CN111166632A - Waist fixing device of lower limb exoskeleton rehabilitation training robot - Google Patents
Waist fixing device of lower limb exoskeleton rehabilitation training robot Download PDFInfo
- Publication number
- CN111166632A CN111166632A CN202010155999.2A CN202010155999A CN111166632A CN 111166632 A CN111166632 A CN 111166632A CN 202010155999 A CN202010155999 A CN 202010155999A CN 111166632 A CN111166632 A CN 111166632A
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- China
- Prior art keywords
- armor
- chest
- fixing device
- support frame
- rehabilitation training
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 24
- 230000000452 restraining effect Effects 0.000 claims abstract description 13
- 210000001624 hip Anatomy 0.000 claims description 33
- 210000002414 leg Anatomy 0.000 claims description 22
- 210000004394 hip joint Anatomy 0.000 claims description 5
- 238000001125 extrusion Methods 0.000 claims description 3
- 230000001012 protector Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 8
- 210000003414 extremity Anatomy 0.000 description 3
- 210000004197 pelvis Anatomy 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Images
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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—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
-
- 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the field of medical equipment, in particular to a waist fixing device of a lower limb exoskeleton rehabilitation training robot, which comprises a chest armor, a back armor and braces, wherein the chest armor and the back armor are arranged on the upper trunk of a human body, the braces are arranged on the shoulders of the human body, a leg fixer is fixed on the lower limbs of the human body, soft linings are attached to the inner side walls of the chest armor and the back armor, a back air bag is arranged on one side, away from the back armor, of the soft lining attached to the inner side of the back armor, the chest armor and the back armor are mutually attached and connected into a whole through an armor restraining belt, brace mounting buckles are symmetrically arranged on the outer side walls of the chest armor and the back armor, close to the upper end openings, the waist fixing device has the advantages of rapidness, high efficiency, time saving, labor saving, stable performance, simple structure, low manufacturing cost, suitability for the wearing requirements of patients with different body types, the operation is simple and convenient, and the air inlet quantity of the air bag can be adjusted continuously.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a waist fixing device of a lower limb exoskeleton rehabilitation training robot.
Background
The lower limb rehabilitation robot can provide long-term and stable repetitive high-strength rehabilitation training, accurately detect and feed back motion information of a training patient to control in real time, and the project is to set up a platform for acquiring multi-sensor information and acquire the multi-sensor information to provide required data for control decision and feedback. At present, the research of lower limb rehabilitation robots mostly focuses on the exoskeleton structure design of legs, and waist devices are only simple wearing structures and do not consider the movement of pelvis and waist when a human body walks. A few scientific research institutions have researched the motion rules of the pelvis and the waist when people walk, but no specific waist mechanism is designed to simulate the motion characteristics of the waist.
The waist structure design of the traditional lower limb rehabilitation robot is simple, the movement of the waist is not considered, and the waist is tied to the waist simply; the design fully considers the movement rule and characteristics of the waist when a human body walks, and makes a detailed structural design for the waist mechanism. Meanwhile, the designed waist mechanism can meet the waist movement tracks at different pace speeds through the adjusting device, so that the matching performance of the waist mechanism and the human waist movement is improved.
When current wearing formula low limbs ectoskeleton robot in market is used for the waist fixed, the human body of the different sizes of adaptation that can not be fine, a wearing formula low limbs ectoskeleton robot can only be applicable to alone, the width and thickness dimension can be adjusted to the fewest, but the structure is too complicated, all will dismantle the device from the human body when adjusting at every turn, the operation is very loaded down with trivial details, can not carry out continuous regulation, consequently can not be applicable to different human sizes, in addition, the condition of horizontal hunting or fore-and-aft rocking can appear when dressing, can not satisfy the travelling comfort requirement of wearer.
Disclosure of Invention
In order to solve the technical problems, the technical scheme provided by the invention is as follows: a waist fixing device of a lower limb exoskeleton rehabilitation training robot comprises a chest armor, a back armor and braces, wherein the chest armor and the back armor are arranged on a human body, the braces are arranged on shoulders of the human body, a leg fixer is fixed on lower limbs of the human body, soft linings are attached to the inner side walls of the chest armor and the back armor, one side, far away from the back armor, of the soft lining attached to the inner side of the back armor is provided with a back air bag, the chest armor and the back armor are mutually attached and connected into a whole through an armor protecting restraining belt, brace mounting buckles are symmetrically arranged on the positions, close to upper ports, of the outer side walls of the chest armor and the back armor, two ends of each brace are detachably connected to the brace mounting buckles, first convex blocks are fixedly arranged on the two sides of the lower end of the back armor and close to the waist of the human body, the first convex blocks are fixedly connected with an upper support frame, a second convex block is, the second lug is connected with the lower support through a lower support adjusting handle.
