CN111658434A - Knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles and rehabilitation method - Google Patents
Knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles and rehabilitation method Download PDFInfo
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- 210000003127 knee Anatomy 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 16
- 210000000689 upper leg Anatomy 0.000 claims abstract description 95
- 210000002683 foot Anatomy 0.000 claims abstract description 75
- 210000001699 lower leg Anatomy 0.000 claims abstract description 58
- 210000002414 leg Anatomy 0.000 claims abstract description 55
- 210000000629 knee joint Anatomy 0.000 claims abstract description 35
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 29
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 18
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- 210000001624 hip Anatomy 0.000 claims description 3
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- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000005452 bending Methods 0.000 abstract description 3
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- 238000012549 training Methods 0.000 description 9
- 206010008129 cerebral palsy Diseases 0.000 description 4
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
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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
- 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
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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
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
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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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
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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
- A61H2201/1657—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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- 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
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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Abstract
The invention provides a knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles and a rehabilitation method, the rehabilitation robot comprises a support, lower limbs, a driving system, a sensing system and a portable control and power system, the lower limbs comprise two legs, the two legs are symmetrically arranged on the support, each leg comprises a thigh, a shank and a foot, a hip joint, a knee joint and an ankle joint are sequentially formed between the support and the thigh, between the thigh and the shank and between the shank and the foot of each leg, the driving system comprises a thigh driving pneumatic muscle, a shank driving pneumatic muscle and a foot driving pneumatic muscle thigh, which respectively drive the bending and extending movement of the hip joint, the knee joint and the ankle joint, and the front and back sides of the hip joint, the knee joint and the ankle joint are respectively connected with a corresponding pneumatic muscle, all the pneumatic muscles are connected with an air source, and the sensing system collects the lower limb movement information of the patient and transmits the information to the portable control and power system device. The invention has high power-quality ratio, high response speed, low cost, good flexibility, safety and reliability.
Description
Technical Field
The invention belongs to the technical field of rehabilitation exoskeletons, and particularly relates to a knee hyperextension flexible exoskeletons rehabilitation robot based on pneumatic muscles and a rehabilitation method.
Background
With the development of society, the life of patients with hemiplegia or cerebral palsy gradually gets the general attention of society, especially the congenital cerebral palsy, when the patients begin to walk after the hemiplegia, the knee hyperextension phenomenon appears in a certain part of the patients, which shows that the affected legs lack the knee bending action and the knees are too straight, and the demand of the patients on the rehabilitation training equipment is more urgent. It is against this background that lower limb rehabilitation training machines have been rapidly developed as a mechanical device for rehabilitation therapy. The exoskeleton mechanical structure of the existing lower limb walking rehabilitation training robot in the market is formed by a lower limb, the lower limb is arranged on a support through a movable connecting piece, the support on the lower limb and thighs, the thighs and the calves and feet sequentially form hip joints, knee joints and ankle joints, the hip joints, the knee joints and the ankle joints are respectively driven by motors, rotary motion of the motors is converted into linear motion through ball screws, and corresponding link mechanisms are driven to realize joint motion. As the single leg of the lower limb walking rehabilitation training exoskeleton needs at least three degrees of freedom for movement, and each degree of freedom needs one motor, the structure of the device is complex and the price is high. In particular, the motor-driven system has high rigidity and poor flexibility. The congenital cerebral palsy is different from a hemiplegia patient, and the patient cannot walk, so that the requirement on the flexibility of the driving of the rehabilitation robot is particularly high, and the existing motor driving system has high rigidity and poor capability of absorbing external impact, and the sudden external impact interference of the system can often cause the displacement mutation of the system, and is very easy to cause the tearing of muscle tissues of the lower limbs of the patient, the muscle spasm, the damage of connective tissues and the like.
