CN113520792B - Foot drop patient rehabilitation training robot based on electromyographic signals - Google Patents
Foot drop patient rehabilitation training robot based on electromyographic signals Download PDFInfo
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- CN113520792B CN113520792B CN202110796979.8A CN202110796979A CN113520792B CN 113520792 B CN113520792 B CN 113520792B CN 202110796979 A CN202110796979 A CN 202110796979A CN 113520792 B CN113520792 B CN 113520792B
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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 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/25—Bioelectric electrodes therefor
- A61B5/251—Means for maintaining electrode contact with the body
- A61B5/256—Wearable electrodes, e.g. having straps or bands
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
- A61B5/397—Analysis of electromyograms
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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
- A61H1/0266—Foot
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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
- A61H2201/1207—Driving means with electric or magnetic 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
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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
-
- 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
-
- 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
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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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- 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
- A61H2205/12—Feet
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
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Abstract
The invention provides a robot for assisting a patient with drop foot to perform rehabilitation training based on electromyographic signals, which comprises a walking aid mechanism, a sensing module and boots. The walking aid mainly comprises an actuator main body plate, a foot connecting piece and a driving device, wherein the actuator main body plate is connected with the rear end part of the foot connecting piece by means of a first connecting shaft. The sensing module comprises a myoelectric sensor and a mounting bottom plate thereof. The boot is utilized to support and decorate the walking aid mechanism, so as to achieve the beautifying effect. In control, the exercise intention of a patient is predicted based on the law of electromyographic signals between the thighs and the shanks of the human body, the pose required to be reached by dorsiflexion or plantarflexion exercise of the human body is identified through the electromyographic signal value of the front side of the thighs of the patient, and the robot is controlled to assist the patient to complete the training of the preset action, so that the drop foot rehabilitation training is realized. The invention has simple structure, the perception system can acquire the walking intention of the patient, and the robot is a rehabilitation robot for assisting the patient with drop foot to perform rehabilitation training and normally walk.
Description
Technical Field
The invention relates to the field of robots, in particular to a wearable exoskeleton rehabilitation robot for assisting a patient with drop foot to perform rehabilitation and realizing normal walking based on an electromyographic signal rule.
Background
The exoskeleton rehabilitation robot can assist a patient with foot drop to perform a series of rehabilitation movements, with which the patient can cooperate. Under the drive of the rehabilitation robot, the patient is assisted to complete the required movement, so that the exoskeleton rehabilitation robot is used for assisting the patient with foot drop to perform rehabilitation training and realize the purpose of normal walking.
Foot drop is one of the common disease types in modern society, and can be classified into congenital foot drop, traumatic foot drop, and neurogenic foot drop according to its pathological type. Wherein, congenital foot drop can be corrected in early stage by massage technique, and deformity can also be corrected by operation. Traumatic foot drop is caused by ankle injury, or caused by cerebral apoplexy, hemiplegia, trauma, etc. The neurogenic drop foot is caused by injury of sciatic nerve and common fibular nerve, and because of the remodelling of the nervous system, if a patient suffering from drop foot can be treated in time in early stage of disease, the patient hopefully gets rid of the trouble of drop foot disease. The patient with foot drop takes a 'circling gait' when walking, the abnormal gait is obvious, and the physical and psychological health of the patient is hurt to a certain extent. Because the affected limb of the patient with foot drop can not perform long-time activities, the dorsum extensor muscle group is weak, and the illness is easy to aggravate, the early treatment and rehabilitation training are important.
Heretofore, the methods for rehabilitation training of foot drop mainly include traditional nursing staff assisted rehabilitation training methods, functional electrical stimulation methods and rehabilitation training methods using exoskeleton rehabilitation robots. Because the proportion between nursing staff and patients with foot drop is maladjusted, the labor intensity of the nursing staff can be increased by adopting a nursing staff assisted rehabilitation training method, and the rehabilitation mode can not accurately record and control parameters such as the movement track, speed, intensity and the like of the patients, so that the movement angle, movement position and the like of the patient suffering from the limb can not reach the required standard, and adverse effects can be generated in the process of recovering the health of the patient. The functional electric stimulation method utilizes low-frequency pulse current to stimulate muscles to exercise, and if the method is used for a long time, the muscle fatigue of a patient can be caused, and the risk of secondary injury exists. The rehabilitation training method using the exoskeleton rehabilitation robot is that a human body moves according to a certain track under the traction of the exoskeleton, the sensor modules are arranged according to the movement mechanism of the affected limbs of the human body, the movement parameters of the exoskeleton are easy to obtain, and rehabilitation doctors can conveniently evaluate the rehabilitation degree of a patient and modify the parameters of the follow-up exoskeleton to drive the human body to move.
