CN111811851A - A test system for static lower extremity rehabilitation aids - Google Patents

Abstract

The invention discloses a static lower limb rehabilitation aid testing system, comprising: a base and a moving device, wherein the moving device comprises: a horizontally arranged horizontal guide rail, a vertically arranged vertical guide rail and a joint fixing structure. The bottom end is fixed on the base, the bottom end of the vertical guide rail is fixed on the slider on the horizontal guide rail, and the joint fixing structure is fixed on the slider on the vertical guide rail for A rehabilitation aid is installed, and the rehabilitation aid is an exoskeleton joint module or a prosthetic limb module. The rehabilitation aids of the static lower extremity rehabilitation aids testing system can choose an exoskeleton joint module or a prosthetic limb module to test different rehabilitation aids, obtain the parameter requirements for the rehabilitation aids, and directly interact with the rehabilitation aids. Evaluation of its auxiliary effect.

Description

A test system for static lower extremity rehabilitation aids

technical field

The invention belongs to the technical field of rehabilitation aids, and in particular relates to a static lower limb rehabilitation aid testing system.

Background technique

By the end of 2013, my country's elderly population had reached 202 million, accounting for about 15% of the total population, including 37.5 million disabled elderly people and more than 85 million disabled people; There will be 46 million elderly people with disabilities, and 98 million people with disabilities. Most of them need rehabilitation aids in their daily lives.

At present, there are existing research on rehabilitation aids at home and abroad: HAL series lower extremity exoskeletons from the University of Tsukuba in Japan, LOKOMAT jointly developed by the Swiss Federal University of Technology and Swiss University, and lower extremity dynamic exoskeletons developed by biomedical engineering at the University of Twente in the Netherlands and the wearable lower limb walking exoskeleton developed by the Institute of Mechanical and Electrical Engineering of Zhejiang University. These studies focus on the structural design and control of the lower limb exoskeleton training robot, but ignore the research on the auxiliary effect of the exoskeleton.

In the early days, the evaluation of the auxiliary effects of rehabilitation aids was mainly through the physical therapists' visual observation of the subjects' training process, and the evaluation of the auxiliary effects of rehabilitation aids based on their own experience. However, this evaluation method is highly subjective, inefficient, and cannot precisely control and record the parameters in the training process.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the purpose of the present invention is to provide a static lower extremity rehabilitation aid testing system, the static lower extremity rehabilitation aid testing system is set with a sitting working mode, and simulates the application scene of the lower extremity rehabilitation aid; A variety of sensors are installed to collect various data in the actual application process in real time, which can evaluate the characteristics of different aspects of rehabilitation aids; at the same time, the test platform is equipped with comprehensive safety protection measures from multiple perspectives to ensure Comfort and safety during use.

The purpose of the present invention is achieved through the following technical solutions.

A static lower limb rehabilitation aid testing system, comprising: a base and a moving device, the moving device includes: a horizontally arranged horizontal guide rail, a vertically arranged vertical guide rail and a joint fixing structure, and the bottom end of the horizontal guide rail is fixedly mounted On the base, the bottom end of the vertical guide rail is fixed to the slider on the horizontal guide rail, and the joint fixing structure is fixedly installed on the slider of the vertical guide rail for installing rehabilitation aids , the rehabilitation aid is an exoskeleton joint module or a prosthetic limb module.

In the above technical solution, it also includes: a seat fixedly mounted on the base, and the vertical guide rail is located on one side in front of the seat.

In the above technical solution, the joint fixing structure includes: a bearing seat, a rotating bracket, a mounting rod and a locking block, the bearing seat is fixedly mounted with the slider of the vertical guide rail, and the rotating bracket is connected to the bearing seat The shaft is connected to the bearing seat and can be rotated on the bearing seat, and the locking block is installed on the rotation bracket to relatively fix the rotation bracket and the bearing seat; the installation rods are multiple and are installed on The rotating bracket is used to install the exoskeleton joint module or the prosthetic limb module.

In the above technical solution, the rotating bracket comprises: a shaft and a fixing plate fixedly mounted on one end of the shaft, the rotating bracket is axially connected to the bearing seat through the other end of the shaft, and the mounting rod is fixedly mounted on the fixed plate.

In the above technical solution, the mounting rod is located on the side of the fixing plate away from the bearing seat.