Disclosure of Invention
In view of the above, the invention aims to provide a knee hyperextension flexible exoskeleton rehabilitation robot and a rehabilitation method based on pneumatic muscles, which have the characteristics of high power-quality ratio, high response speed, low manufacturing cost, good flexibility, safety and reliability, and are particularly suitable for congenital cerebral palsy which cannot walk per se.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles comprises a support, lower limbs, a driving system, a sensing system and a portable control and power system, wherein the lower limbs comprise two legs which are symmetrically arranged on the support, each leg comprises a thigh, a shank and a foot, hip joints, knee joints and ankle joints are sequentially formed between the support and the thigh, between the thigh and the shank and between the shank and the foot of each leg, and the hip joints, the knee joints and the ankle joints are respectively connected with respective rotating parts;
the driving system comprises thigh driving pneumatic muscles, shank driving pneumatic muscles and foot driving pneumatic muscles, the thigh driving pneumatic muscles, the shank driving pneumatic muscles and the foot driving pneumatic muscles respectively drive the flexion and extension movements of hip joints, knee joints and ankle joints, and the front sides and the rear sides of the hip joints, the knee joints and the ankle joints are connected with the corresponding pneumatic muscles;
each group of pneumatic muscles which are correspondingly arranged front and back are respectively connected with an air source through a PWM valve and a reversing valve in turn;
the sensing system comprises a pose sensor, a myoelectricity sensor and an air pressure sensor for collecting the activity information of the lower limbs of the patient, and a group of sensing systems is arranged on each pneumatic muscle;
the portable control and power system is arranged on the bracket and comprises a controller and an air source, and all sensing systems collect the lower limb movement information of the patient and transmit the information to the controller.
Furthermore, each pneumatic muscle comprises an inner air bag, an outer layer of fiber woven mesh and fastening and sealing structures at two ends, the inner air bag is a rubber tube or a latex tube, when air is filled into the inner air bag, the rubber tube or the latex tube expands along the radial direction along with the pressure rise, and then the radial expansion force is changed into the axial contraction force through the force transfer effect of the woven fiber mesh, so that the whole pneumatic muscle contracts axially.
Furthermore, thigh fixing belts are arranged at the upper part and the lower part of each thigh, calf fixing belts are arranged at the upper part and the lower part of each calf, and the thigh driving pneumatic muscles are connected between the lower end of the support and the thigh fixing belts positioned at the upper part; the shank driving pneumatic muscle is connected between the thigh fixing band positioned at the lower part and the shank fixing band positioned at the upper part; the foot-driven pneumatic muscle is connected between the lower shank fixation strap and the foot device.
Furthermore, the pneumatic muscles for driving the front and rear sides of the thighs, the front and rear sides of the calves, and the front and rear sides of the feet can be operated independently.
Furthermore, the reversing valve is a two-position two-way electromagnetic reversing valve, and each interface of the electromagnetic reversing valve is respectively connected with the pneumatic muscle air inlet and outlet, the air source and the atmosphere.
Furthermore, a plurality of reversing valves form a reversing valve group, a pressure reducing valve and a throttle valve are arranged between the reversing valve group and an air source, and the air source is powered by an air pump.
Furthermore, the rotating component comprises a shaft, bearings and bearing seats, two ends of the shaft are respectively supported by one bearing, the bearings are arranged in the bearing seats, the joints are arranged on the respective shafts and rotate around the respective shafts, and each joint is provided with a limiting spring for limiting the rotation range of the joint.
Further, the front side of the support is provided with a waist fixing belt, and the controller and the air source are both arranged on the rear side of the support.
A rehabilitation method of a knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles comprises the following steps: the method specifically comprises the following steps:
step one, tying the lower limbs of a trainer on an exoskeleton rehabilitation robot by using corresponding fixing belts, so that two legs of a patient stand in parallel;
step two, inflating and shortening front pneumatic muscles of the right thigh and inflating and shortening rear pneumatic muscles of the right crus, lifting the right thigh of the patient forwards and enabling the knee joint of the right leg to generate an angle, sending a feedback signal to a controller by a position and posture sensor when the knee joint of the right leg reaches a certain angle, sending a control signal by the controller to slowly discharge air in the front pneumatic muscles of the right thigh and the rear pneumatic muscles of the right crus until all the air in the front pneumatic muscles of the right thigh and the rear pneumatic muscles of the right crus are discharged, and contacting the right foot of the patient with the ground to finish forward stepping of the right foot;
and step three, inflating and shortening the front pneumatic muscle of the left thigh and inflating and shortening the rear pneumatic muscle of the left calf at the same time to lift the left thigh of the patient forward and enable the knee joint of the left leg to generate an angle, sending a feedback signal to the controller when the knee joint of the left leg reaches a certain angle position, sending a control signal by the controller to slowly discharge air in the front pneumatic muscle of the right thigh and the rear pneumatic muscle of the left calf until all air in the front pneumatic muscle of the thigh and the rear pneumatic muscle of the left calf are discharged and restored to the original positions, contacting the left foot of the patient with the ground, finishing inflation of the rear pneumatic muscle of the right foot and the front pneumatic muscle of the left foot, striding the left leg, stably contacting the left foot with the ground, lifting the heel of the right foot, and preparing for the next movement period.
