CN112704606A

CN112704606A - Deformable dual-purpose lower limb rehabilitation exoskeleton device

Info

Publication number: CN112704606A
Application number: CN201911021541.1A
Authority: CN
Inventors: 赵彦峻; 贾丙琪; 刘文龙; 徐国鑫; 陈淼; 邵虎林
Original assignee: Shandong University of Technology
Current assignee: Shandong University of Technology
Priority date: 2019-10-25
Filing date: 2019-10-25
Publication date: 2021-04-27

Abstract

The invention discloses a deformable dual-purpose lower limb rehabilitation exoskeleton device which comprises a wheelchair part and an exoskeleton part, wherein the wheelchair part comprises a controller, a device frame, a wheelchair moving device, a device deformation assembly, a wheelchair handle, a wheelchair backrest and hip joint parts, the exoskeleton part comprises two thigh parts, a shank part and feet which are bilaterally symmetrical, the wheelchair and the exoskeleton part are connected through a hip joint shaft, the thigh parts and the shank parts are connected through knee joint shafts, the shank parts and the feet are connected through ankle joint shafts, and all joints are powered by a linear push rod motor. The invention reduces the workload of medical care personnel, can realize the functions of electric wheelchair for riding instead of walk and rehabilitation training of knee joint and ankle joint in the wheelchair state, realizes the function of exoskeleton assisting walking after deformation, and achieves the aim of rehabilitation of patients.

Description

Deformable dual-purpose lower limb rehabilitation exoskeleton device

Technical Field

The invention relates to a rehabilitation exoskeleton device, in particular to a deformable dual-purpose lower limb rehabilitation exoskeleton device.

Background

With the increasing aging population in China, the aging problem is gradually emphasized, the aged people can have physiological decline, the flexibility of most four limbs of the aged people is obviously reduced, and particularly the walking ability of the lower limbs is reduced. Meanwhile, the number of people with mobility impairment of limbs caused by diseases and the like of the old is increasing, people lose healthy and normal walking ability, and daily life is greatly influenced, so that patients are greatly affected.

Research shows that repeated training of specific functions of limbs actively or passively can promote functional reorganization of nerve tissues and make up for loss of functions of damaged nerve cells. The scientific and effective rehabilitation method enables the patient to quickly and well recover the limb movement function, not only can improve the life quality of the patient, but also can reduce the overall burden of the society. Most intelligent wheelchairs only have the function of riding instead of walk, can not meet the requirements of old people and disabled people on limb exercise, walking assistance and other living and working, and has very important significance on rehabilitation and exercise of old people and patients with lower limb disorders by means of safe and reliable rehabilitation training and riding instead of walk tool research which is easily accepted by patients.

Disclosure of Invention

The invention provides a deformable dual-purpose lower limb rehabilitation exoskeleton device capable of realizing a sitting posture lower walking replacing function, a standing posture lower rehabilitation training function and a walking assisting function, aiming at the defects of a wheelchair on lower limb rehabilitation training and standing walking assisting.

The technical scheme adopted by the invention for solving the problems is as follows:

a deformable dual-purpose lower limb rehabilitation exoskeleton device comprises a wheelchair part and an exoskeleton part, wherein the wheelchair part comprises a controller, a device frame, a wheelchair motion device, a device deformation assembly, a wheelchair handle, a wheelchair backrest and a hip joint part, the controller comprises a wheelchair motion controller and a device deformation controller, and the wheelchair motion controller can control a wheelchair driving motor to drive a wheelchair to move; the device deformation controller can control the device deformation component to drive the wheelchair to lift and deform, and the wheelchair riding instead of walking state is changed into a standing auxiliary walking state.

Furthermore, the wheelchair moving device comprises two front wheel devices and two rear wheel devices which are bilaterally symmetrical, each rear wheel device consists of a rear wheel driving motor and two rear wheels, the rear wheel driving motors are arranged at the rear parts of the device frames, and the rear wheels are arranged on the rear wheel driving motors; the front wheel device consists of a front fork and a front wheel, the front fork is arranged at the front part of the device frame, and the front wheel is arranged on the front fork; the forward and backward movement of the device depends on the driving force of the rear wheel device, and the steering depends on the differential speed of the left rear wheel and the right rear wheel.

