CN111150612A - Lower limb gait rehabilitation training vehicle based on parallel mechanism - Google Patents
Lower limb gait rehabilitation training vehicle based on parallel mechanism Download PDFInfo
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- CN111150612A CN111150612A CN202010097181.XA CN202010097181A CN111150612A CN 111150612 A CN111150612 A CN 111150612A CN 202010097181 A CN202010097181 A CN 202010097181A CN 111150612 A CN111150612 A CN 111150612A
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- 210000001364 upper extremity Anatomy 0.000 claims description 25
- 210000003423 ankle Anatomy 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 21
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2201/165—Wearable interfaces
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Abstract
The invention provides a lower limb gait rehabilitation training vehicle based on a parallel mechanism, which comprises four parts, namely a trolley support frame, the parallel mechanism, wearable rehabilitation shoes and a body position lifting device. The parallel mechanism is introduced to the whole lower limb rehabilitation process, the ankle joint of the human body is driven by the characteristic of three translation of the movable platform, so that the whole lower limb is driven to carry out rehabilitation training, not only can ordinary gait rehabilitation training be carried out in the sagittal plane of the human body, but also rehabilitation training can be carried out in any plane vertical to the horizontal plane, the diversity of lower limb rehabilitation training actions is increased, in addition, the whole rehabilitation training process only restrains the ankle joint of the human body, does not restrain the knee joint and the hip joint, and the comfort in the rehabilitation training process is greatly improved. Whole device design has position elevating gear, and the patient of the different sizes of self-adaptation that can also be fine when can be convenient for the patient to dress.
Description
Technical Field
The invention relates to the field of rehabilitation medical instruments, in particular to a lower limb gait rehabilitation training vehicle based on a parallel mechanism.
Background
According to related research reports, the death rate of cerebral apoplexy accounts for the first in urban and rural population in China, nearly 150-200 million patients with cerebral apoplexy newly develop in China every year, the morbidity is 116-219/10 ten thousand, and the mortality is 58-142/10 thousand. However, about 3/4 survivors have disabilities, paralysis in different degrees and loss of self-care ability and labor ability, which bring huge burden to families and society of patients, so the study on the rehabilitation training of the hemiplegic patients has positive significance for promoting the rehabilitation of limb functions of the hemiplegic patients, improving the limb movement ability and returning to the society.
Through retrieving the existing medical instruments based on gait rehabilitation, the exoskeletons developed by domestic scientific research teams, such as a tiptoe I, a stepping robot and the like, are mostly in a three-rotation series structure, and when the exoskeleton robots perform gait rehabilitation, the intelligent crutch is needed to ensure that a patient maintains body balance and simultaneously needs to be manually balanced and assisted. The domestic commercialized moxa exoskeleton rehabilitation robot is provided with the supporting trolley on the basis of adopting a rotating structure, and the trolley can provide support for rehabilitation training and provide great convenience for the rehabilitation process.
Disclosure of Invention
The invention aims to provide a multi-action mode lower limb rehabilitation medical instrument based on a parallel mechanism, which can help a patient with mobility disorder to carry out standing posture rehabilitation training and treatment and can carry out gait rehabilitation training with different amplitudes. The device is a parallel mechanism with 3 degrees of freedom of movement, not only can carry out rehabilitation exercise training on a sagittal plane of a patient, but also can carry out rehabilitation exercise training in a plane perpendicular to a vertical axis of the human body at will, so that the multidimensional nature of rehabilitation exercise is increased, the rehabilitation training can be better and more comprehensively carried out on the patient, the whole rehabilitation mechanism has less restraint on the human body, only restrains the ankle joint of the human body, the hip joint and the knee joint of the lower limb of the human body can be in a free state, compared with the existing 3-turn rehabilitation robot, the comfort level of rehabilitation is greatly improved, the encumbrance brought to the rehabilitation process by a motor and a reducer thereof is avoided, meanwhile, the cost is greatly reduced, the movement space of the parallel mechanism is small, certain protective performance can be provided for the movement of the lower limb of the human body in the rehabilitation process, and the probability of secondary injury is reduced, can adjust the people from the position of sitting to the appearance of standing through its ball, improve the convenience of dressing greatly, the height difference according to its adjustment simultaneously can adapt to the crowd of different heights, has fine adaptability, has saved guiding mechanism's loaded down with trivial details step.