Further, in the second step, when the front pneumatic muscle of the right thigh and the rear pneumatic muscle of the right calf begin to discharge air, the rear pneumatic muscle of the left foot and the front pneumatic muscle of the right foot begin to inflate, when the front pneumatic muscle of the right thigh and the rear pneumatic muscle of the right calf exhaust, the rear pneumatic muscle of the left foot and the front pneumatic muscle of the right foot end to inflate, and at the same time, the right leg is in front of the left leg, an angle is formed between the two legs, the right foot stably contacts the ground, the left heel is lifted, and preparation is made for the left leg to stride forwards.
Compared with the prior art, the knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles has the following advantages:
the knee hyperextension flexible exoskeleton rehabilitation robot based on the pneumatic muscles has the characteristics of simple structure, low price, large output force and the like by using the pneumatic artificial muscles, and particularly, the safety and the flexibility of the system are greatly improved due to the compressibility of gas. Therefore, the knee hyperextension flexible exoskeleton rehabilitation robot driven by artificial muscles is adopted, the equipment cost is reduced, and more importantly, the safety and flexibility of the system to human bodies are improved. The rigidity of the system can be conveniently changed by adjusting the working pressure of the pneumatic system, the exercise intensity and the speed in the rehabilitation training process are easy to adjust, and the safety and the flexibility of the system to human bodies are improved. The rigidity of the system can be conveniently changed by adjusting the working pressure of the pneumatic system, so that the exercise intensity and the speed in the rehabilitation training process are easy to adjust.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a pneumatic muscle-based knee hyperextension flexible exoskeleton rehabilitation robot according to an embodiment of the invention (without pneumatic muscles installed);
fig. 2 is an isometric view of a pneumatic muscle based knee hyperextension flexible exoskeleton rehabilitation robot according to an embodiment of the present invention (pneumatic muscle mounted);
figure 3 is a front view of a pneumatic muscle based knee hyperextension flexible exoskeleton rehabilitation robot according to an embodiment of the present invention (pneumatic muscle mounted);
FIG. 4 is a rear view of the pneumatic muscle based knee hyperextension flexible exoskeleton rehabilitation robot (pneumatic muscle mounted) according to the embodiment of the present invention
FIG. 5 is a schematic diagram of the structure of a pneumatic muscle;
fig. 6 is a block diagram of the working principle of the present invention.
Description of reference numerals:
1-brace, 2-hip joint, 3-right thigh strap, 3-1-right thigh strap one, 3-2-right thigh strap two, 4-knee joint, 5-right calf strap, 5-1-right calf strap one, 5-2-right calf strap two, 6-right foot, 7-left foot, 8-left calf strap, 9-left thigh strap, 10-controller, 11-right thigh posterior pneumatic muscle, 12-right thigh anterior pneumatic muscle, 13-right calf posterior pneumatic muscle, 14-right calf anterior pneumatic muscle, 15-right foot posterior pneumatic muscle, 16-right foot anterior pneumatic muscle, 17-ankle joint, 18-thigh, 19-calf, 20-foot, 21-right leg, 22-left leg, 23-rotation element.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The hyperextension of the knee, also called as "knee locking", referred to herein means that the knee joint of the affected lower limb is over-extended during the supporting period, the center of gravity of the body is moved backward, the hip joint of the affected lower limb is over-bent, and the body tends to tilt backward during walking or standing.
