CN111643316A

CN111643316A - A disc motor ectoskeleton for rehabilitation training

Info

Publication number: CN111643316A
Application number: CN202010377341.6A
Authority: CN
Inventors: 李健; 吴青鸿; 周福鑫; 雷蕾; 张琦
Original assignee: Guangxi University of Science and Technology
Current assignee: Guangxi University of Science and Technology
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2020-09-11

Abstract

The invention discloses a disc type motor exoskeleton for rehabilitation training, which comprises a waist binding band, an exoskeleton flexible hip joint, a thigh connecting rod, a shank connecting rod and a sole straightening spring traction mechanism. The invention is provided with stepless adjusting mechanisms at hip joints, thighs and foot sole orthopedic parts, and can meet the requirements of wide use groups. Different from a common exoskeleton, the exoskeleton is additionally provided with a spring mechanism at the hip joint, so that the self gravity of the exoskeleton with the disc motor can be balanced, and a patient can wear the exoskeleton more comfortably.

Description

A disc motor ectoskeleton for rehabilitation training

Technical Field

The invention relates to the technical field of rehabilitation robots, in particular to a disc type motor exoskeleton for rehabilitation training.

Background

China gradually enters an aging society, the population of the aged people is continuously increased, the number of people with lower limb disabilities caused by stroke, hemiplegia and the like is also continuously increased, and the lower limb injuries caused by traffic accidents and the like are also accompanied. At present, although domestic third-class hospitals and other hospitals basically have rehabilitation departments, relevant professional rehabilitation training equipment is lacked. Rehabilitation medicine research shows that for lower limb disability crowds with impaired lower limb motor functions caused by nerve function damage such as cerebral apoplexy, channels with central nerves can be reestablished to a certain extent through rehabilitation training movement, and the patients are helped to recover walking ability.

The existing hospital equipment mainly comprises a standing balance bed, a training bicycle and other traditional equipment, wherein the standing balance bed can only gradually change the supporting force of legs of a human body and restore the perception of muscles of lower limbs by changing the angle between a person and the ground. A training bicycle mainly drives the legs of a person to do reciprocating motion to exercise the lower limbs. Some hospitals were equipped with weight loss rehabilitation training devices with fixed running tables, with lower extremity exoskeletons. The lower limb supporting force of a patient can be relieved through the suspended weight reduction system, and the lower limb exoskeleton is used for lower limb auxiliary training, so that the patient can stand to carry out walking training.

However, the conventional rehabilitation device can only perform a single training mode, cannot enable the patient to experience the feeling of walking training, can only perform functional training on the muscles of the lower limbs of the patient at an early stage to prevent muscular atrophy, and still needs manual assistance to perform balance training in the walking training process. Although the fixed running table weight reduction rehabilitation training equipment can provide the patient with the weight reduction force, the equipment is large in size and high in price, most hospitals can only be provided with one equipment, the training places are fixed, the exoskeleton is troublesome to wear, the exoskeleton leg length adjustment is mostly in a fixed value adjustment mode, stepless adjustment cannot be performed, and the adjustable range is limited; the exoskeleton has three degrees of freedom, and the hip joint has two degrees of freedom of up and down, bending and stretching; the hip joint part of the existing exoskeleton is mostly only provided with one degree of freedom of flexion and extension, or the degree of freedom of flexion and extension plus the horizontal left-right direction, and has no degree of freedom in the up-down direction, walking is unnatural, the motion range is limited, and a user can feel uncomfortable when wearing the exoskeleton; the experience of the exoskeleton deteriorates.

Disclosure of Invention

Aiming at the defects of the prior art, the invention aims to provide a novel disc type motor exoskeleton for rehabilitation training, which can be matched with a movable weight reduction platform to carry out free walking exercise in a hospital room or on a flat road surface to help a patient to recover.

The invention adopts the specific technical scheme that:

a disc type motor exoskeleton for rehabilitation training comprises a waist binding band, an exoskeleton flexible hip joint, a thigh connecting rod, a shank connecting rod and a spring traction mechanism for correcting a sole, wherein the exoskeleton flexible hip joint comprises a movable sliding table, a connecting piece and a hip joint connecting plate, the movable sliding table is used for mounting the disc type motor exoskeleton on a movable platform, and the connecting piece is connected with the side surface of the movable sliding table; the hip joint connecting plate is provided with an end A, an end B and an end C, the hip joint connecting plate is connected with the waist bandage at the end B, the hip joint connecting plate is connected with the upper end of a thigh connecting rod at the end C and is provided with a hip joint motor, the hip joint motor is used for driving the thigh connecting rod to move, the hip joint connecting plate is connected with the connecting piece at the end A through a bearing, a spring is arranged between the connecting piece and the hip joint connecting plate, the upper end of the spring is connected with the connecting piece, and the lower end of the spring is connected with the hip joint connecting plate; the lower end of the thigh connecting rod is connected with the upper end of the shank connecting rod, a knee joint motor is installed on the thigh connecting rod and used for driving the shank connecting rod to move, and the sole correcting spring traction mechanism is installed on the shank connecting rod; and the thigh connecting rod and the shank connecting rod are both provided with a plurality of legging supports.