In order to better perform rehabilitation training on patients with foot drop, an exoskeleton rehabilitation robot rehabilitation training method is preferred, and related documents include wearable three-degree-of-freedom ankle foot movement rehabilitation exoskeleton system research and development, wherein the movement of the exoskeleton is to detect gait of a patient by means of a plantar force sensor, and the control system is used for realizing the regulation and control of the position of the exoskeleton, but such navigation signals cannot timely feed information back to the control system, so that the movement intention of the patient cannot be predicted. The literature of exoskeleton rehabilitation robot combined Lokomat lower limb rehabilitation robot curative effect on the walking function of cerebral apoplexy patients is to start a device by utilizing the inclination angle of the lower leg or the change of plantar pressure when the patients walk, so as to control electric pulse to be transmitted to the common fibular nerve for electric stimulation, and the method is easy to cause muscle fatigue of the patients. Therefore, a navigation signal capable of predicting the movement intention of the patient with foot drop needs to be adopted to timely, accurately and safely regulate and control equipment to assist the patient with foot drop to carry out corresponding movement.
Disclosure of Invention
The invention aims to assist a patient with foot drop to perform rehabilitation training and realize normal walking under the drive of an exoskeleton rehabilitation robot.
After the measurement of the electromyographic signals of the patient with foot drop, the electromyographic signal value of the thigh of the patient is close to that of a normal person, and the electromyographic signal value of the front side of the calf is obviously weaker than that of the calf of the normal person. Therefore, the thighs of the patient with foot drop can work normally, the movement intention of the patient is predicted based on the rule of the myoelectric signals between the thighs and the shanks of the human body, the pose required by dorsiflexion or plantarflexion movement of the human body is identified through the myoelectric signal value of the front side of the thighs of the patient, and the robot is controlled to assist the patient to complete training of preset actions.
When the human body carries out dorsiflexion, the foot part of the human body can be simplified into an object which needs to be lifted by a certain angle, so that the coal unloading device is suggested, and the design of the walking aid mechanism is carried out by taking the coal unloading device as a starting point.
The invention provides a robot for assisting a patient with drop foot to perform rehabilitation training based on electromyographic signals, which comprises a walking aid mechanism, a sensing module and boots, wherein the walking aid mechanism is arranged on the robot; the walking aid mechanism mainly comprises an actuator main body plate, a foot connecting piece and a driving device; the actuator body plate is arranged at the rear end part of the foot connecting piece, the actuator body plate is hinged with the foot connecting piece by means of a first connecting shaft, the actuator body plate can rotate relative to the foot connecting piece, so that the position of the actuator body plate can be consistent with the surface of the shank of a human body, and the foot connecting piece can also rotate; the sensing module comprises a myoelectric sensor and a bottom plate; the boot is arranged outside the walking aid mechanism and used for supporting and decorating the walking aid mechanism;
the device comprises an actuator main body plate, a support device, a first connecting device, a second connecting shaft, a shaft coupling, a motor, a winding reel, a bolt and a screw hole on the second connecting device of a foot connecting piece, wherein the support device for a cable wire to pass through is fixed on two sides of the front upper part of the actuator main body plate, the first connecting device is fixed above the support device and used for connecting a magic tape, the magic tape is wound on the lower leg and is adhered to two ends of the lower leg, the second connecting shaft is arranged below the support device, one end of the second connecting shaft is connected with the motor by the shaft coupling, the motor is arranged on a motor bracket, the motor bracket is fixed on the side part of the actuator main body plate by the support plate, the two winding reels are fixedly adhered to the second connecting shaft, the cable wire is wound on the winding reel, the end part of the cable wire is wound on the bolt after passing through the support device, and the screw hole on the second connecting device of the foot connecting piece is pre-fastened;