As shown in fig. 1-6, a pneumatic muscle-based knee hyperextension flexible exoskeleton rehabilitation robot comprises a support 1, lower limbs, a driving system, a sensing system and a portable control and power system, wherein the lower limbs comprise two legs which are respectively a right leg 21 and a left leg 22, the two legs are symmetrically arranged on the support 1, each leg comprises a thigh 18, a shank 19 and a foot 20, a hip joint 2, a knee joint 4 and an ankle joint 17 are sequentially formed between the support 1 and the thigh 18, between the thigh 18 and the shank 19 and between the shank 19 and the foot 20 of each leg, and the hip joint 2, the knee joint 4 and the ankle joint 17 are respectively connected with respective rotating parts;
the driving system comprises thigh driving pneumatic muscles, shank driving pneumatic muscles and foot driving pneumatic muscles, the thigh driving pneumatic muscles, the shank driving pneumatic muscles and the foot driving pneumatic muscles respectively drive the flexion and extension movements of hip joints, knee joints and ankle joints, and the front sides and the rear sides of the hip joints, the knee joints and the ankle joints are connected with the corresponding pneumatic muscles; the pneumatic muscle group comprises a right thigh rear side pneumatic muscle 11, a right thigh front side pneumatic muscle 12, a right shank rear side pneumatic muscle 13, a right shank front side pneumatic muscle 14, a right foot rear side pneumatic muscle 15, a right foot front side pneumatic muscle 16, a left thigh rear side pneumatic muscle, a left thigh front side pneumatic muscle, a left shank rear side pneumatic muscle, a left shank front side pneumatic muscle, a left foot rear side pneumatic muscle and a left foot front side pneumatic muscle;
each group of pneumatic muscles which are correspondingly arranged front and back are respectively connected with an air source through a PWM valve and a reversing valve in turn;
the sensing system comprises a pose sensor, a myoelectricity sensor and an air pressure sensor for collecting the activity information of the lower limbs of the patient, and a group of sensing systems is arranged on each pneumatic muscle;
portable control and driving system install on support 1, including controller 10 and air supply, all perception systems gather patient's low limbs activity information and transmit to the controller, specifically do: the exoskeleton rehabilitation robot collects the activity information of the lower limbs of a patient through sensors (a pose sensor, a myoelectricity sensor and an air pressure sensor), transmits the information to the controller 10 for information processing, starts a corresponding reversing valve set and a PWM valve set after the information processing, and controls the motion of the lower limbs by inflating and deflating corresponding pneumatic muscles.
Each pneumatic muscle comprises an inner air bag, an outer layer of fiber woven mesh and fastening and sealing structures at two ends, the inner air bag is a rubber tube or a latex tube, when air is filled into the inner air bag, the rubber tube or the latex tube expands along the radial direction along with the pressure rise, and then the radial expansion force is changed into the axial contraction force through the force transmission effect of the woven fiber mesh, so that the whole pneumatic muscle contracts axially. The pneumatic muscle is an artificial pneumatic muscle, and the connection mode of the pneumatic muscle adopts a scheme of a double-wedge-surface structure, so that the damage caused by the direct contact of the latex tube and the woven mesh can be avoided, and the reliability is improved.
The upper and lower parts of the thigh are respectively provided with a thigh fixing band which is a right thigh fixing band 3 and a left thigh fixing band 9, the right thigh fixing band 3 comprises a right thigh fixing band I3-1 and a right thigh fixing band II 3-2, and the left thigh fixing band 9 comprises a left thigh fixing band I and a left thigh fixing band II; the upper part and the lower part of the lower leg are respectively provided with a lower leg fixing band which is a right lower leg fixing band 5 and a left lower leg fixing band 8, the right lower leg fixing band 5 comprises a right lower leg fixing band I5-1 and a right lower leg fixing band II 5-2, and the left lower leg fixing band 8 comprises a left lower leg fixing band I and a left lower leg fixing band II;
the rear pneumatic muscle 11 of the right thigh and the front pneumatic muscle 12 of the right thigh are both connected between the lower end of the bracket 1 and the first right thigh fixing band 3-1; the right calf back side pneumatic muscle 13 and the right calf front side pneumatic muscle 14 are connected between the right thigh fixing belt II 3-2 and the right calf fixing belt I5-1; the right foot rear side pneumatic muscle 15 and the right foot front side pneumatic muscle 16 are connected between the right shank fixing belt II 5-2 and the right foot 6; the left thigh rear side pneumatic muscle and the left thigh front side pneumatic muscle are connected between the lower end of the bracket 1 and the left thigh fixing belt I; the left shank rear side pneumatic muscle and the left shank front side pneumatic muscle are connected between the left thigh fixing band II and the left shank fixing band I; the left foot rear side pneumatic muscle and the left foot front side pneumatic muscle are connected between the left crus fixing band II and the left foot 7;
the reversing valve is a two-position two-way electromagnetic reversing valve, and each interface of the electromagnetic reversing valve is respectively connected with the pneumatic muscle air inlet and outlet, the air source and the atmosphere. The PMW valves form a PWM valve bank, the reversing valves form a reversing valve bank, a pressure reducing valve and a throttle valve are arranged between the reversing valve bank and an air source, and the air source is powered by an air pump.