Furthermore, the thigh connecting rod comprises a hip joint connecting piece and a knee joint connecting piece, the hip joint connecting piece is provided with a push-pull type rapid clamp, the knee joint connecting piece is provided with a long-strip notch, and the push-pull type rapid clamp connects the hip joint connecting piece and the hip joint connecting piece through the long-strip notch; the upper end of the hip joint connecting piece is connected with the hip joint connecting plate at the end C of the hip joint connecting plate, and the lower end of the knee joint connecting piece is connected with the upper end of the shank connecting rod.

Furthermore, the sole correcting spring traction mechanism comprises a correcting force arm, an adjusting belt and a connecting spring, the correcting force arm is installed on the shank connecting rod, the adjusting belt is installed on the correcting force arm, and the adjusting belt is connected with the connecting spring.

Preferably, the spring is a Z-shaped spring.

Preferably, the bearing is a slew bearing.

Preferably, a rubber sheet is arranged between the knee joint connecting piece and the hip joint connecting piece.

Preferably, the hip joint connector is provided with a fixing piece, and a certain gap is reserved between the fixing piece and the hip joint connector and used for placing the knee joint connector.

Preferably, an air bag sensor is installed inside the legging support.

The invention has the beneficial effects that: the disc type motor exoskeleton is combined with the movable weight reduction platform, so that a hemiplegic patient can freely move indoors or on a flat road without being restricted by a fixed field, and the training enthusiasm of the patient can be stimulated. The invention is provided with stepless adjusting mechanisms at hip joints, thighs and foot sole orthopedic parts, and can meet the requirements of wide use groups. Different from a common exoskeleton, the exoskeleton is additionally provided with a spring mechanism at the hip joint, so that the self gravity of the exoskeleton with the disc motor can be balanced, and a patient can wear the exoskeleton more comfortably. The air bag sensor is arranged on the inner side of the leg wrapping support, and the size of interaction force between a person and the disc type motor exoskeleton can be measured through air pressure change, so that the movement intention of the person can be judged.

Drawings

FIG. 1 shows a block diagram of a disc motor exoskeleton;

FIG. 2 shows a schematic structural view of the exoskeleton flexible hip joint;

FIG. 3 is a schematic view of the hip plate;

fig. 4 is a schematic structural view of the Z-shaped spring.

FIG. 5 is a view showing the construction of the thigh link;

FIG. 6 is a schematic structural view of a push-pull type quick clamp;

fig. 7 shows a combination of a disc motor exoskeleton and a mobile weight reduction platform.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Referring to fig. 1, an embodiment of the present invention provides a disc motor exoskeleton for rehabilitation training, including a waist binding band 1, an exoskeleton flexible hip joint 2, a thigh link 3, a shank link 4, and a sole straightening spring traction mechanism 5, where the thigh link 3 and the shank link 4 are both provided with a plurality of leg wrapping brackets 6, and an air bag sensor 61 is installed inside the leg wrapping brackets 6. Wherein:

as shown in fig. 2, the exoskeleton flexible hip joint 2 comprises a moving sliding table 21, a connecting piece 22 and a hip joint connecting plate 23 (the structure is shown in fig. 3), wherein the moving sliding table 21 is used for installing the disc motor exoskeleton on a moving platform, and the connecting piece 22 is connected with the side surface of the moving sliding table 21; the hip joint connecting plate 23 is provided with an end A231, an end B232 and an end C233, the hip joint connecting plate 23 is connected with the waist binding band 1 at the end B232, the hip joint connecting plate 23 is connected with the connecting piece 22 at the end A231 through the slewing bearing 24, the slewing bearing 24 can release a degree of rotational freedom, so that a hip joint can move up and down along with a human body in the walking process, a Z-shaped spring 25 (the structure is shown in figure 4) is arranged between the connecting piece 22 and the hip joint connecting plate 23, the Z-shaped spring 25 can give people a degree of freedom in the up-down direction in the walking process and can balance the gravity of an exoskeleton, the upper end of the Z-shaped spring 25 is connected with the connecting piece 22, and the lower end of the Z-shaped spring 25 is connected with the;

as shown in fig. 5, the thigh link 3 comprises a hip joint connector 31 and a knee joint connector 32, the hip joint connector 31 is provided with a push-pull type quick clamp 33 (the structure is shown in fig. 6), the knee joint connector 32 is provided with a long-strip notch 34, and the push-pull type quick clamp 33 connects the hip joint connector 31 and the hip joint connector 32 through the long-strip notch 34; the hip joint connecting piece 31 and the knee joint connecting piece 32 are also provided with rubber sheets 35 for increasing the friction force of the connecting pieces and playing a certain role in fixation and stabilization. The hip joint connector 31 is provided with a fixing piece 36, and a certain gap is reserved between the fixing piece 36 and the hip joint connector 31 and used for placing the knee joint connector 32. The fixing part 36 fixes the hip joint connector 31 and the knee joint connector 32, and plays a certain role in fixing and stabilizing. The upper end of the hip joint connecting piece 31 is connected with the hip joint connecting plate 23 at the hip joint connecting plate C end 233 and is provided with a hip joint motor, the lower end of the knee joint connecting piece 32 is connected with the upper end of the lower leg connecting rod 4, and the upper end of the lower leg connecting rod 4 is provided with a knee joint motor.