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a lower limb gait rehabilitation training vehicle based on a parallel mechanism comprises a trolley support frame, a parallel mechanism, wearable rehabilitation shoes and a body position lifting device, wherein the trolley support frame comprises a support frame body, a rear support plate, a side support plate, a front support plate, a lifting device support frame and universal wheels, the lower part of the support frame body is connected with the universal wheels to enable the support frame body to move horizontally, the front support plate, the side support plate and the rear support plate are respectively installed on the front side, the two sides and the rear side of the support frame body, the front support plate can slide horizontally relative to the support frame body, and the lifting device support frame is fixedly connected above the support frame body; the parallel mechanism comprises three same branch mechanisms, each branch mechanism comprises a fixed sliding rail, a sliding block connecting piece, an electric push rod and an ankle connecting piece, the fixed sliding rail is connected with the sliding block to form a first sliding pair, the sliding block is fixedly connected with the sliding block connecting piece, the sliding block connecting piece is connected with the electric push rod to form a first rotating pair, the electric push rod is used as a second sliding pair of the branch mechanism, and the electric push rod is connected with the ankle connecting piece to form a second rotating pair; the wearable rehabilitation shoes comprise adjustable elastic leg guards, movable platform connecting pieces and foot support plates, wherein the ends of the adjustable elastic leg guards are connected with the foot support plates, the inner sides of the adjustable elastic leg guards are attached to the lower legs above the ankles of a human body, and the foot support plates are connected with the movable platform connecting pieces to provide supporting force for feet; the body position lifting device comprises two groups of ball screws, a human upper limb fixing plate and an adjustable elastic binding band; the sliding nut in the ball screw is connected with the rear side of the human upper limb fixing plate so as to drive the human upper limb fixing plate to perform lifting motion, and the adjustable elastic binding band is connected with the front side of the human upper limb fixing plate to form a backpack type, so that a patient can conveniently wear the backpack.
Preferably, each branch in the parallel mechanism is formed by sequentially connecting a first sliding pair, a first rotating pair, a second sliding pair and a second rotating pair to form a PRPR branch, and the three branches cooperate to limit three rotational degrees of freedom of the parallel mechanism around an X axis, a Y axis and a Z axis, so that the ankle moving platform at the tail end of the parallel mechanism only has three degrees of freedom of movement along the X direction, the Y direction and the Z direction.
Preferably, the number of the parallel mechanisms is two, the parallel mechanisms are symmetrically arranged in the trolley support frame and are respectively a left leg and a right leg of a corresponding lower limb, the fixed slide rails in each branch mechanism are sequentially placed at 90 degrees, and the fixed slide rails are fixedly connected with the front support plate, the side support plate and the rear support plate respectively.
Preferably, the sole supporting plate and the movable platform connecting piece form a revolute pair with an axis perpendicular to a sagittal plane at the ankle joint so as to meet the extension and bending of the ankle joint, and the movable platform connecting piece and the ankle movable platform are connected at the ankle joint so as to form a revolute pair with an axis perpendicular to a coronal plane and can meet the abduction and adduction of the ankle joint; the ankle moving platform drives the lower limbs of the human body to move in the X direction, the Y direction and the Z direction through the rehabilitation shoes, so that the lower limbs of the human body can carry out rehabilitation training in a plane which is perpendicular to the horizontal plane of the human body and passes through the vertical axis of the human body at will.
The use method of the lower limb gait rehabilitation training vehicle based on the parallel mechanism comprises the following steps: s1, the user wears the wearable rehabilitation shoe to enable the adjustable elastic leg guard to be attached to the shank, the sole support plate is attached to the sole of the foot and forms a revolute pair with an axis perpendicular to a sagittal plane with the movable platform connecting piece at the ankle joint so as to meet the requirement of stretching and bending movement of the ankle joint of the human body; s2, sliding the front supporting plate to two sides, enabling a user to enter the rehabilitation vehicle from the front opening in a sitting posture, adjusting the ball screw to change the upper and lower positions of the human upper limb fixing plate so as to be conveniently worn by the patient, and adjusting the adjustable elastic band to enable the back to be buckled with the human upper limb fixing plate; s3, buckling the front supporting plate, entering a quasi-rehabilitation state, adjusting the electric push rods in the two parallel mechanisms, changing the position of the ankle moving platform, connecting the moving platform connecting piece with the ankle moving platform, and forming a revolute pair with an axis perpendicular to a coronal plane at the ankle joint so as to meet the abduction and adduction movement of the ankle joint of a human body; and S4, adjusting the ball screw again to enable the upper limbs of the human body to move along with the upper limb fixing plate of the human body, and respectively controlling the electric push rods in the parallel mechanisms after the user is in a standing posture to enable the ankle moving platform to drive the lower limbs to move so as to finish gait rehabilitation training in different modes.