The rotating part comprises a shaft, bearings and bearing seats, two ends of the shaft are respectively supported by one bearing, the bearings are arranged in the bearing seats, each joint is arranged on the respective shaft and rotates around the respective shaft, each joint is provided with a limiting spring for limiting the rotation range of the joint, and the rotating part helps the knee joint and the ankle joint to rotate in an effective range; the rotating component is used for better controlling the bending degree of the lower limb and the leg lifting degree so as to prevent a patient from being injured.
The front side of the bracket 1 is provided with a waist fixing belt, and the controller and the air source are both arranged at the rear side of the bracket 1.
The bracket 1 is connected with the front and back of the thigh by pneumatic muscles so as to lead the whole leg to swing back and forth; the thigh and the front and the back of the shank are connected by pneumatic muscles so as to enable the knee joint to bend; the pneumatic muscles are used to connect the lower leg and the front and back sides of the foot, so that the foot can perform a series of motions of lifting. The pneumatic muscles for driving the front and rear sides of the thigh, the pneumatic muscles for driving the front and rear sides of the calf, and the pneumatic muscles for driving the front and rear sides of the foot are all independently operated.
Before the system works, the lower limbs of a trainer are tied to the mechanical exoskeleton through fixing belts. In the working process, according to the preset walking rehabilitation training gait, the controller sends out a control signal, the pulse width of the reversing valve is adjusted by adopting a fuzzy PID control strategy, the corresponding reversing valve is driven to be opened and closed timely, and then pneumatic muscle inflation or deflation is controlled, so that pneumatic muscle is extended or shortened, and the human legs are driven to walk in a stepping mode according to a certain gait and the foot lifting and placing actions of the feet are completed timely. The whole system is coordinated under the control of the controller, and the air supply pressure can be changed through the pressure reducing valve according to the specific rehabilitation condition of the lower limbs of a trainer in the training process, so that the speed and the boosting strength of the walking gait can be conveniently preset.
The working principle of the invention is introduced by taking the left foot and the right foot of a patient to respectively walk forwards one step as a period, and the rehabilitation method of the knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles comprises the following steps: the method specifically comprises the following steps of,
when two legs of a patient stand in parallel, the front pneumatic muscle of the right thigh is inflated and shortened, and simultaneously the rear pneumatic muscle of the right calf is inflated and shortened, at the same time, the right thigh of the patient is lifted forwards and the knee joint of the right leg generates an angle (a rotating component is arranged at the knee joint of the patient for protecting the knee joint of the patient so as to prevent the knee joint from generating an excessive angle and further prevent the patient from being injured), when the knee joint of the right leg reaches a certain angle, a sensor sends a feedback signal to a controller, the controller sends a control signal to slowly discharge air in the front pneumatic muscle of the right thigh and the rear pneumatic muscle of the right calf (the air pressure sensor monitors in real time so as to prevent the patient from being injured due to the excessive air discharge), when the front pneumatic muscle of the right thigh and the rear pneumatic muscle of the right calf return to original positions (all air is discharged), the right foot of the patient contacts the ground, and in order to prevent the gravity, when the front pneumatic muscle of the right thigh and the rear pneumatic muscle of the right crus begin to discharge air, the rear pneumatic muscle of the left foot and the front pneumatic muscle of the right foot begin to inflate (when the front pneumatic muscle of the right thigh and the rear pneumatic muscle of the right crus exhaust, the rear pneumatic muscle of the left foot and the front pneumatic muscle of the right foot also finish inflating), and at this time, the right leg forms an angle between the front two legs of the left leg, the right foot stably contacts the ground, the left heel is lifted, and preparation is made for the forward striding of the left leg;
and step two, after the actions are finished, inflating and shortening the front pneumatic muscle of the left thigh and inflating and shortening the rear pneumatic muscle of the left calf at the same time, so that the left thigh of the patient is lifted forwards and the knee joint of the left leg generates an angle, when the knee joint of the left leg reaches a certain angle position and posture sensor to send a feedback signal to the controller, the controller sends a control signal to slowly discharge air in the front pneumatic muscle of the right thigh and the rear pneumatic muscle of the left calf, when the front pneumatic muscle of the thigh and the rear pneumatic muscle of the left calf restore to the original positions, the left foot of the patient contacts the ground, at the moment, the inflation of the rear pneumatic muscle of the right foot and the front pneumatic muscle of the left foot is finished, at the moment, the left leg can stably contact the ground in front of the right leg, the left foot is lifted, and the preparation is made for the next movement period.
