CN111658436A - Knee joint exoskeleton rehabilitation robot mechanism based on integral tensioning structure - Google Patents
Knee joint exoskeleton rehabilitation robot mechanism based on integral tensioning structure Download PDFInfo
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- CN111658436A CN111658436A CN202010617755.1A CN202010617755A CN111658436A CN 111658436 A CN111658436 A CN 111658436A CN 202010617755 A CN202010617755 A CN 202010617755A CN 111658436 A CN111658436 A CN 111658436A
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 title claims abstract description 15
- 210000003414 extremity Anatomy 0.000 claims abstract description 20
- 210000003205 muscle Anatomy 0.000 claims abstract description 10
- 210000001699 lower leg Anatomy 0.000 claims description 18
- 230000000712 assembly Effects 0.000 claims description 15
- 238000000429 assembly Methods 0.000 claims description 15
- 210000000689 upper leg Anatomy 0.000 claims description 13
- 230000003252 repetitive effect Effects 0.000 claims description 3
- 244000309466 calf Species 0.000 claims 1
- 210000003127 knee Anatomy 0.000 claims 1
- 230000003993 interaction Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 230000008602 contraction Effects 0.000 description 6
- 201000010099 disease Diseases 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 208000027089 Parkinsonian disease Diseases 0.000 description 2
- 206010034010 Parkinsonism Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 208000020431 spinal cord injury Diseases 0.000 description 2
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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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
-
- 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
-
- 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
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
- A63B21/055—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters extension element type
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- 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)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Epidemiology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a knee joint exoskeleton rehabilitation robot mechanism based on a tensioning integral structure. The invention and the affected limb form a tensioning integral structure, when lifting the shank, the spring component of the invention can effectively replace the cramped or atrophic muscle of the patient, so that the patient has enough strength to lift the shank. The invention has strong human-computer interaction performance, thereby ensuring that a patient obtains good rehabilitation effect in rehabilitation training and greatly improving the safety of the rehabilitation training.
Description
Technical Field
The invention relates to the technical field of rehabilitation robots, in particular to a knee joint exoskeleton rehabilitation robot mechanism based on a tensioning integral structure.
Background
The number of physical disabilities caused by stroke, spinal cord injury, parkinsonism and other diseases in real life is rapidly increasing. These diseases are the major killers of the motor dysfunction of the body and are one of the diseases with the highest disability rate at present. Therefore, these diseases not only cause serious physical and psychological damages to patients, but also cause enormous economic burden to society.
By utilizing the rehabilitation robot equipment, the daily life of the patient can be facilitated, the aim of rehabilitation training can be fulfilled, the labor cost is reduced, and the possibility of recovering the motion function of the patient is improved. The exoskeleton rehabilitation robot is similar to human legs in mechanical structure and convenient for a patient to wear.
The existing exoskeleton rehabilitation robot device is large in size, slow in action, stiff in action and poor in man-machine interaction performance after being worn by a patient, and the rehabilitation efficiency of the patient is greatly reduced.
Disclosure of Invention
In order to solve the problems, the invention provides a knee joint exoskeleton rehabilitation robot mechanism based on a tensioning integral structure, which is used for improving the problems of large volume, slow action of a patient after wearing and poor man-machine interaction performance of exoskeleton rehabilitation robot equipment and improving the rehabilitation efficiency of the patient.
In order to solve the technical problems, the specific technical scheme of the invention is as follows: the stretching-based integral structure is in a self-stress state and forms a continuous whole, and when the stretching-based integral structure is applied to mechanical design, the stretching-based integral structure can provide proper external force and buffer effect for the exoskeleton rehabilitation robot. The mechanism comprises a thigh component, a knee joint component, a shank component, a spring component and an auxiliary component for tensioning the whole structure. The thigh component is rotationally connected with the spring component, the knee joint component is rotationally connected with the spring component, and the shank component is rotationally connected with the spring component; the auxiliary assembly of the integral tensioning structure is fixedly connected with the spring assembly.