In the above technical solution, the number of the mounting rods is four, and the four mounting rods are distributed along a rectangular array and are respectively located at four corners of a rectangle.

In the above technical solution, there are two locking blocks, and each locking block is a cam structure.

In the above technical solution, the exoskeleton joint module is formed with a plurality of through holes along the circumferential direction, and when the exoskeleton joint module is installed on the joint fixing structure, each installation rod passes through one of the through holes ;

The prosthetic module includes a cylindrical structure or an approximately cylindrical structure, and when the prosthetic module is mounted on the joint fixation structure, the cylindrical or approximately cylindrical structure is embedded between a plurality of mounting rods and is held by all the mounting rods. The mounting rod is fixed.

In the above technical solution, a joint motor is installed in the rehabilitation aid, and the static lower limb rehabilitation aid test system further includes an industrial computer, which controls the movement of the joint motor.

In the above technical solution, it also includes: an encoder and/or a sensor installed in the rehabilitation aid, the encoder is used to obtain the rotation angle, angular velocity and angular acceleration of the joint motor of the rehabilitation aid, and the sensor is used for In order to obtain the torque of the joint motor of the rehabilitation aid, the industrial computer obtains the data of the encoder and/or sensor.

In the above technical solution, a relay is provided on the circuit of the industrial computer for controlling the motion of the joint motor, and further includes: a single-chip microcomputer for controlling the relay.

In the above technical solution, the single-chip microcomputer controls the movement of the horizontal guide rail and the vertical guide rail.

In the above technical solution, a travel switch is installed on the rehabilitation aid to limit the upper limit of the rotation of the joint motor. The travel switch is electrically connected with the single-chip microcomputer.

In the above technical solution, it further includes: a joint driver for controlling the rotation of the joint motor, the relay is electrically connected to the joint motor through the joint driver, and is provided on the circuit between the relay and the industrial computer There are data exchange cards.

In the above technical solution, a motion control card is provided on the circuit between the data exchange card and the industrial computer.

In the above technical solution, the single-chip microcomputer is electrically connected to the horizontal guide rail motor of the horizontal guide rail, and the single-chip microcomputer is electrically connected to the vertical guide rail motor of the vertical guide rail.

In the above technical solution, the single-chip microcomputer controls the horizontal guide rail motor through a horizontal guide rail driver, and the single-chip microcomputer controls the vertical guide rail motor through a vertical guide rail driver.

In the above technical solution, the industrial computer acquires the data of the encoder and/or the sensor through a data acquisition card.

In the above technical solution, the single-chip microcomputer is electrically connected to the data acquisition card, the single-chip computer determines whether the data of the encoder and/or sensor reaches a threshold value, and when the threshold value is reached, the single-chip computer controls the relay to disconnect the circuit.

In the above technical solution, the industrial computer is connected with a signal input terminal and a display.

Compared with the prior art, the beneficial effects of the present invention are as follows:

(1) The static lower limb rehabilitation aid testing system is designed with horizontal guide rails and vertical guide rails. By adjusting the positions of the sliders on the horizontal guide rails and the vertical guide rails, the joints (hips, knees, and knees) at different positions in sitting and standing positions can be adjusted. , ankle) test, effectively simulate the actual use scene of the lower limb rehabilitation aids, and restore the real use scene of the wearer of the rehabilitation aids;

(2) The joint fixation structure of the static lower limb rehabilitation aids test system is designed with a locking block with a cam structure. During the experiment, after the subject wears the exoskeleton or prosthetic module and adjusts the comfort, the locking block can effectively To achieve the locking of the joint fixation structure;

(3) The rehabilitation aids of the static lower extremity rehabilitation aids testing system can choose exoskeleton joint modules or prosthetic limb modules to test different rehabilitation aids, obtain the parameter requirements for rehabilitation aids, or directly connect with rehabilitation aids. interact and evaluate its auxiliary effects;

(4) The hardware system takes into account the modular design, which is convenient for secondary development, and provides convenience for the development of lower limb rehabilitation aids in multiple directions and angles;

(5) The static lower extremity rehabilitation aids test system is equipped with safety protection measures such as travel switches and relays to protect the safety of the subjects.