Compared with the prior art, the invention has the following advantages:
1) in the aspect of the structure, in 3P pairs of fixed platform, another P pair of two P pairs of perpendicular to can be ingenious with two P pairs around the thigh, with another P pair distribution in human one side position to can not produce the interference with the human body, adopt single joint restraint, improve the travelling comfort of dress. The lifting adjusting device is added, so that the device has good adaptability to different crowds. The transmission adopts a parallel mechanism, inherits the advantages of small error accumulation, high motion precision and compact structure of the parallel mechanism, has small working space and can effectively reduce the probability of secondary damage;
2) in the aspect of motion space, a special 3-PRPR parallel mechanism capable of realizing 3-translation motion in the space is applied, so that the rehabilitation training can be carried out on any surface vertical to the horizontal plane of a human body, the training range is expanded, and the rehabilitation treatment can be carried out more comprehensively;
3) in the aspect of drive control, three P pairs of 3-PRPR are driven, the position and attitude change of the movable platform is realized by driving three moving pairs through a driver, the driver is simple to install, and force and motion feedback control is easy.
Drawings
FIG. 1 is a general schematic view of a lower limb gait rehabilitation training vehicle based on a parallel mechanism according to the invention;
FIG. 2 is a schematic view of a support frame according to the present invention;
FIG. 3 is a schematic view of the parallel mechanism of the present invention;
FIG. 4 is a schematic view of a wearable rehabilitation shoe mechanism of the present invention;
fig. 5 is a schematic view of the body position elevating device of the present invention.
Reference numerals:
1-a trolley support frame, 2-a parallel mechanism, 3-a wearable rehabilitation shoe and 4-a body position lifting device;
101-lifting device support frame, 102-rear support plate, 103-side support plate, 104-front support plate, 105-support frame body and 106-universal wheel;
201-fixed slide rail, 202-slide block, 203-slide block connecting piece, 204-electric push rod, 205-ankle moving platform;
301-adjustable elastic leg guard, 302-movable platform connecting piece and 303-sole supporting plate;
401-adjustable elastic band, 402-human upper limb fixing plate, 403-ball screw.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. 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 is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
The invention provides a lower limb gait rehabilitation training vehicle based on a parallel mechanism, which specifically comprises a trolley support frame 1, a parallel mechanism 2, wearable rehabilitation shoes 3 and a body position lifting device 4. In the general schematic diagram of the rehabilitation training vehicle shown in fig. 1 and the schematic diagram of the cart support frame shown in fig. 2, the whole cart support frame 1 can support the whole cart frame under the action of the support frame body 105 and the universal wheels 106, and has freedom degrees of moving forward and backward and moving left and right, so that the cart can horizontally move to a target position, and the universal wheels 106 have a self-locking function. The rear support plate 102 and the side support plates 103 are fixed to the rear and two sides of the support frame body 105 respectively, the front support plate 104 is located on the front side of the support frame body 105 and can slide in a track of the support frame body, so that the front of the trolley can be in an opening state and a closing state, a patient can conveniently get in and out the trolley in the opening state, rehabilitation training is carried out when the trolley is in the closing state, and all the support plates provide support parts for parallel mechanisms. The lifting device support frame 101 is positioned above the support trolley and provides support for the body position lifting device 4.