The invention has the beneficial effects that:
(1) the invention is different from the prior art, and utilizes the idea of stretching the whole structure to be combined with the lower limb of the human body to form a continuous stretching whole structure. The designed knee joint exoskeleton rehabilitation robot mechanism has the characteristics of strong man-machine interaction performance and high compliance, and meanwhile, the size of the exoskeleton rehabilitation robot is greatly reduced, and the exoskeleton rehabilitation robot mechanism is easier to wear;
(2) by adopting the mechanism, when a patient wears the invention to carry out repetitive passive rehabilitation training, the invention and the affected limb form a tensioning integral structure, and when the patient lifts the crus, the spring assembly can effectively replace the cramped or atrophic muscles of the patient, so that the patient has enough strength to lift the crus. The invention has strong human-computer interaction performance, thereby ensuring that a patient can obtain good rehabilitation effect in rehabilitation training and greatly improving the safety of the rehabilitation training.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the technical description will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is an overall structure diagram of a knee joint exoskeleton rehabilitation robot mechanism with a tension overall structure.
Fig. 2 is a schematic view of another angle of the relative position relationship in fig. 1.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
After the patient uses the exoskeleton rehabilitation robot, the exoskeleton rehabilitation robot can play a role in supporting the affected limb and assisting rehabilitation training.
The invention is explained in further detail with reference to fig. 1. The knee joint exoskeleton rehabilitation robot mechanism with a tensioned integral structure is characterized by comprising a thigh component (1), a knee joint component (9), a shank component (25), tensioned integral structure auxiliary components (5), (7), (14), (22) and spring components (2), (3), (4), (6), (8), (10), (11), (12), (13), (15), (16), (17), (18), (19), (20), (21), (23), (24). The thigh component is rotatably connected with the spring components (2), (3) and (16), the knee joint component is rotatably connected with the spring components (8), (10), (11), (18), (19) and (20), and the lower leg component is rotatably connected with the spring components (15), (23) and (24); the tensioning integral structure auxiliary assemblies (5) and (7) are fixedly connected with the spring assemblies (4), (6) and (17) and are rotatably connected with the spring assemblies (8), (18) and (19); the tensioning integral structure auxiliary assemblies (14) and (22) are fixedly connected with the spring assemblies (12), (13) and (21) and are rotatably connected with the spring assemblies (15), (23) and (24).
In particular, the term "rotary connection" as used in the present invention refers to a suitable motor drive, the motor mounting position of which is the position of the rotary connection. By "fixedly attached" is meant secured by a suitable screw, the screw-securing position of which is the fixed attachment position.
The materials and shapes of the thigh component (1), the knee joint component (9), the shank component (25) and the tension integral structure auxiliary components (5), (7), (14) and (22) in the invention can be freely selected by a person skilled in the art according to the implementation environment, but any materials are within the protection scope of the invention. The spring constant of the spring assembly (2), (3), (4), (6), (8), (10), (11), (12), (13), (15), (16), (17), (18), (19), (20), (21), (23), (24) in the present invention is determined according to the material of the auxiliary assembly of the large tension whole structure, but any spring is within the protection scope of the present invention.
The "patient" mentioned in the present invention is generally a physically disabled person caused by stroke, spinal cord injury, parkinsonism, etc., and for different patients, there may be differences in sex, age, height, weight, etc., so that there may also be differences in wearing positions. Meanwhile, the "affected limb" mentioned in the present invention generally refers to a limb of a patient with inconvenient movement, i.e. a lower limb requiring rehabilitation training.
Referring to fig. 2, fig. 2 is a schematic view of another angle of the relative position relationship in fig. 1. The space formed in the middle of the arc-shaped structure seen from the schematic diagram of fig. 2 can be used for placing the affected limb of the patient, and the comfort of the affected limb is ensured by the arc-shaped structure. The thigh component (1), the knee joint component (9) and the shank component (25) can be adjusted to adapt to the affected limb according to the size of the affected limb.
The installation of the thigh assembly (1), knee joint assembly (9), and lower leg assembly (25) and the operation of each spring will be described in detail below.