Description of drawings

Fig. 1 is the structural representation of the static lower limb rehabilitation aid test system of the present invention;

2 is a schematic structural diagram of a static lower limb rehabilitation aid testing system of the present invention;

Figure 3 is a sectional view (left) and a top view (right) of the rotating bracket;

Fig. 4 is the three-dimensional structure schematic diagram of the rotating bracket;

FIG. 5 is a schematic structural diagram of an exoskeleton joint module;

Figure 6a is a front view of a prosthetic module;

Figure 6b is a rear view of the prosthetic module;

Figure 7 is a schematic structural diagram of an exoskeleton;

8 is a schematic diagram of the electrical control structure of the static lower limb rehabilitation aid testing system of the present invention;

Fig. 9a is the use state diagram (prosthetic limb module) of the static lower limb rehabilitation aid testing system of the present invention;

Fig. 9b is a use state diagram (exoskeleton joint module) of the static lower limb rehabilitation aid testing system of the present invention;

Fig. 9c is the use state diagram (exoskeleton joint module) of the static lower limb rehabilitation aid test system of the present invention;

Fig. 9d is the use state diagram (exoskeleton joint module) of the static lower limb rehabilitation aid test system of the present invention;

Figure 10a is the sampling expected value and actual value obtained according to method 2;

Figure 10b shows the sampled expected and actual values obtained according to method 1.

in,

1: base, 2: seat, 3: horizontal rail, 301: horizontal rail driver, 302: horizontal rail motor, 4: vertical rail, 401: vertical rail driver, 402: vertical rail motor, 5: joint fixation Structure, 501: Bearing Block, 502: Rotating Bracket, 503: Mounting Rod, 504: Locking Block, 6: Microcontroller; 7: Joint Motor, 8: Exoskeleton Joint Module, 801: Reducer, 802: Fixed End Bracket, 803 : Output bracket, 9: Waist fixed brace, 10: Upper thigh fixed brace, 11: Lower thigh fixed brace, 12: Upper calf fixed brace, 13: Lower calf fixed brace, 14: Foot fixed brace Tool, 15: Thigh rod, 16: Calf rod; 17: Prosthesis module, 1701: Prosthetic socket connector, 1702: Calf tube connector, 18: Industrial computer, 19: Data acquisition card, 20: Sensor, 21: Code controller, 22: joint driver, 24: motion control card, 25: data exchange card, 26: relay, 27: travel switch.

Detailed ways

The technical scheme of the static lower limb rehabilitation aid testing system of the present invention is further described below with reference to specific embodiments.

The models of the instruments involved in the following examples are as follows:

Industrial computer: IDEL-12

Motion control card: GT-400-SV-ISA-G

Data exchange card: terminal board of motion control card, matching with motion control card, no model

Exoskeleton module (self-assembly): joint driver: AP2-090, joint motor: GRM7613H, encoder: AM64/1617, reducer: LCSG-I-25-160, sensor (torque sensor): M2210G

Data acquisition card: M8128B1SN04375

Relay: JQC-3FF-S-Z

Microcontroller: STM32F4

Travel switch: XCE102

Example 1

As shown in Figures 1-2, it includes a base 1, a moving device and a seat 2 fixed on the base 1. The moving device includes: a horizontal guide rail 3 arranged horizontally, a vertical guide rail 4 arranged vertically, and a joint fixed Structure 5, the bottom end of the horizontal guide rail 3 is fixed on the base 1, the vertical guide rail 4 is located on the front side of the seat 2 (front: the side of the patient sitting on the upper leg of the seat), and the bottom end of the vertical guide rail 4 The joint fixing structure 5 is fixedly mounted on the slider of the horizontal guide rail 3 , and the joint fixing structure 5 is fixedly mounted on the slider of the vertical guide rail 4 , and is used to install a rehabilitation aid, which is an exoskeleton joint module 8 or a prosthesis module 17 . By adjusting the sliding distance of the sliders on the horizontal guide rail 3 and the vertical guide rail 4 , the position between the joint fixing structure 5 and the seat 2 is adjusted so that the joint fixing structure 5 moves on the plane on one side of the seat 2 .

The use method of the static lower limb rehabilitation aid test system of the present invention includes method one or method two:

Method 1 (for the initial stage of rehabilitation): make the patient wear rehabilitation aids, control the rehabilitation aids to drive the patient to move based on the expected data of a gait cycle, measure the actual data of the rehabilitation aids in this gait cycle, and assign a gait The expected data for the period is compared with the actual data.