the left side and the right side of the middle position of the actuator main body plate are respectively fixed with a pair of bearing supporting seats, the left side and the right side of the lower part of the actuator main body plate are respectively fixed with a pair of bearing supporting seats, a first bearing is assembled at the pair of bearing supporting seats below the actuator main body plate, a first connecting shaft is matched with the first bearing to realize the connection of the first connecting shaft on the actuator main body plate, the first connecting shaft is connected with a third connecting device on a foot connecting piece to finish the hinging of the actuator main body plate and the foot connecting piece, the axial movement of the first connecting shaft is limited, and a clamp spring is arranged outside the first bearing. The second bearing is assembled at two pairs of bearing support seats on the left side and the right side of the middle position of the actuator main body plate, the second connecting shaft is matched with the second bearing, the second connecting shaft is connected to the actuator main body plate, the second connecting shaft is limited to move axially, and a clamp spring is arranged on the outer side of the second bearing. The winding tube is adhered to the second connecting shaft and is positioned at the middle position of the pair of bearing support seats;
the back of the actuator main body plate is adhered with an adjustable power supply module and an actuator driving plate, and the adjustable power supply module is arranged at the upper position of the actuator driving plate;
when a patient moves, the sensing system acquires a sensing signal based on the thigh front side electromyographic signal value, and transmits the acquired sensing signal to the control system to form a corresponding control signal, the control system transmits the control signal to a driver of the motor, so that the motor drives the second connecting shaft to rotate in the running state of the motor, the second connecting shaft drives the winding reel to rotate, the winding reel drives the cable wire to rotate, and the cable wire pulls the foot connecting piece to rotate through the supporting device, so that the foot of the patient is driven to move;
when the motor rotates positively, the second connecting shaft is driven to rotate after passing through the coupler, the rotation of the second connecting shaft drives the rope wire on the winding reel to move, the rope wire is fixedly connected with the foot connecting piece after being pre-tightened through the supporting device by the bolt, the movement of the rope wire drives the foot connecting piece to move, and the dorsiflexion movement is completed under the drive of the foot connecting piece; because the plantar flexion movement of the patient is realized by the gravity of the foot of the patient, the walking aid mechanism releases the cable wire by means of the control force of a human body and the reverse movement of the motor, and the foot connecting piece rotates downwards in the sagittal plane around the first connecting shaft to finish the plantar flexion movement.
Preferably, the shape of the adjusting plate is consistent with the shape of the heel of a human body, and threaded holes matched with the bolts are formed at two ends of the adjusting plate; the two sides of the rear side of the upper surface of the foot connecting piece are both fixed with inverted T-shaped rails for placing bolts, a first rectangular groove body and a second rectangular groove body are arranged on the inverted T-shaped rails, the width of the first rectangular groove body is larger than that of the second rectangular groove body, the width of the first rectangular groove body is smaller than the diameter of the head of the bolts and larger than the diameter of the bolts, the width of the second rectangular groove body is consistent with the diameter of a screw rod of the bolt, the bolt is matched with the nut through a flat washer after passing through the adjusting plate, the nut is loosened, the position of the bolt is moved, the bolt is moved to drive the adjusting plate to move on the inverted T-shaped guide rail, and finally the nut is screwed down to fix, so that the adjusting plate is adjusted in the horizontal plane of the foot connecting piece, and therefore the use of patients with different foot lengths is met.
Preferably, both ends of the first connecting shaft are fixed by means of a first bearing, and both ends of the second connecting shaft are fixed by means of a second bearing.
Preferably, in order to prevent the first and second connecting shafts from moving axially, a snap spring is mounted on the outer side of the bearing to limit the axial movement of the connecting shafts.
Preferably, a threaded hole is formed in the round thin plate at the end of the winding drum, the winding drum is wound with the cable wire, the head end of the cable wire is wound on the screw rod of the screw, the screw wound with the cable wire is matched with the threaded hole, and the screw is pre-tightened, so that the wiring mechanism is formed.
Preferably, the foot connector and the actuator body plate are adapted to the foot shape and leg shape of a human body.
Preferably, the foot connection adapted to the foot length of the patient can be customized according to the needs of different patients, so that the setting of the adjusting plate can be reduced and the adjusting process can be omitted.