Firstly, the patient wears the invention on the affected limb and is in a state of a semi-squat sitting posture, when the patient lifts the lower leg, the tension auxiliary component (14) of the invention is connected with the contraction spring components (11) and (15) through rotation, the tension auxiliary component (22) is connected with the contraction spring components (20) and (24) through rotation, the lower leg component (25) is connected with the extension spring component (23) through rotation, the knee joint component (9) is connected with the extension spring component (10) through rotation, and the spring components (12), (13), (21) provide protective force during the motion of the affected limb, so that the muscle of the patient is prevented from being excessively pulled when the contraction components are loosened. Wherein, the spring components (10) and (23) of the invention replace gastrocnemius of the affected leg, the spring components (11) and (15) replace tibialis anterior muscle of the affected leg, and the spring components (20) and (24) replace extensor digitorum longus of the affected leg.
Meanwhile, the stretching auxiliary assembly (7) is connected with the contraction spring assemblies (3) and (8) through rotation, the stretching auxiliary assembly (5) is connected with the contraction spring assemblies (16) and (19) through rotation, the knee joint assembly (9) is connected with the extension spring assembly (18) through rotation, the thigh assembly (1) is connected with the extension spring assembly (2) through rotation, and the spring assemblies (4), (6) and (17) provide protective force during the movement of the affected limb, so that the muscle of a patient is prevented from being excessively stretched when the contraction components are relaxed. The spring components (3) and (8) of the invention replace the medial femoral muscle of the thigh of the affected limb, the spring components (16) and (19) replace the sartorius muscle of the thigh of the affected limb, and the spring components (2) and (18) replace the biceps femoris muscle of the thigh of the affected limb.
When the invention moves to the position on the affected limb, the patient can lift the affected limb to achieve the effect of rehabilitation training. Meanwhile, when the patient puts down the lower leg, the motion mode of each part of the invention is similar to that when the patient lifts up the lower leg, and the description is not repeated.
By adopting the structure, when a patient wears the invention to carry out repetitive passive rehabilitation training, the invention and the affected limb form a tensioning integral structure, and when lifting the crus, the spring assembly can effectively replace the cramped or atrophic muscles of the patient, so that the patient has enough strength to lift the crus. The invention has strong human-computer interaction performance, thereby ensuring that a patient can obtain good rehabilitation effect in rehabilitation training and greatly improving the safety of the rehabilitation training.
The above description is an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications made by the equivalent structures or equivalent processes in the contents of the specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.
Claims (3)
1. The knee joint exoskeleton rehabilitation robot mechanism based on the tension integral structure is characterized by comprising a thigh component (1), a knee joint component (9), a shank component (25), tension integral structure auxiliary components (5), (7), (14), (22) and spring components (2), (3), (4), (6), (8), (10), (11), (12), (13), (15), (16), (17), (18), (19), (20), (21), (23), (24), and is worn on an affected limb of a patient to form the knee joint exoskeleton rehabilitation robot mechanism of the tension integral structure.
2. Mechanism according to claim 1, characterized in that the thigh assembly is pivotally connected to a spring assembly (2), (3), (16), the knee assembly is pivotally connected to a spring assembly (8), (10), (11), (18), (19), (20), and the calf assembly is pivotally connected to a spring assembly (15), (23), (24); the tensioning integral structure auxiliary assemblies (5) and (7) are fixedly connected with the spring assemblies (4), (6) and (17) and are rotatably connected with the spring assemblies (8), (18) and (19); the tensioning integral structure auxiliary assemblies (14) and (22) are fixedly connected with the spring assemblies (12), (13) and (21) and are rotatably connected with the spring assemblies (15), (23) and (24).
3. The mechanism of claim 2, wherein the spring assembly of the present invention is constructed as a tensegrity with the affected limb when the patient wears the present invention for repetitive passive rehabilitation training, and the spring assembly of the present invention can effectively replace the patient's cramped or atrophied muscles when lifting the lower leg, so that the patient has sufficient strength to lift the lower leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010617755.1A CN111658436B (en) | 2020-07-01 | 2020-07-01 | Knee joint exoskeleton rehabilitation robot mechanism based on integral tensioning structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010617755.1A CN111658436B (en) | 2020-07-01 | 2020-07-01 | Knee joint exoskeleton rehabilitation robot mechanism based on integral tensioning structure |
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| CN111658436A true CN111658436A (en) | 2020-09-15 |
| CN111658436B CN111658436B (en) | 2022-08-02 |
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| Publication number | Publication date |
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| CN111658436B (en) | 2022-08-02 |
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