Method 2 (used in the middle or end stage of rehabilitation): make the patient exercise and actively drive the rehabilitation aids to exercise, obtain the actual data of a gait cycle and compare it with the expected data (the expected data is based on the data obtained from healthy people).

Through the above methods, an objective evaluation of the auxiliary effect of rehabilitation aids can be made.

Make the patient wear rehabilitation aids: when the rehabilitation aid is an exoskeleton joint module, the patient wears an exoskeleton; when the rehabilitation aid is a prosthetic limb module, the patient wears a prosthesis.

Example 2

On the basis of Embodiment 1, as shown in FIGS. 3 to 4 , the joint fixing structure 5 includes: a bearing seat 501 , a rotating bracket 502 , a mounting rod 503 and a locking block 504 , and the bearing seat 501 is fixed to the slider of the vertical guide rail 4 . The rotating bracket 502 is axially connected with the bearing seat 501 and can be rotated on the bearing seat 501, and a locking block 504 is installed on the rotating bracket 502 to relatively fix the rotating bracket 502 and the bearing seat 501; Each of them is installed on the rotating bracket 502 for installing the exoskeleton joint module 8 or the prosthesis module 17 .

Preferably, the rotating bracket 502 includes: a shaft and a fixed plate fixed to one end of the shaft, the rotating bracket 502 is axially connected to the bearing seat 501 through the other end of the shaft, and the mounting rod 503 is fixedly installed on the fixed plate and is located on the fixed plate away from the bearing seat side of the 501.

Preferably, the number of the mounting rods 503 is four, and the four mounting rods 503 are distributed along a rectangular array and are respectively located at four corners of a rectangle. The distribution of the installation rods 503 may also have other forms, as long as the rehabilitation aids can be installed.

Preferably, there are two locking blocks 504, and each locking block 504 is a cam structure with a curved arm. The locking block 504 is rotatable on the rotating bracket 502 and can be fastened by bolts when rotated to a certain angle. The locking block 504 is rotated and the cam structure of the locking block 504 is pressed against the bearing seat 501 , and the locking block 504 is fixed relative to the rotating bracket 502 by bolting, and then the rotating bracket 502 is relatively fixed to the bearing seat 501 . It is further explained that the bearing seat includes: a base plate and a cylindrical casing fixed on the base plate, two side-by-side rolling bearings are installed inside the cylindrical casing, the shaft of the rotating bracket 502 is installed in the rolling bearing in the cylindrical casing, when the locking block 504 When the rotating bracket 502 is relatively fixed to the bearing seat 501 , the cam structure of the locking block 504 presses the outer surface of the cylindrical shell of the bearing seat 501 . Preferably, a layer of polyurethane coating is applied on the outer surface of the cylindrical shell to increase the surface friction.

A joint motor 7 is installed in the rehabilitation aid, and the static lower limb rehabilitation aid test system further includes: an industrial computer 18 , and the industrial computer 18 controls the movement of the joint motor 7 .

An encoder 21 and a sensor 20 are installed in the rehabilitation aid. The sensor 20 can be a torque sensor or other sensors for measuring torque. The encoder 21 is used to obtain the rotation angle, angular velocity and angular acceleration of the joint motor 7 of the rehabilitation aid. , the sensor 20 is used to obtain the torque of the joint motor 7 of the rehabilitation aid, and the industrial computer 18 obtains the data of the encoder 21 and the sensor 20 .

As shown in FIG. 5 , the exoskeleton joint module 8 is formed with a plurality of through holes in the circumferential direction. When the exoskeleton joint module 8 is installed on the joint fixing structure 5 , each installation rod 503 passes through one through hole.

As shown in FIGS. 6 a and 6 b , the prosthetic module 17 includes a cylindrical structure or an approximately cylindrical structure, and when the prosthetic module 17 is mounted on the joint fixation structure 5 , the cylindrical or approximately cylindrical structure is embedded into the plurality of mounting rods 503 and is fixed by the mounting rod 503.