Preferably, the lithium battery is contained in a backpack and is used for supplying power to the motor and the myoelectric sensor.
Preferably, the myoelectric sensor is worn at the front side position of the thigh of the human body through a magic tape on the bottom plate.
Preferably, a pair of bearing support seats are fixed on two sides of the middle position of the actuator main body plate, one bearing support seat is fixed on each of the left and right sides of the front lower portion of the actuator main body plate, the first connecting shaft and the second connecting shaft are respectively mounted on the actuator main body plate by means of a first bearing and a second bearing, and the two bobbins are respectively stuck between the second connecting shaft and the pair of bearing support seats.
Preferably, the second connecting device is fixed at the middle position of two sides of the foot connecting piece, a threaded hole is formed in the second connecting device, the bolt is installed at the threaded hole, the end part of the cable wire is wound on the bolt, and the cable wire is fastened with the nut after passing through the gasket, so that the fixing on the foot connecting piece is realized.
Preferably, the actuator driving plate and the power module can be adhered to the back surface of the actuator main body plate, and the myoelectric sensor is adhered to the bottom plate.
Compared with the prior art, the invention has the following beneficial effects:
1. compared with the traditional exoskeleton rehabilitation robot driven by a motor and used for assisting a patient with foot drop to walk, the exoskeleton rehabilitation robot is characterized in that the device is driven by the cable wire, and the device is used for assisting the patient with foot drop to realize dorsiflexion movement of the foot, has certain flexibility, is better in use feeling, and is simple in structure and convenient to wear.
2. According to the invention, the electromyographic signal law existing between the thigh and the calf when a human body walks is used as the navigation information of the robot, and the target action corresponding to the electromyographic signal is judged by analyzing the electromyographic signal on the front side of the thigh of a patient with drop foot, so that the movement of the rehabilitation robot is navigated and regulated. The electromyographic signal value at the front side of the thigh can timely feed back the system, so that the accuracy and the safety during movement are ensured.
3. According to the invention, under the analysis of the perception system, the walking consciousness of the patient can be judged in advance. The disadvantage of hysteresis in the activation of the device in response to plantar pressure changes is overcome.
4. The adjustable mechanism can be used for adjusting a proper position according to the foot length of a patient, meets the requirement of universality and is convenient for mass production.
5. The walking aid mechanism can be embedded into the boot, and the appearance of the walking aid mechanism is the same as that of the ordinary person wearing the boot after the patient wears the exoskeleton rehabilitation robot, so that the confidence of the patient in training can be improved. The motor is fixed at a low position, the gravity center is low, and the stability of a patient during walking is facilitated.
Drawings
FIG. 1 is a schematic diagram of the front side of the mechanism of the present invention;
FIG. 2 is a schematic rear side view of the mechanism of the present invention;
FIG. 3 is a schematic diagram of a support device of the present invention;
FIG. 4 is a schematic illustration of the axial securement of the circlip to the shaft in accordance with the present invention;
FIG. 5 is a schematic diagram of a wiring mechanism in the walker of the present invention;
FIG. 6 is a schematic diagram of a sensing module of the present invention;
FIG. 7 is a schematic diagram of an inverted T-shaped slide rail of the present invention;
FIG. 8 is a schematic and schematic illustration of a walker embedded in a boot of the present invention;
FIG. 9 is a simplified schematic illustration of a bobbin position of the present invention;
FIG. 10 is a schematic and schematic illustration of a foot attachment of the present invention;
FIG. 11 is a schematic diagram of moment analysis at the ankle joint of the present invention;
fig. 12 is a schematic diagram of a bracket plate of the present invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Specifically, the invention provides an exoskeleton rehabilitation robot for adjusting affected limbs of a patient suffering from foot drop based on electromyographic signals, which comprises a magic tape 1, a supporting device 2, a cable wire 3, a winding reel 4, a motor 5, a support plate 6, a first bearing 7, a first connecting shaft 8, an adjusting plate 9, a bolt 10, a foot connecting piece 11, a second connecting shaft 12, a second bearing 13, a bearing support seat 14, an actuator main body plate 15, an adjustable power supply module 16, an actuator driving plate 17, a nut 18, a gasket 19, a motor support 20, a coupler 21, a screw 22, an electromyographic sensor 23, a mounting bottom plate 24 thereof, a magic tape 25, a bolt 26, a nut 27, a gasket 28, a clamp spring 29, a boot 30 and a first connecting device 31. The walking aid is shown in figures 1 and 2. The block selected portion of fig. 1 is shown in fig. 7. The sensor module is shown in fig. 6. The boot and the walker embedded in the boot can be seen in fig. 8.