In the schematic view of the parallel mechanism shown in fig. 3, the fixed slide rails 201 are respectively distributed in the front and rear and the side of the human body, and are respectively fixed to the rear support plate 102, the side support plate 103, and the front support plate 104 by bolts, so that the cart support frame 1 serves as a fixed platform of the parallel mechanism 2. Each branch comprises a sliding block 202 which can slide on a sliding rail to form a first sliding pair, a first end of a sliding block connecting piece 203 is connected with the sliding block 202 through a screw, the other end of the sliding block connecting piece and a first section of an electric push rod 204 form a first rotating pair, the electric push rod 204 integrally forms a second sliding pair and is used as a branch drive, a second section of the electric push rod 204 and an ankle moving platform 205 form a second rotating pair, the sliding pair is represented by P, the rotating pair is represented by R, so that a PRPR branch is formed, and the three branches are respectively distributed on the front, the back and the side of a human body. The ankle platform 205 is brought to the target position by controlling the power putter 204. Aiming at the rehabilitation of the lower limbs of the human body, two identical parallel mechanisms 2 are symmetrically distributed.
In the schematic diagram of the wearable rehabilitation shoe mechanism shown in fig. 4, the inner side of an adjustable elastic leg guard 301 is attached to the upper shank part of the ankle joint of a human body, the outer side of the adjustable elastic leg guard is connected with a sole support plate 303, the sole support plate 303 and a movable platform connecting piece 302 form a revolute pair with the axis perpendicular to the sagittal plane at the ankle joint, and the movable platform connecting piece 302 and an ankle movable platform 205 are connected at the ankle joint to form a revolute pair with the axis perpendicular to the coronal plane.
In the schematic diagram of the posture lifting device shown in fig. 5, one end of a ball screw 403 is fixed on the lifting device support frame 101, a sliding nut of the ball screw 403 is connected with a human upper limb fixing plate 402, the human upper limb fixing plate 402 can slide up and down through the sliding of the sliding nut, an adjustable elastic bandage 401 is positioned on the human upper limb fixing plate 402 to form a shape similar to a backpack, so that a patient positioned at the center of a frame can wear the posture lifting device conveniently, and the human body can be adjusted to a standing posture by a sitting posture through the sliding of the whole upper limb fixing plate.
In the aspect of structural design, the parallel mechanism is applied to the whole lower limb rehabilitation training exercise, and the whole rehabilitation mechanism provides a certain limiting protection effect due to the limitation of the working space of the parallel mechanism, the precision of the rehabilitation exercise is much higher, and the quality of rehabilitation treatment is improved; meanwhile, the three branches of the parallel mechanism are distributed on the front, the back and the side of the human body, so that the lower limbs of the human body can be well fused with the parallel mechanism, and the interference problem is avoided.
Examples
The method comprises the following steps: because patient's low limbs are in the state of powerless, so need other people to assist the patient and be in the position of sitting before getting into the rehabilitation device, at first will wear wearable rehabilitation shoes 3 for the patient and wear, the adjustable elasticity leg guard 301 and the human ankle joint upper portion shank laminating of wearable rehabilitation shoes 3, sole backup pad 303 and the laminating of people's sole provide certain holding power for the low limbs motion, sole backup pad 303 and movable platform connecting piece 302 form the axis perpendicular to sagittal plane's revolute pair in ankle joint department to satisfy human ankle joint's extension bending motion. At the moment, the shoes are worn well, so that the human body is in a sitting posture;
step two: the front support plate 104 is placed on both sides so that an opening is formed on the front side to facilitate the patient to enter the rehabilitation cart. The trolley is controlled by other people to move, so that the patient in a sitting posture enters the trolley, the upper limb fixing plate 402 of the human body is adjusted to slide to an easily-worn position through the movement of the ball screw 403 sliding nut, and then the adjustable elastic band 401 is adjusted, so that the upper limb of the patient in the sitting posture is buckled with the upper limb fixing plate 402 of the human body;
step three: the front supporting plate 104 is buckled, so that the front opening is closed, the ankle moving platform 205 is changed to a position which is easy to buckle with the ankle joint by driving the second sliding pair, the moving platform connecting piece 302 in the wearable rehabilitation shoe 4 which is worn is connected with the ankle moving platform 205 in the parallel mechanism 2 through a pin shaft, and a rotating pair with the axis vertical to the coronal plane is formed at the ankle joint, so that the abduction and adduction of the ankle joint of a human body are met;
step four: the ball screw 403 is adjusted again to enable the whole upper limb of the human body to rise along with the rising of the fixed plate 402, so that the human body is converted from a sitting posture to a standing posture, the movable platform can move within the safe movement range of the human body by controlling the electric push rod 204 of each parallel mechanism, the whole lower limb is driven to move, the rehabilitation training is completed, and the patient can carry out gait rehabilitation training in different modes by moving the following trolley.