Furthermore, the device deformation assembly comprises a screw rod sliding table, a sliding block, a supporting rod and a rubber-coated bearing; the utility model discloses a device, including the device frame, lead screw slip table, bracing piece, lead screw slip table, slider, the lead screw slip table is installed on the device frame, the slider is installed on the lead screw slip table, and the lead screw slip table drives the slider motion, the bracing piece respectively has threely on the left and right sides of device, links together through the center, and the front end is connected on the slider, and the rear end is connected on the device frame, and the lead screw slip table drives the slider motion.

Furthermore, the hip joint part comprises hip joint supporting blocks, a hip joint back plate, a back plate connecting block and a box-type sliding block which are bilaterally symmetrical, the hip joint supporting blocks are connected with the exoskeleton part through hip joint shafts, the hip joint supporting blocks are connected with the hip joint back plate through bolts, and the distance between two legs of the exoskeleton is changed by adjusting the positions of the bolts; the hip joint back plate is connected with the handrail through bolts, and the hip joint back plate is connected with the box-type sliding block through bolts; the back plate connecting block is connected with the two hip joint back plates through bolts; the box-type sliding block is arranged on the device frame.

Further, the exoskeleton part comprises two left and right symmetric thigh parts, a shank part and a foot part, and the length of each of the thigh parts and the shank part can be adjusted according to the requirement of a user; a hip joint driving motor is arranged between the upper part of the thigh part and the device frame, a knee joint driving motor is arranged between the middle part of the thigh part and the shank part, and an ankle joint driving motor is arranged between the shank part and the foot; the thigh part and the shank part are connected through a knee joint shaft, the shank part and the foot part are connected through an ankle joint shaft, and fixing belts are arranged on the thigh part and the shank part; the thigh part comprises a thigh upper part and two connecting pieces, the thigh upper part and the connecting pieces are connected through bolts, and the length of the thigh part can be adjusted by replacing hole positions; the shank component comprises a shank lower part and two connecting pieces, the shank lower part is connected with the connecting pieces through bolts, and the length of the shank component can be adjusted by replacing hole positions.

Compared with the prior art, the technical scheme of the invention has the following beneficial effects:

the invention designs a deformable dual-purpose lower limb rehabilitation exoskeleton device by considering factors such as gait training requirements and safety protection of patients with lower limb dyskinesia, and can realize different functions: (1) the deformable dual-purpose lower limb rehabilitation exoskeleton device is convenient for a user to wear and stand, the user can independently finish wearing and standing, and the workload of medical care personnel is reduced; (2) the invention can realize the functions of electric wheelchair for riding instead of walk and rehabilitation training of knee joint and ankle joint in the state of wheelchair, can realize the function of assisting standing after deformation, and has good stability as the four wheels of the wheelchair are used as supports after deformation; (3) the exoskeleton can assist walking and the rehabilitation training functions of hip joints, knee joints and ankle joints after deformation, so that the aim of rehabilitation of patients is fulfilled. The functions can meet the daily requirements of patients with lower limb dyskinesia, the invention can realize the targeted training of knee joints, hip joints and ankle joints, and combines the training process with walking.

Drawings

Fig. 1 is a schematic overall structure view of the wheelchair in an undeformed state according to the present invention.

Fig. 2 is a schematic front view of the standing state of the present invention after deformation.

Fig. 3 is a schematic view of the overall structure of the back of the standing state after deformation.

Fig. 4 is a schematic diagram of the exoskeleton portion of the present invention.

FIG. 5 is a schematic view of the internal structure of the deformed component of the apparatus of the present invention when partially undeformed.

