastening member is generally a screw, the second fixing hole 21 is a threaded hole, and the fastening member passes through the first fixing hole 473 and is threaded into the second fixing hole 21, and can achieve a limit fixing of the second support rod 20. Here, the mount 47 is fixed to the plate surface of the connection plate 421 by a screw, and the installation method is simple and effective. Optionally, in order to reduce the overall weight of the connecting frame 42, the mounting seat 47 is further provided with lightening holes 475, and the lightening holes 475 are communicated with the mounting holes 471.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A lower extremity rehabilitation exoskeleton, said lower extremity rehabilitation exoskeleton comprising:
a first support bar;
The second support rod is rotatably connected with the first support rod;
The first guide wheel assembly is arranged at the end part of the first support rod, which is far away from the second support rod;
The second guide wheel assembly is arranged at the end part of the second support rod, which is far away from the first support rod, and the axis of the second guide wheel assembly is vertical to the axis of the second support rod;
The angle adjusting mechanism is rotatably connected to the second guide wheel assembly, and the rotating axis of the angle adjusting mechanism is parallel to the axis of the second guide wheel assembly; and
the ankle fixing part is fixedly connected to the angle adjusting mechanism and follows the angle adjusting mechanism to rotate.
2. The lower extremity rehabilitation exoskeleton of claim 1 wherein said ankle securement member is restrained against said second wheel assembly during rotation of said angle adjustment mechanism.
3. the lower extremity rehabilitation exoskeleton of claim 2 wherein said second guide wheel assembly comprises a connecting frame and a second guide wheel, said connecting frame is mounted on the end of said second support rod away from said first support rod, said connecting frame has a length direction, and said length direction of said connecting frame is the axial direction of said second guide wheel assembly, said second guide wheel assembly is rotatably connected to said connecting frame; the angle adjusting mechanism is rotatably connected to the connecting frame, and the ankle fixing piece is connected to the connecting frame in a limiting and abutting mode in the rotating process of the angle adjusting mechanism.
4. The lower extremity rehabilitation exoskeleton of claim 3 wherein said connecting frame is recessed at a central portion thereof to form a mounting location, said angle adjustment mechanism is rotatably coupled to said mounting location, and said ankle securement member is restrained against said mounting location during rotation of said angle adjustment mechanism.
5. The lower extremity rehabilitation exoskeleton of claim 4 wherein said angle adjustment mechanism comprises a first link and a second link connected in a bent manner, wherein an end of said first link facing away from said second link is rotatably connected to said mounting location, and said second link stops abutting against said mounting location during rotation of said first link;
The ankle mounting includes the portion of trampling and the portion of binding of buckling the connection, trample a fixed connection in the second connecting rod orientation one side of first connecting rod, bind a fixed connection in the first connecting rod orientation one side of second connecting rod.
6. The lower extremity rehabilitation exoskeleton of claim 5 wherein the junction of said binding portion and said stepping portion is smoothly transitioned from the junction of said first connecting rod and said second connecting rod toward said ankle securing member, and wherein the junction of said binding portion and said stepping portion abuts against the junction of said first connecting rod and said second connecting rod during rotation.
7. The lower limb rehabilitation exoskeleton of claim 5, wherein the mounting portion is provided with an abdicating notch, the abdicating notch extends along the length direction of the first connecting rod and penetrates through one side of the mounting portion facing the second supporting rod, the first connecting rod is movably accommodated in the abdicating notch, the end portion of the first connecting rod departing from the second connecting rod is rotatably connected to the inner wall surface of the abdicating notch, and the second connecting rod is in limit abutment with the inner wall surface along with the rotation of the first connecting rod in the rotating process.
8. The lower limb rehabilitation exoskeleton of claim 7, wherein a first connecting hole is formed in an end portion, away from the second connecting rod, of the first connecting rod, two opposite inner wall surfaces of the abdicating notch are respectively provided with a second connecting hole, and the two second connecting holes are arranged oppositely;
The second guide wheel assembly further comprises a connecting shaft, and the connecting shaft is inserted into the first connecting hole and the two second connecting holes.
9. The lower extremity rehabilitation exoskeleton of claim 8 wherein said first connection aperture is an arcuate aperture;
One side of the connecting frame, which is opposite to the ankle fixing piece, is provided with a mounting shaft, and the mounting shaft extends along the length direction of the connecting frame;
One side of the first connecting rod, which is back to the second connecting rod, penetrates through the abdicating notch and is rotatably connected to the mounting shaft;
the end part of the first connecting rod, which deviates from the second connecting rod, moves along the arc direction of the first connecting hole along with the rotation process of the first connecting rod around the mounting shaft.
10. The lower extremity rehabilitation exoskeleton of claim 9 wherein two ends of said mounting shaft are exposed at two opposite ends of said connecting frame along the length direction;
the number of the second guide wheels is two, and the two second guide wheels are respectively and rotatably sleeved at the two exposed ends of the mounting shaft.
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| CN201910921044.0A CN110575363B (en) | 2019-09-25 | 2019-09-25 | Exoskeleton for lower limb rehabilitation |
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| CN201910921044.0A CN110575363B (en) | 2019-09-25 | 2019-09-25 | Exoskeleton for lower limb rehabilitation |
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| CN110575363A true CN110575363A (en) | 2019-12-17 |
| CN110575363B CN110575363B (en) | 2021-12-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2802462C1 (en) * | 2023-02-28 | 2023-08-29 | федеральное государственное бюджетное образовательное учреждение высшего образования "Белгородский государственный технологический университет им. В.Г. Шухова" | Training complex for lower limb mechanotherapy |
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