As an improvement, two ends of the body of the armor-protecting binding belt are respectively and fixedly connected with the buckles of the armor-protecting binding belt arranged on two sides of the chest armor and the part armor, and the distance between the chest armor and the back armor is adjusted through the buckles of the armor-protecting binding belt arranged on the armor-protecting binding belt.
As an improvement, the outer side walls of the chest armor and the back armor are symmetrically provided with external connecting buckles for connecting a rehabilitation robot.
In a modification, the side of the back airbag close to the back armor is connected to a squeeze inflator and a retainer plug 11 provided on the outer side wall of the back armor.
As an improvement, the upper support frame and the lower support frame are movably hinged through a hip joint moving mechanism.
As an improvement, the length of the lower support frame can be adjusted through the adjusting handle of the lower support frame.
As an improvement, the shoulder pad which can freely move along the strap body and the strap adjusting buckle which is used for adjusting the length of the strap body are arranged on the strap.
As an improvement, the leg fixer is formed by hinging two half barrel bodies through one end and binding the other end through a leg fixing band.
As an improvement, the surface of the belt body of the leg fixing belt is provided with a magic tape.
After adopting the structure, the invention has the following advantages:
1. the invention can realize high speed, high efficiency, time and labor saving, stable performance, simple structure and low manufacturing cost in use and operation;
2. the device is suitable for the wearing requirements of patients with different body types, the device does not need to be unloaded from a human body during adjustment every time, the operation is simple and convenient, and continuous adjustment can be carried out by adjusting the air inflow of the air bag.
Drawings
Fig. 1 is a schematic structural view of a waist fixing device of a lower limb exoskeleton rehabilitation training robot in a front view;
FIG. 2 is a schematic view of a rear view of a waist fixing device of a lower extremity exoskeleton rehabilitation training robot;
figure 3 is a schematic view of a back armor bladder configuration.
As shown in fig. 1-3: 1. chest armor, 2, back armor, 201, a first bump, 3, braces, 301, shoulder pads, 302, a brace adjusting buckle, 303, a brace mounting buckle, 4, a leg fixer, 401, a second bump, 5, a hip joint moving mechanism, 6, an upper support frame, 7, a lower support frame, 8, a soft lining, 9, a back airbag, 10, an extrusion type inflator, 11, an air release plug, 12, a armor restraining belt, 1201, a armor restraining belt mounting buckle, 1202, an armor restraining belt buckle, 13, a leg fixing belt, 14, an external connecting buckle, 15 and a lower support frame adjusting handle.
Detailed Description
With reference to the attached drawings 1-2, a waist fixing device of a lower limb exoskeleton rehabilitation training robot comprises a chest armor 1 and a back armor 2 arranged on the upper trunk of a human body, braces 3 arranged on the shoulders of the human body, and a leg fixer 4 fixed on the lower limbs of the human body, wherein soft linings 8 are attached to the inner side walls of the chest armor 1 and the back armor 2, a back airbag 9 is arranged on one side, far away from the back armor 2, of the soft lining 8 attached to the inner side of the back armor 2, the chest armor 1 and the back armor 2 are mutually attached and connected into a whole through a armor binding belt 12, braces mounting buckles 303 are symmetrically arranged on the outer side walls of the chest armor 1 and the back armor 2 close to an upper port, two ends of the braces 3 are detachably connected to the braces mounting buckles 303, first convex blocks 201 are fixedly arranged on the two sides of the lower end of the back armor 2 close to the waist of the human body, and the first convex blocks 201 are fixedly connected with an upper, a second lug 401 is arranged at the position, below the mounting lug 201, of the upper port of the leg fixing device 4, and the second lug 401 is connected with the lower support 7 through a lower support adjusting handle 15.