The rehabilitation robot helps patients to walk and train, enhances muscle memory and achieves the rehabilitation effect of the patients.
The knee extension rehabilitation robot has the characteristics of high power-to-quality ratio, high response speed, low manufacturing cost, good flexibility, safety and reliability, and the driving mode of pneumatic muscles can improve the flexibility and comfort of the whole exoskeleton system and reduce the total mass and low manufacturing cost of the system; and the control system can realize the fusion of external environment information and the control intention of an operator, so that the equipment has high self-adaptive capacity and interactive training adaptive capacity, reasonable feedback adjustment and mutual adaptability between a human and the exoskeleton robot are realized, and human-computer fusion is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a knee hyperextension flexible ectoskeleton rehabilitation robot based on pneumatic muscle which characterized in that: the lower limb comprises two legs, the two legs are symmetrically arranged on the support, each leg comprises a thigh, a shank and a foot, hip joints, knee joints and ankle joints are sequentially formed between the support and the thigh, between the thigh and the shank and between the shank and the foot of each leg, and the hip joints, the knee joints and the ankle joints are respectively connected with respective rotating parts;
the driving system comprises thigh driving pneumatic muscles, shank driving pneumatic muscles and foot driving pneumatic muscles, the thigh driving pneumatic muscles, the shank driving pneumatic muscles and the foot driving pneumatic muscles respectively drive the flexion and extension movements of hip joints, knee joints and ankle joints, and the front sides and the rear sides of the hip joints, the knee joints and the ankle joints are connected with the corresponding pneumatic muscles;
each group of pneumatic muscles which are correspondingly arranged front and back are respectively connected with an air source through a PWM valve and a reversing valve in turn;
the sensing system comprises a pose sensor, a myoelectricity sensor and an air pressure sensor for collecting the activity information of the lower limbs of the patient, and a group of sensing systems is arranged on each pneumatic muscle;
the portable control and power system is arranged on the bracket and comprises a controller and an air source, and all sensing systems collect the lower limb movement information of the patient and transmit the information to the controller.
2. The pneumatic muscle-based knee hyperextension flexible exoskeleton rehabilitation robot of claim 1, wherein: each pneumatic muscle comprises an inner air bag, an outer layer of fiber woven mesh and fastening and sealing structures at two ends, the inner air bag is a rubber tube or a latex tube, when air is filled into the inner air bag, the rubber tube or the latex tube expands along the radial direction along with the pressure rise, and then the radial expansion force is changed into the axial contraction force through the force transmission effect of the woven fiber mesh, so that the whole pneumatic muscle contracts axially.
3. The pneumatic muscle-based knee hyperextension flexible exoskeleton rehabilitation robot of claim 1, wherein: the upper and lower parts of the thigh are respectively provided with a thigh fixing band, the upper and lower parts of the shank are respectively provided with a shank fixing band, and the thigh driving pneumatic muscle is connected between the lower end of the bracket and the thigh fixing band positioned at the upper part; the shank driving pneumatic muscle is connected between the thigh fixing band positioned at the lower part and the shank fixing band positioned at the upper part; the foot-driven pneumatic muscle is connected between the lower shank fixation strap and the foot device.