As shown in fig. 1, the ball traction mechanism 5 includes an orthopedic force arm 51, an adjusting strap 52 and a connecting spring 53, the orthopedic force arm 51 is mounted on the lower leg link 4, the adjusting strap 52 is mounted on the orthopedic force arm 51, and the adjusting strap 52 is connected with the connecting spring 53.

As shown in fig. 7, the disc type motor exoskeleton is connected with the movable weight reduction platform 7 through the movable sliding table 21, the weight reduction arm 71 installed on the movable weight reduction platform suspends a patient to provide a weight reduction value, then the movable sliding table 21 is adjusted and adjusted to match the hip joint height and waist width of the patient, a human leg and the disc type motor exoskeleton are fixed together through the waist bandage 1 and the leg wrapping bracket, the human leg is bound together through the belt by the leg wrapping bracket, the push-pull type quick clamp 33 is adjusted to match the thigh connecting rod 3 with the patient, the air bag sensor is arranged on the inner side of the leg wrapping bracket, and the fixation is tighter through adjusting air pressure. The lower end of the connecting spring 53 is then connected to the patient's shoe and the amount of orthotic force is varied by adjusting the adjustment strap 52. Then, the thigh connecting rod and the shank connecting rod 4 are driven to move by controlling the hip joint motor and the knee joint motor, and the walking of the human body is controlled. Because the center of mass of the human body has a periodic up-and-down action in the walking process, the Z-shaped spring 25 can provide a degree of freedom in the up-and-down direction for the human body in the walking process, and meanwhile, the connecting piece 22 can play a role in supporting and fixing the thighs of the user.

Claims

1. A disc type motor exoskeleton for rehabilitation training is characterized by comprising a waist binding belt, an exoskeleton flexible hip joint, a thigh connecting rod, a shank connecting rod and a spring traction mechanism for correcting a sole, wherein the exoskeleton flexible hip joint comprises a movable sliding table, a connecting piece and a hip joint connecting plate, the movable sliding table is used for mounting the disc type motor exoskeleton on a movable platform, and the connecting piece is connected with the side surface of the movable sliding table; the hip joint connecting plate is provided with an end A, an end B and an end C, the hip joint connecting plate is connected with the waist bandage at the end B, the hip joint connecting plate is connected with the upper end of the thigh connecting rod at the end C and is provided with a hip joint motor, the hip joint connecting plate is connected with the connecting piece at the end A through a bearing, a spring is arranged between the connecting piece and the hip joint connecting plate, the upper end of the spring is connected with the connecting piece, and the lower end of the spring is connected with the hip joint connecting plate; the lower end of the thigh connecting rod is connected with the upper end of the shank connecting rod, a knee joint motor is installed on the thigh connecting rod, and the sole correcting spring traction mechanism is installed on the shank connecting rod; and the thigh connecting rod and the shank connecting rod are both provided with a plurality of legging supports.

2. The disc motor exoskeleton of claim 1, wherein the thigh link comprises a hip joint connector and a knee joint connector, the hip joint connector is provided with a push-pull type quick clamp, the knee joint connector is provided with a long-strip notch, and the push-pull type quick clamp connects the hip joint connector and the hip joint connector through the long-strip notch; the upper end of the hip joint connecting piece is connected with the hip joint connecting plate at the end C of the hip joint connecting plate, and the lower end of the knee joint connecting piece is connected with the upper end of the shank connecting rod.

3. The disc motor exoskeleton of claim 1 or claim 2 wherein the ball correction spring traction mechanism includes a correction force arm mounted on the shank link, an adjustment strap mounted on the correction force arm, and a link spring to which the adjustment strap is linked.

4. The disc motor exoskeleton of claim 1 or claim 2 wherein the springs are Z-shaped springs.

5. The disc motor exoskeleton of claim 1 or claim 2 wherein the bearing is a slew bearing.

6. The disc motor exoskeleton of claim 2 wherein a rubber sheet is provided between said knee joint link and said hip joint link.

7. The disc motor exoskeleton of claim 2 wherein said hip joint link has a fastener attached thereto, and wherein the fastener is spaced from the hip joint link by a space for placement of a knee joint link.

8. The disc motor exoskeleton of claim 1 or 2 where an air bag sensor is mounted inside the legging support.