As a preferred embodiment of this embodiment, both ends of the body of the nail-protecting restraining strip 12 are respectively and fixedly connected with nail-protecting restraining strip buckles 1202 arranged on both sides of the chest nail 1 and the back nail 2, and the distance between the chest nail 1 and the back nail 2 is adjusted by the nail-protecting restraining strip buckles 1202 arranged on the nail-protecting restraining strip 12.
As a preferred embodiment of the embodiment, the outer side walls of the chest armor 1 and the back armor 2 are symmetrically provided with external connecting buckles 14 for connecting the rehabilitation robot.
In a preferred embodiment of the present embodiment, the side of the back airbag 9 close to the back armor 2 is connected to a squeeze inflator 10 and a retainer plug 11 provided on the outer side wall of the back armor.
As the preferred embodiment of the embodiment, the upper support frame 6 and the lower support frame 7 are movably hinged through the hip joint moving mechanism 5.
As a preferred embodiment of the embodiment, the length of the lower support frame 7 can be adjusted by the lower support frame adjusting handle 15.
As a preferred embodiment of this embodiment, the shoulder strap 3 is provided with a shoulder protector 301 capable of freely moving along the strap body and a strap adjusting buckle 302 for adjusting the length of the strap body of the shoulder strap 3.
As the preferred embodiment of the embodiment, the leg fixing device 4 is composed of two half-barrel bodies hinged at one end and bound at the other end by a leg fixing band 13.
As a preferred embodiment of the present embodiment, the surface of the leg fixing belt 13 is provided with a hook and loop fastener.
In the specific implementation of the invention, as shown in fig. 1-3, the chest armor and the back armor are respectively attached to the chest and the back of a human body, the lower support frame adjusting handle is rotated to adjust the distance between the upper trunk armor and the leg fixer, the leg fixer is worn by the lower limbs of the human body, then the lower support frame adjusting handle is firmly fixed with the limbs of the patient by using the armor-protecting restraining belt and the leg fixing belt, and the back airbag mounted on the back armor is inflated by pressing the extrusion type inflator until the airbag of the user is tightly and firmly attached to the back of the human body.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The utility model provides a lower limbs ectoskeleton rehabilitation training robot waist fixing device, is fixed in shank fixer (4) of human lower limbs, its characterized in that including setting up chest armour (1), back armour (2) of trunk on the human body and set up in braces (3) of human shoulder, is fixed in: the inner side walls of the chest armor (1) and the back armor (2) are respectively attached with a soft lining (8), one side, far away from the back armor (2), of the soft lining (8) attached to the inner side of the back armor (2) is provided with a back airbag (9), the chest armor (1) and the back armor (2) are mutually attached and connected into a whole through a armor protecting and binding belt (12), the positions, close to the upper port, of the outer side walls of the chest armor (1) and the back armor (2) are symmetrically provided with a braces mounting buckle (303), the two ends of a brace (3) are detachably connected with the braces mounting buckle (303), the positions, close to the waist of a human body, of the two sides of the lower end of the back armor (2) are respectively and fixedly provided with a first convex block (201), the first convex blocks (201) are fixedly connected with an upper support frame (6), the upper port of the leg fixing device (4) is provided with a second convex block (401) at the, the second bump (401) is connected with the lower support frame (7) through a lower support frame adjusting handle (15).
2. The lower extremity exoskeleton rehabilitation training robot waist fixing device of claim 1, wherein: the two ends of the body of the armor-protecting binding belt (12) are respectively fixedly connected with armor-protecting binding belt buckles (1202) arranged on the two sides of the chest armor (1) and the back armor (2), and the distance between the chest armor (1) and the back armor (2) is adjusted through the armor-protecting binding belt buckles (1202) arranged on the armor-protecting binding belt (12).
3. The lower extremity exoskeleton rehabilitation training robot waist fixing device of claim 1, wherein: the outer side walls of the chest armor (1) and the back armor (2) are symmetrically provided with external connecting buckles (14) used for connecting a rehabilitation robot.
4. The lower extremity exoskeleton rehabilitation training robot waist fixing device of claim 1, wherein: and one side of the back airbag (9) close to the back armor (2) is connected with a squeezing type inflator (10) and a plug (11) which are arranged on the outer side wall of the back armor.