Detailed Description

In order to further explain the contents, features and effects of the present invention, the following embodiments are listed and described in detail with reference to the accompanying drawings:

referring to fig. 1-4, a deformable dual-purpose lower limb rehabilitation exoskeleton device comprises two thigh parts 105, two shank parts 108 and a foot part 110 which are bilaterally symmetrical, wherein the thigh part 105 and a hip joint support block 102 are connected together through a hip joint shaft, the shank part 108 and the thigh part 105 are connected together through a knee joint shaft, and the shank part 108 and the foot part 110 are connected together through an ankle joint shaft; fixing belts 201 are arranged on the thigh part 105 and the shank part 108; a hip joint driving motor 104 is arranged between the thigh part 105 and the device frame 114, one end of the hip joint driving motor is hinged on the upper side of the thigh part 105, and the other end of the hip joint driving motor is hinged on the device frame 114; knee joint driving motors 106 are arranged on the lower leg part 108 and the thigh part 105, one end of each knee joint driving motor is hinged to the lower side of the corresponding thigh part 105, and the other end of each knee joint driving motor is hinged to the lower side of the corresponding lower leg part 108; an ankle joint driving motor 109 is installed between the lower leg part 108 and the foot part 110, one end of the ankle joint driving motor is hinged on the upper side of the lower leg part 108, and the other end of the ankle joint driving motor is hinged on the upper side of the foot part 110; wheelchair handles 122 are fixed to the apparatus frame 114, a wheelchair backrest 121 is installed between the two wheelchair handles 122, and a back fixing band is provided on the wheelchair backrest 122, and the wheelchair backrest 122 provides a back support for a user when the apparatus is in a wheelchair state, and provides an upper body stabilizing function when the apparatus is in a standing state.

Referring to fig. 2 to 3, the wheelchair motion controller 107 is mounted on the right armrest to control the movement of the device, and the device deformation controller 124 is mounted on the left armrest to control the device to ascend or descend to achieve the form change; the front wheel 111 is mounted on the apparatus frame 114 through the front fork 113, the rear wheel 116 is mounted on the rear wheel motor 115, the rear wheel motor 115 is fixed on the apparatus frame 114, the electric box 117 of the present invention is mounted on the rear side of the apparatus, fixed on the apparatus frame 114; the hip joint support block 102 is connected with the hip joint back plate 123 through bolts, and the distance between the two exoskeleton legs is changed by adjusting the positions of the bolts; the hip joint back plate 123 is connected with the handrail 103 through bolts, and the hip joint back plate 123 is connected with the box-type sliding block 118 through bolts; the back plate connecting block 125 is connected with the two hip joint back plates 123 through bolts; the box slide 118 is mounted on the device frame 114; the seat cushion 101 is connected to the device frame 114 through a hinge 203, a seat cushion support rod 202 is arranged between the device frame 114 of the seat cushion 101, one end of the seat cushion is hinged to the lower part of the seat cushion 101, and the other end of the seat cushion is hinged to the device frame 114.

Referring to fig. 4, the exoskeleton portion comprises two thigh parts 105, a shank part 108 and a foot part 110 which are bilaterally symmetrical, and the length of each of the thigh part 105 and the shank part 108 can be adjusted according to the requirement of a user; the thigh part comprises a thigh part 301 and two connecting pieces 302, the thigh part 301 and the connecting pieces 302 are connected through bolts, and the length of the thigh part 105 can be adjusted by replacing hole positions; the shank component 108 comprises a shank lower part 303 and two connecting pieces 302, the shank lower part 303 and the connecting pieces 302 are connected through bolts, and the length of the shank component 108 can be adjusted by replacing hole positions.

Referring to fig. 5, a deformation assembly is arranged between the handrail 103 and the device frame 114, and the device deformation assembly comprises a screw rod sliding table 119, a sliding block 502, a supporting rod 120 and a rubber-covered bearing 501; lead screw slip table 116 is installed on device frame 114, and slider 502 is installed on lead screw slip table 119, and lead screw slip table 119 drives the slider 502 motion, and bracing piece 116 respectively has threely on the left and right sides of device, and articulated together through the center pin, the front end is connected on slider 502, and the rear end is connected on device frame 114.