4. The pneumatic muscle-based knee hyperextension flexible exoskeleton rehabilitation robot of claim 1, wherein: the pneumatic muscles for driving the front and rear sides of the thigh, the pneumatic muscles for driving the front and rear sides of the calf, and the pneumatic muscles for driving the front and rear sides of the foot are all independently operated.
5. The pneumatic muscle-based knee hyperextension flexible exoskeleton rehabilitation robot of claim 1, wherein: the reversing valve is a two-position two-way electromagnetic reversing valve, and each interface of the electromagnetic reversing valve is respectively connected with the pneumatic muscle air inlet and outlet, the air source and the atmosphere.
6. The pneumatic muscle-based knee hyperextension flexible exoskeleton rehabilitation robot of claim 1, wherein: the reversing valve set is formed by a plurality of reversing valves, a pressure reducing valve and a throttle valve are arranged between the reversing valve set and an air source, and the air source is powered by an air pump.
7. The pneumatic muscle-based knee hyperextension flexible exoskeleton rehabilitation robot of claim 1, wherein: the rotating part comprises a shaft, bearings and bearing seats, two ends of the shaft are respectively supported by one bearing, the bearings are arranged in the bearing seats, each joint is arranged on the respective shaft and rotates around the respective shaft, and each joint is provided with a limiting spring for limiting the rotation range of the joint.
8. The pneumatic muscle-based knee hyperextension flexible exoskeleton rehabilitation robot of claim 1, wherein: the front side of support is equipped with waist fixed band, the rear side at the support is all installed to controller and air supply.
9. A rehabilitation method for a pneumatic muscle based knee hyperextension flexible exoskeleton rehabilitation robot according to any one of claims 1-8, characterized in that: the method specifically comprises the following steps:
step one, tying the lower limbs of a trainer on an exoskeleton rehabilitation robot by using corresponding fixing belts, so that two legs of a patient stand in parallel;
step two, inflating and shortening front pneumatic muscles of the right thigh and inflating and shortening rear pneumatic muscles of the right crus, lifting the right thigh of the patient forwards and enabling the knee joint of the right leg to generate an angle, sending a feedback signal to a controller by a position and posture sensor when the knee joint of the right leg reaches a certain angle, sending a control signal by the controller to slowly discharge air in the front pneumatic muscles of the right thigh and the rear pneumatic muscles of the right crus until all the air in the front pneumatic muscles of the right thigh and the rear pneumatic muscles of the right crus are discharged, and contacting the right foot of the patient with the ground to finish forward stepping of the right foot;
and step three, inflating and shortening the front pneumatic muscle of the left thigh and inflating and shortening the rear pneumatic muscle of the left calf at the same time to lift the left thigh of the patient forward and enable the knee joint of the left leg to generate an angle, sending a feedback signal to the controller when the knee joint of the left leg reaches a certain angle position, sending a control signal by the controller to slowly discharge air in the front pneumatic muscle of the right thigh and the rear pneumatic muscle of the left calf until all air in the front pneumatic muscle of the thigh and the rear pneumatic muscle of the left calf are discharged and restored to the original positions, contacting the left foot of the patient with the ground, finishing inflation of the rear pneumatic muscle of the right foot and the front pneumatic muscle of the left foot, striding the left leg, stably contacting the left foot with the ground, lifting the heel of the right foot, and preparing for the next movement period.
10. The rehabilitation method for a pneumatic muscle-based knee hyperextension flexible exoskeleton rehabilitation robot as claimed in claim 9, wherein: and step two, when the front pneumatic muscle of the right thigh and the rear pneumatic muscle of the right crus begin to discharge air, the rear pneumatic muscle of the left foot and the front pneumatic muscle of the right foot begin to inflate, when the front pneumatic muscle of the right thigh and the rear pneumatic muscle of the right crus exhaust, the rear pneumatic muscle of the left foot and the front pneumatic muscle of the right foot end to inflate, and at the moment, the right leg is in front of the left leg, an angle is formed between the two legs, the right foot stably contacts the ground, the left heel is lifted, and preparation is made for the left leg to stride forwards.
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