The existing lower limb rehabilitation robots are mostly based on rehabilitation training in a sagittal plane, and the following freedom degrees are arranged on other planes, however, the movable platform of the parallel mechanism has the motion characteristic of three translations, so that the whole lower limb can be subjected to rehabilitation training in the sagittal plane of a human body and can also be subjected to rehabilitation training in a plane which is perpendicular to the horizontal plane of the human body and passes through a vertical axis of the human body and forms an arbitrary angle with the sagittal plane under the condition of three driving, the diversity of rehabilitation training modes is increased, and more diversified training plans can be better provided for patients. In addition, the whole rehabilitation walking aid only restrains the ankle joint and does not restrain the knee joint and the hip joint of the walking aid, and compared with the existing mechanism, the comfort of the walking aid is greatly improved. The mechanism can be well adaptive to people with different body types.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The utility model provides a low limbs gait rehabilitation training car based on parallel mechanism, its includes dolly support frame, parallel mechanism, wearable recovered shoes and position elevating gear, its characterized in that:
the trolley support frame comprises a support frame body, a rear support plate, side support plates, a front support plate, a lifting device support frame and universal wheels, wherein the lower part of the support frame body is connected with the universal wheels to enable the support frame body to move horizontally, the front support plate, the side support plates and the rear support plate are respectively arranged on the front side, the two sides and the rear side of the support frame body, the front support plate can horizontally slide relative to the support frame body, and the lifting device support frame is fixedly connected above the support frame body;
the parallel mechanism comprises three same branch mechanisms, each branch mechanism comprises a fixed sliding rail, a sliding block connecting piece, an electric push rod and an ankle connecting piece, the fixed sliding rail is connected with the sliding block to form a first sliding pair, the sliding block is fixedly connected with the sliding block connecting piece, the sliding block connecting piece is connected with the electric push rod to form a first rotating pair, the electric push rod is used as a second sliding pair of the branch mechanism, and the electric push rod is connected with the ankle connecting piece to form a second rotating pair;
the wearable rehabilitation shoes comprise adjustable elastic leg guards, movable platform connecting pieces and foot support plates, wherein the ends of the adjustable elastic leg guards are connected with the foot support plates, the inner sides of the adjustable elastic leg guards are attached to the lower legs above the ankles of a human body, and the foot support plates are connected with the movable platform connecting pieces to provide supporting force for feet;
the body position lifting device comprises two groups of ball screws, a human upper limb fixing plate and an adjustable elastic binding band; the sliding nut in the ball screw is connected with the rear side of the human upper limb fixing plate so as to drive the human upper limb fixing plate to perform lifting motion, and the adjustable elastic binding band is connected with the front side of the human upper limb fixing plate to form a backpack type, so that a patient can conveniently wear the backpack.
2. The parallel mechanism-based lower limb gait rehabilitation training vehicle of claim 1, characterized in that: each branch in the parallel mechanism is formed by sequentially connecting a first sliding pair, a first rotating pair, a second sliding pair and a second rotating pair to form a PRPR branch, and the three branches act together to limit three rotational degrees of freedom of the movable platform of the parallel mechanism along the X direction, the Y direction and the Z direction, so that the ankle movable platform at the tail end of the parallel mechanism only has three degrees of freedom of movement along the X direction, the Y direction and the Z direction.
3. The parallel mechanism-based lower limb gait rehabilitation training vehicle of claim 1, characterized in that: the number of the parallel mechanisms is two, the parallel mechanisms are symmetrically arranged in the trolley support frame and are respectively corresponding to the left leg and the right leg of the lower limb, the fixed slide rails in each branch mechanism are sequentially placed at 90 degrees, and the fixed slide rails are fixedly connected with the front support plate, the side support plate and the rear support plate respectively.