The working principle of the invention is as follows:

referring to fig. 1 to 5, in the present invention, the armrest 103 and the hip joint back plate 123, the hip joint back plate 123 and the box-type sliding block 118 are all connected by bolts, when the device is changed from the wheelchair state to the standing state, the user is firstly bound on the wheelchair backrest 122, and the thighs and calves are bound on the exoskeleton by the fixing band 201; pressing the deformation controller 124, extending the hip joint driving motor 104, inclining the thigh part 105 upwards, separating the shank part 109 from the wheelchair pedal 112, and opening the wheelchair pedal 112 to two sides; the screw rod sliding table 119 rotates to drive the sliding block 502 to move backwards, the supporting rod 102 is supported upwards to drive the handrail 103 to move upwards, meanwhile, the knee joint driving motor 106 extends, the exoskeleton is changed to a standing state, and the seat cushion 101 is changed from a horizontal state to a vertical state; when the hip back plate 123 is raised to the highest state, the thigh member 105, the lower leg member 108 and the seat cushion 101 are in the vertical state, the state transition is completed, and the state is kept unchanged during the standing walking of the user.

Referring to fig. 1, the invention can realize the function of moving instead of walking in the state of wheelchair, and the specific implementation mode is as follows: the wheelchair motion controller 107 outputs a command, and the rear wheel drive motor 115 works to realize the rotation of the rear wheel 116, thereby realizing the function of moving instead of walking.

Referring to fig. 1, the invention can realize the rehabilitation training function of knee joint and ankle joint in wheelchair state, and the specific implementation mode is as follows: after the thighs and calves of the user are bound to the exoskeleton, the knee joint driving motor 106 drives the calves part 108 to perform a rotational motion of a designated angle around the knee joint connecting shaft, and the ankle joint driving motor 109 drives the feet 110 to perform a rotational motion of a designated angle around the ankle joint connecting shaft.

Referring to fig. 2 to 4, after the person stands, the hip joint driving motor 104 drives the exoskeleton thigh part 105 to perform a rotation motion of a designated angle around the hip joint connecting shaft, the knee joint driving motor 106 drives the exoskeleton shank part 108 to perform a rotation motion of a designated angle around the knee joint connecting shaft, and the ankle joint driving motor 109 drives the exoskeleton foot 110 to perform a rotation motion of a designated angle around the ankle joint connecting shaft, so that the walking motion of the person is realized.

The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A deformable dual-purpose lower limb rehabilitation exoskeleton device is characterized by consisting of a wheelchair part and an exoskeleton part, wherein the wheelchair part comprises a controller, a device frame, a wheelchair moving device, a device deformation assembly, a wheelchair handle, a wheelchair backrest and a hip joint part; the exoskeleton part comprises two thigh parts, a shank part and a foot part which are bilaterally symmetrical, a hip joint driving motor is arranged between the upper part of each thigh part and the device frame, a knee joint driving motor is arranged between the middle part of each thigh part and the corresponding shank part, and an ankle joint driving motor is arranged between each shank part and the foot part; the thigh part and the shank part are connected through a knee joint shaft, the shank part and the foot part are connected through an ankle joint shaft, and fixing belts are arranged on the thigh part and the shank part.

2. The device deformation assembly of claim 1, comprising a lead screw slide, a slider, a support rod, and an encapsulated bearing; the utility model discloses a device, including the device frame, lead screw slip table, slider, lead screw slip table, bracing piece, the lead screw slip table is installed on the device frame, the slider is installed on the lead screw slip table, and the lead screw slip table drives the slider motion, the bracing piece respectively has threely on the left and right sides of device, links together through the center, and the front end is connected on the slider, and the rear end.

3. The hip joint component of claim 1, comprising bilaterally symmetrical hip joint support blocks, a hip joint back plate, a back plate connecting block and a box-type sliding block, wherein the hip joint support blocks are connected with the exoskeleton part through hip joint shafts, and the hip joint support blocks are connected with the hip joint back plate through bolts; the hip joint back plate is connected with the handrail through bolts, and the hip joint back plate is connected with the box-type sliding block through bolts.

4. The thigh part according to claim 1 comprises a thigh part and two connecting parts, wherein the thigh part and the connecting parts are connected through bolts, and the length of the thigh part can be adjusted by replacing hole positions; the shank component comprises a shank lower part and two connections, the shank lower part is connected with the connecting piece through a bolt, and the length of the shank can be adjusted by replacing hole positions.