Preferably, the rehabilitation aids are as follows:

The exoskeleton joint module includes: a joint motor 7, a reducer 801, a fixed end bracket 802, an output end bracket 803 and a sensor 20, the sensor 20 is a torque sensor; the joint motor 7 is a flat DC motor dedicated to robot joints, and the main body is a flat DC motor. Cylindrical, an output shaft is formed on the circular surface of the flat cylindrical shape; the reducer 801 is a harmonic reducer, the main body is a flat cylindrical shape, and the end face of the input side has an input shaft hole, and the output side has a mounting hole. The output shaft of the joint motor 7 is fixed in the input shaft hole of the reducer 801, and the shell of the joint motor 7 and the shell of the input side end face of the reducer 801 are fixedly connected; the fixed end bracket 802 is formed by bending a flat plate , one end of the flat plate is bent upward, the other end is bent downward, the two surfaces after the upward and downward bending are two mutually parallel installation planes, one of which is annular, and the annular installation plane is the same as that of the reducer 801. The outer casing of the end face of the output side is fixedly connected, and a plurality of through holes for passing the installation rod 503 are formed on the annular installation plane along the circumferential direction; the sensor 20 is a flat cylindrical shape, and its structure is divided into an inner ring and an outer ring , the sensor between the two can measure the torque existing between the two, the inner ring and the outer ring have annularly distributed mounting holes, the sensor 20 is fixed on the mounting plate on the output side of the reducer 801 through the outer ring mounting holes; the output The end bracket 803 is in the shape of a thin plate, one end is connected to the inner ring of the sensor 20 through a mounting hole, and the other end is left with a mounting hole; when the exoskeleton joint module 8 is powered on, the joint motor 7 generates a driving torque, which is amplified by the reducer 801, The sensor 20 is transmitted to the output end bracket 803, and a joint driving torque is generated between the fixed end bracket 802 and the output end bracket 803, and the sensor 20 can measure the torque in real time; the encoder 21 is installed at the output shaft of the joint motor 7, which can The angle, angular velocity and angular acceleration of the rotation of the joint motor 7 are measured in real time.

When the exoskeleton joint module 8 is assembled into an exoskeleton, as shown in FIG. 7 , the exoskeleton 4 includes: an exoskeleton joint module 8 , a waist fixing support 9 , an upper thigh fixing support 10 , a lower thigh fixing support 11 , an upper calf fixing support Fixing Brace 12, Lower Leg Fixing Brace 13, Foot Fixing Brace 14, Thigh Bar 15 and Calf Bar 16, Waist Fixing Brace 9, Upper Thigh Fixing Brace 10, Lower Thigh Fixing Brace 11, Upper Calf Fixing The braces 12 and the lower leg fixing braces 13 and the corresponding parts of the body are arc-shaped, and are respectively used to fix the user's waist, upper thigh, lower thigh, upper calf and lower calf. The foot fixing brace 14 is: Flat shape, used to fix the user's feet; the thigh rod 15 and the calf rod 16 are connecting rods; the waist fixing support 9 has mounting holes corresponding to the fixed end bracket 802 of the exoskeleton joint module 8, which can be fixed with screws together; the upper end of the upper thigh fixing support 10 has a mounting hole corresponding to the output end bracket 803 of the exoskeleton joint module 8, and the lower end has a mounting hole corresponding to the thigh rod 15, which can be fixed together with screws; the lower part of the thigh is fixed The upper end of the brace 11 has a mounting hole corresponding to the thigh rod 15, and the lower end has an installation hole corresponding to the fixed end bracket 802 of the exoskeleton joint module 8, which can be fixed together with screws; The mounting hole corresponding to the output end bracket 803 of the exoskeleton joint module 8 has a mounting hole corresponding to the calf rod 16 at the lower end, which can be fixed together with screws; The mounting hole, the lower end has a mounting hole corresponding to the fixed end bracket 802 of the exoskeleton joint module 8, which can be fixed together with screws; the foot fixing bracket 14 has an output end bracket 803 corresponding to the exoskeleton joint module 8 mounting holes that can be screwed together.

As shown in Figures 6a and 6b, the prosthetic module 5 includes: a prosthetic socket connector 1701 and a calf tube connector 1702 (this embodiment adopts Yanglikang Prosthetic Orthopedics Co., Ltd. model: 3E80). The prosthetic socket connector 1701 is provided with mounting holes, and the prosthetic socket can be fixed on the prosthetic socket connector 1701 by screws for wearing by patients with thigh amputations; the calf tube connector 1702 has mounting holes for attaching the calf The tube is secured to the calf tube connector 1702.