4. The parallel mechanism-based lower limb gait rehabilitation training vehicle of claim 2, characterized in that: the sole supporting plate and the movable platform connecting piece form a revolute pair with an axis vertical to a sagittal plane at the ankle joint so as to meet the extension and bending of the ankle joint, and the movable platform connecting piece and the ankle movable platform are connected at the ankle joint so as to form a revolute pair with an axis vertical to a coronal plane and meet the abduction and adduction of the ankle joint; the ankle moving platform drives the lower limbs of the human body to move in the X direction, the Y direction and the Z direction through the rehabilitation shoes, so that the lower limbs of the human body can carry out rehabilitation training in any plane vertical to the horizontal plane of the human body.
5. Use of the parallel mechanism based lower limb gait rehabilitation vehicle according to any of claims 1 to 4, characterized in that it comprises the following steps:
s1, the user wears the wearable rehabilitation shoe to enable the adjustable elastic leg guard to be attached to the shank, the sole support plate is attached to the sole of the foot and forms a revolute pair with an axis perpendicular to a sagittal plane with the movable platform connecting piece at the ankle joint so as to meet the requirement of stretching and bending movement of the ankle joint of the human body;
s2, sliding the front supporting plate to two sides, enabling a user to enter the rehabilitation vehicle from the front opening in a sitting posture, adjusting the ball screw to change the upper and lower positions of the human upper limb fixing plate so as to be conveniently worn by the patient, and adjusting the adjustable elastic band to enable the back to be buckled with the human upper limb fixing plate;
s3, buckling the front supporting plate, entering a quasi-rehabilitation state, adjusting the electric push rods in the two parallel mechanisms, changing the position of the ankle moving platform, connecting the moving platform connecting piece with the ankle moving platform, and forming a revolute pair with an axis perpendicular to a coronal plane at the ankle joint so as to meet the abduction and adduction movement of the ankle joint of a human body;
and S4, adjusting the ball screw again to enable the upper limbs of the human body to move along with the upper limb fixing plate of the human body, and respectively controlling the electric push rods in the parallel mechanisms after the user is in a standing posture to enable the ankle moving platform to drive the lower limbs to move so as to finish gait rehabilitation training in different modes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN111759679A (en) * | 2020-08-06 | 2020-10-13 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN112315735A (en) * | 2020-10-27 | 2021-02-05 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Electronic multi-functional rehabilitation training frame of integration |
| CN112957691A (en) * | 2021-02-04 | 2021-06-15 | 哈尔滨工业大学 | Somatosensory simulation parallel motion platform integrating human body deep sensation and vestibular sensation |
| CN113693882A (en) * | 2021-09-02 | 2021-11-26 | 南开大学 | Series-parallel system for gait and balance rehabilitation training |
| CN113827381A (en) * | 2021-09-22 | 2021-12-24 | 复旦大学 | Double-drive ankle joint artificial limb |
| CN113855476A (en) * | 2021-09-02 | 2021-12-31 | 燕山大学 | Multi-posture lower limb rehabilitation robot based on parallel mechanism and control method thereof |
| CN113975099A (en) * | 2021-11-25 | 2022-01-28 | 北京航空航天大学 | Pedal type gait correction and proprioception training platform |
| CN114129152A (en) * | 2021-12-03 | 2022-03-04 | 广州穗海新峰医疗设备制造股份有限公司 | Self-adaptive motion control device based on lower limb rehabilitation robot |
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| CN113827381B (en) * | 2021-09-22 | 2024-01-30 | 复旦大学 | Dual-drive ankle joint artificial limb |
| CN113975099A (en) * | 2021-11-25 | 2022-01-28 | 北京航空航天大学 | Pedal type gait correction and proprioception training platform |
| CN114129152A (en) * | 2021-12-03 | 2022-03-04 | 广州穗海新峰医疗设备制造股份有限公司 | Self-adaptive motion control device based on lower limb rehabilitation robot |
| CN114148429B (en) * | 2021-12-13 | 2022-09-09 | 哈尔滨工业大学 | Wearable parallel connection structure biped robot capable of assisting in walking |
| CN114148429A (en) * | 2021-12-13 | 2022-03-08 | 哈尔滨工业大学 | Wearable parallel connection structure biped robot capable of assisting in walking |
| CN114832311A (en) * | 2022-04-29 | 2022-08-02 | 四川大学华西医院 | Abduction training device for hip joint |
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