5. The lower extremity exoskeleton rehabilitation training robot waist fixing device of claim 2, wherein: the upper support frame (6) is movably hinged with the lower support frame (7) through a hip joint moving mechanism (5).
6. The lower extremity exoskeleton rehabilitation training robot waist fixing device of claim 1, wherein: the length of the lower support frame (7) can be adjusted through a lower support frame adjusting handle (15).
7. The lower extremity exoskeleton rehabilitation training robot waist fixing device of claim 1, wherein: the shoulder straps (3) are provided with shoulder protectors (301) capable of freely moving along the strap body and strap adjusting buckles (302) used for adjusting the length of the strap body of the shoulder straps (3).
8. The lower extremity exoskeleton rehabilitation training robot waist fixing device of claim 1, wherein: the leg fixer (4) is formed by hinging two half barrel bodies through one end and binding the other end through a leg fixing belt (13).
9. The leg fixing band (13) according to claim 8, characterized in that: the surface of the body of the leg fixing strap (13) is provided with a magic tape.
1. Chest armor, 2, back armor, 201, a first bump, 3, braces, 301, shoulder pads, 302, a brace adjusting buckle, 303, a brace mounting buckle, 4, a leg fixer, 401, a second bump, 5, a hip joint moving mechanism, 6, an upper support frame, 7, a lower support frame, 8, a soft lining, 9, a back airbag, 10, an extrusion type inflator, 11, an air release plug, 12, a armor restraining belt, 1201, a armor restraining belt mounting buckle, 1202, an armor restraining belt buckle, 13, a leg fixing belt, 14, an external connecting buckle, 15 and a lower support frame adjusting handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010155999.2A CN111166632A (en) | 2020-03-09 | 2020-03-09 | Waist fixing device of lower limb exoskeleton rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010155999.2A CN111166632A (en) | 2020-03-09 | 2020-03-09 | Waist fixing device of lower limb exoskeleton rehabilitation training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111166632A true CN111166632A (en) | 2020-05-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010155999.2A Pending CN111166632A (en) | 2020-03-09 | 2020-03-09 | Waist fixing device of lower limb exoskeleton rehabilitation training robot |
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| CN (1) | CN111166632A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658271A (en) * | 2020-06-10 | 2020-09-15 | 苏州市中医医院 | Thoracic and lumbar vertebra treatment and rehabilitation brace |
| CN112494280A (en) * | 2020-10-26 | 2021-03-16 | 上海大学 | Intelligent motion perception safety belt based on triboelectricity |
| CN118161399A (en) * | 2024-05-11 | 2024-06-11 | 江苏尚美医疗器械有限公司 | Lumbar vertebra rehabilitation physiotherapy device capable of actively searching and massaging acupoints |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN109998758A (en) * | 2019-05-06 | 2019-07-12 | 深圳市瀚翔工业设计有限公司 | A kind of inflatable correction vest |
| CN209377822U (en) * | 2018-06-12 | 2019-09-13 | 深圳市康博医疗科技有限公司 | A kind of chest waist orthoses facilitating adjusting |
| CN212439300U (en) * | 2020-03-09 | 2021-02-02 | 宿州学院 | Waist fixing device of lower limb exoskeleton rehabilitation training robot |
-
2020
- 2020-03-09 CN CN202010155999.2A patent/CN111166632A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN209377822U (en) * | 2018-06-12 | 2019-09-13 | 深圳市康博医疗科技有限公司 | A kind of chest waist orthoses facilitating adjusting |
| CN109998758A (en) * | 2019-05-06 | 2019-07-12 | 深圳市瀚翔工业设计有限公司 | A kind of inflatable correction vest |
| CN212439300U (en) * | 2020-03-09 | 2021-02-02 | 宿州学院 | Waist fixing device of lower limb exoskeleton rehabilitation training robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111658271A (en) * | 2020-06-10 | 2020-09-15 | 苏州市中医医院 | Thoracic and lumbar vertebra treatment and rehabilitation brace |
| CN112494280A (en) * | 2020-10-26 | 2021-03-16 | 上海大学 | Intelligent motion perception safety belt based on triboelectricity |
| CN118161399A (en) * | 2024-05-11 | 2024-06-11 | 江苏尚美医疗器械有限公司 | Lumbar vertebra rehabilitation physiotherapy device capable of actively searching and massaging acupoints |
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