When in use, make the patient sit on the seat 2 or stand (sitting on the seat 2 or standing is related to the position where the exoskeleton joint module is installed on the patient's body, and when the exoskeleton joint module is installed is the hip joint, it is standing , the rest are sitting on seat 2; when the prosthetic module 5 is installed, it is sitting on seat 2), and the running distance of the slider on the horizontal guide rail and the vertical guide rail is controlled by the single-chip microcomputer, and adjusted to the comfortable state of the patient, so that the horizontal The sliders are fixed on the guide rails and vertical guide rails.

The use method of the static lower limb rehabilitation aid test system of the present invention includes method one or method two:

Method 1 (used in the initial stage of rehabilitation): Input the angle, angular velocity, angular acceleration and torque of a gait cycle to the industrial computer and control the rotation of the joint motor, which drives the patient to move; the encoder and sensor measure the angle and angular velocity of the joint motor , angular acceleration and torque, and compared with the angle, angular velocity, angular acceleration and torque of the gait cycle input by the industrial computer, so as to objectively evaluate the auxiliary effect of the rehabilitation aids.

Method 2 (used in the middle or end stage of rehabilitation): the patient actively drives the joint motor to move, the encoder and sensor measure the angle, angular velocity, angular acceleration and torque of the joint motor, and the angle, angular velocity, angular acceleration and torque of a gait cycle expected value for comparison.

Example 3

As shown in FIG. 8 , on the basis of Embodiment 2, a relay 26 is provided on the circuit of the industrial computer 18 for controlling the movement of the joint motor 7 , and further includes: a microcontroller 6 for controlling the relay 26 . The relay is used to cut off the power supply in the event of an emergency in the experiment, which plays a role in safety protection.

The single chip 6 controls the movement of the horizontal guide rail 3 and the vertical guide rail 4 . By controlling the position of the slider on the horizontal guide rail 3 and the vertical guide rail 4, the position of the moving joint motor is realized.

Preferably, when the rehabilitation aid is an exoskeleton joint module, a travel switch 27 is installed on the rehabilitation aid to limit the upper limit of the rotation of the joint motor 7 .

When the rehabilitation aid is an exoskeleton joint module, the travel switch 27 is arranged between the fixed end bracket 802 and the output end bracket 803 of the exoskeleton joint module, and is connected to the microcontroller through a wire. When the distance between the fixed end bracket 802 and the output end bracket 803 When the included angle between them reaches the boundary of the joint safety angle range, the travel switch 27 is activated, and the travel switch disconnects the relay through the single-chip microcomputer; the rotation of the joint motor 7 is restricted to protect the safety of the subjects.

Preferably, it also includes: a joint driver 22 for controlling the rotation of the joint motor 7, the joint motor driver is used to drive the joint motor, the relay 26 is electrically connected to the joint motor 7 through the joint driver 22, and the connection between the relay 26 and the industrial computer 18 is connected. A data exchange card 25 is provided on the circuit.

Preferably, a motion control card 24 is provided on the circuit between the data exchange card 25 and the industrial computer 18, and the motion control card 24 is connected to the industrial computer 18 through a PCI bus.

Preferably, the single chip 6 is electrically connected to the horizontal guide motor 302 of the horizontal guide 3 , and the single chip 6 is electrically connected to the vertical guide motor 402 of the vertical guide 4 .

Preferably, the single chip 6 controls the horizontal guide motor 302 through the horizontal guide driver 301 , and the single chip 6 controls the vertical guide motor 402 through the vertical guide driver 401 .

Preferably, the industrial computer 18 obtains the data of the encoder 21 and the sensor 20 through the data acquisition card 19, the data acquisition card is connected to the industrial computer 32 through the PCI bus, and the data exchange card is used to convert data types to realize communication between different interfaces; The data acquisition card 19 processes the joint angle, angular velocity, angular acceleration and torque information of the joint motor collected by the encoder and the sensor 20 and transmits it to the industrial computer 18 for calculation through the PCI bus. The motion control card is used for compiling programs to control the joint motor 7 rotation. The sensor and the encoder are connected with the data acquisition card through wires, and the data collected by the sensor and the encoder are transmitted to the industrial computer for processing and calculation through the data acquisition card. The single chip 6 is electrically connected to the data acquisition card 19, and the single chip 6 judges whether the data of the encoder 21 and the sensor 20 reaches the threshold. When the threshold is reached, the single chip 6 controls the relay to disconnect the circuit, thereby disconnecting the power of the joint motor.

Preferably, the industrial computer 18 is connected with a signal input terminal and a display, and the signal input terminal is a mouse, a keyboard and a control panel. The mouse and keyboard are connected to the USB interface of the industrial computer 18 through a USB cable, and the control program of the electric computer can be written and modified by using the mouse and keyboard; the display is connected to the VGA interface of the industrial computer 18 through a VGA cable, and the angle of the joint motor 7 can be displayed in real time , angular velocity, angular acceleration and torque.

When in use, the test state when the patient wears the prosthetic module 5 is shown in Figure 9a, the test state when the patient wears the exoskeleton module is shown in Figure 9b (the exoskeleton module is installed at the knee), and the test state when the patient wears the exoskeleton module As shown in Figure 9c (with the exoskeleton module installed at the ankle), the test state of the patient wearing the exoskeleton module is shown in Figure 9d (with the exoskeleton module installed at the ankle joint).

The using method of the static lower limb rehabilitation aid test system of the present invention comprises the following steps:

In order to objectively evaluate the auxiliary effect of rehabilitation aids, the mean error u and the root mean square error E _RMS are defined:

In the formula, n represents the number of sampling points of the encoder and/or sensor on the rehabilitation aid, M _i and N _i are respectively the expected sampling value before the rehabilitation aid sampling and the actual value obtained when the rehabilitation aid is sampled. The angle, angular velocity, angular acceleration and/or torque of the rehabilitation aid. The mean error u of angle, angular velocity, angular acceleration and torque is positively correlated, and the root mean square error E _RMS of angle, angular velocity, angular acceleration and torque is also positively correlated, and the greater the value of mean error u and root mean square error E _RMS , indicating that the auxiliary effect of the rehabilitation aids is worse, on the contrary, the smaller the value of the mean error u and the root mean square error E _RMS , the better the auxiliary effect of the rehabilitation aids (when judging the auxiliary effect of the rehabilitation aids, it is possible to judge One or more of angle, angular velocity, angular acceleration and torque, since the mean error u of angle, angular velocity, angular acceleration and torque is positively correlated with the root mean square error E _RMS , therefore, the judgment of angle, angular velocity, angular acceleration and torque for one and more of the results are almost the same).

Make the patient wear rehabilitation aids, and sample the rehabilitation aids according to method 1 and method 2, respectively. The rehabilitation aids are exoskeleton joint modules at the hip joint. The expected and actual sampling values obtained according to method 1 are shown in Figure 10b , the sampling expected and actual values obtained according to the second method are shown in Figure 10a, and the auxiliary effect of the rehabilitation aids is evaluated by calculating the mean error u and the root mean square error E _RMS .

The present invention has been exemplarily described above. It should be noted that, without departing from the core of the present invention, any simple deformation, modification, or other equivalent replacements that can be performed by those skilled in the art without any creative effort fall into the scope of the present invention. the scope of protection of the invention.

Claims (10)

1. A static lower limb rehabilitation assistive device testing system is characterized by comprising: base (1) and mobile device, the mobile device includes: the rehabilitation device comprises a horizontal guide rail (3) arranged horizontally, a vertical guide rail (4) arranged vertically and a joint fixing structure (5), wherein the bottom end of the horizontal guide rail (3) is fixedly arranged on the base (1), the bottom end of the vertical guide rail (4) is fixedly arranged with a sliding block on the horizontal guide rail (3), the joint fixing structure (5) is fixedly arranged on the sliding block of the vertical guide rail (4) and used for installing a rehabilitation aid, and the rehabilitation aid is an exoskeleton joint module (8) or an artificial limb module (17).

2. The static lower limb rehabilitation aid testing system according to claim 1, further comprising: the seat (2) is fixedly arranged on the base (1), and the vertical guide rail (4) is positioned on one side in front of the seat (2).

3. The static lower limb rehabilitation aid testing system according to claim 1 or 2, characterized in that the joint fixation structure (5) comprises: the guide rail device comprises a bearing seat (501), a rotating support (502), an installation rod (503) and a locking block (504), wherein the bearing seat (501) is fixedly installed with a sliding block of the vertical guide rail (4), the rotating support (502) is in shaft connection with the bearing seat (501) and can rotate on the bearing seat (501), and the locking block (504) is installed on the rotating support (502) and used for relatively fixing the rotating support (502) and the bearing seat (501); the mounting rods (503) are multiple and are all mounted on the rotating bracket (502) and used for mounting the exoskeleton joint module (8) or the prosthesis module (17).

4. The static lower limb rehabilitation aid testing system according to claim 3, wherein the rotating bracket (502) comprises: the rotating support (502) is in shaft connection with the bearing seat (501) through the other end of the shaft, and the mounting rod (503) is fixedly arranged on the fixed plate.

5. The static lower limb rehabilitation aid testing system according to claim 4, wherein a mounting rod (503) is located on the side of the fixing plate away from the bearing block (501).

6. The system for testing the rehabilitation aid of lower limbs in a static state as claimed in claim 5, wherein the number of the mounting rods (503) is 4, and 4 mounting rods (503) are distributed along a rectangular array and are respectively positioned at 4 corners of a rectangle.

7. The system as claimed in claim 5, wherein the number of said locking blocks (504) is 2, and each of said locking blocks (504) is a cam structure.

8. The static lower extremity rehabilitation aid testing system according to claim 1, wherein the exoskeleton joint module (8) is formed with a plurality of through holes along a circumferential direction, one through hole for each mounting rod (503) to pass through when the exoskeleton joint module (8) is mounted on the joint fixation structure (5);

the prosthesis module (17) comprises a cylindrical or approximately cylindrical structure which is inserted between a plurality of mounting rods (503) and is fixed by the mounting rods (503) when the prosthesis module (17) is mounted on the joint fixation structure (5).

9. The static lower limb rehabilitation aid testing system according to claim 8, wherein a joint motor (7) is installed in the rehabilitation aid, the static lower limb rehabilitation aid testing system further comprising: the industrial personal computer (18), the industrial personal computer (18) controls the joint motor (7) to move.

10. The static lower limb rehabilitation aid testing system according to claim 9, further comprising: an encoder (21) and/or a sensor (20) installed in the rehabilitation assistive device, wherein the encoder (21) is used for obtaining the rotation angle, the angular speed and the angular acceleration of the joint motor (7) of the rehabilitation assistive device, the sensor (20) is used for obtaining the torque of the joint motor (7) of the rehabilitation assistive device, and the industrial personal computer (18) acquires the data of the encoder (21) and/or the sensor (20);

be provided with a relay (26) on industrial computer (18) control joint motor (7) motion's circuit, still include: a singlechip (6) for controlling the relay (26);

the singlechip (6) controls the horizontal guide rail (3) and the vertical guide rail (4) to move;

a travel switch (27) is arranged on the rehabilitation aid and used for limiting the upper limit of the rotation of the joint motor (7); the travel switch (27) is electrically connected with the singlechip (6);

further comprising: the joint motor (7) is controlled to rotate by a joint driver (22), the relay (26) is electrically connected with the joint motor (7) through the joint driver (22), and a data exchange card (25) is arranged on a circuit between the relay (26) and the industrial personal computer (18);

a motion control card (24) is arranged on a circuit between the data exchange card (25) and the industrial personal computer (18);

the single chip microcomputer (6) is electrically connected with a horizontal guide rail motor (302) of the horizontal guide rail (3), and the single chip microcomputer (6) is electrically connected with a vertical guide rail motor (402) of the vertical guide rail (4);

the single chip microcomputer (6) controls the horizontal guide rail motor (302) through a horizontal guide rail driver (301), and the single chip microcomputer (6) controls the vertical guide rail motor (402) through a vertical guide rail driver (401);

the industrial personal computer (18) acquires data of the encoder (21) and/or the sensor (20) through a data acquisition card (19);

the single chip microcomputer (6) is electrically connected with the data acquisition card (19), the single chip microcomputer (6) judges whether the data of the encoder (21) and/or the sensor (20) reach a threshold value or not, and the single chip microcomputer (6) controls the relay (26) to disconnect a circuit when the data reach the threshold value.

Images