The front upper part of the actuator main body plate 15 is fixed with a supporting device 2 for supporting the cable 3, the structure of the supporting device 2 is shown in fig. 3, the middle part is a cylinder, the two end parts are sheets with round corners, and the supporting device 2 can be printed or adhered on the actuator main body plate 15 through a 3D printing technology. The first connecting device 31 is adhered to the actuator main body plate 15 above the supporting device 2, a connecting port for the velcro 1 to pass through is formed in the middle position of the first connecting device 31, and the velcro 1 is used for adjusting and fixing the position of the lower leg of the human body. A second connecting shaft 12 is arranged below the supporting device 2, the second connecting shaft 12 is matched with a second bearing 13, the second bearing 13 is mounted on a bearing supporting seat 14, and the bearing supporting seat 14 is fixedly mounted on an actuator main body plate 15.
As shown in fig. 4, a clip spring 29 is attached to the outer side of the second bearing. One end of the second connecting shaft 12 is connected to the motor 5 by means of a coupling 21, the motor 5 is mounted with a motor bracket 20 by means of screws, and the motor bracket 20 is fixed to one side of the actuator body plate 15 by means of a bracket plate 6.
As shown in fig. 12, the support plate 6 is fork-shaped, and the support plate 6 is fixed to the notch of the actuator body plate 15 by means of adhesion. Under the second connecting shaft 12, the first connecting shaft 8 is matched with the first bearing 7, the first bearing 7 is mounted on the bearing support seat 14, the bearing support seat 14 is fixedly mounted on the actuator main body plate 15, and the clamping spring 29 is mounted on the outer side of the first bearing 7.
As shown in fig. 7 and 10, the round holes of the pair of bearing support bases 14 at the lower end of the actuator body plate 15 and the round holes of the third connecting device 114 are both engaged with the first connecting shaft 8 through the first bearing 7, so that the hinged connection of the actuator body plate 15 and the foot connecting member 11 is realized.
As shown in fig. 9, a bobbin 4 is disposed between the second connecting shaft 12 and the pair of bearing supports 14, and the bobbin 4 is fixed to the second connecting shaft 12.
As shown in fig. 5, a threaded hole 41 is formed in a circular thin plate at one end of the bobbin 4, the wire 3 is wound on the core of the bobbin 4, the head end of the wire 3 is wound on the screw rod of the screw 22, and the screw 22 around which the wire 3 is wound is pre-fastened and fixed with the threaded hole 41, so as to form a wiring mechanism. The tail part of the cable wire is wound on the bolt 10 after passing through the supporting device 2, and is fixedly connected with the second connecting device 111 on the foot connecting piece 11 through the bolt 10.
The back of the actuator main body plate 15 is provided with an adjustable power supply module 16 and an actuator driving plate 17, and the adjustable power supply module 16 is adhered to the upper position of the actuator driving plate 17;
the actuator body plate 15 can rotate relative to the foot link 11 such that the position of the actuator body plate 15 can conform to the surface of the human calf, and the foot link 11 can also rotate. The foot connecting piece 11 is provided with a second connecting device 111, the second connecting device 111 is provided with a threaded hole 112, the tail part of the cable wire 3 is wound on the bolt 10, and the bolt 10 is fastened with the threaded hole 112 through the nut 18 after passing through the gasket 19, so that the fixed connection of the cable wire 3 and the foot connecting piece 11 is realized.
Each bearing support seat and each connecting device are provided with round corners to prevent the limbs of a user from being scratched.
The shape of the adjusting plate 9 is consistent with the shape of the heel of a human body, and threaded holes matched with the bolts 26 are formed at two ends of the adjusting plate 9; the foot connecting piece 11 is fixedly provided with an inverted T-shaped rail 113 for placing the bolt 26, as shown by a part 113 in fig. 7 and 10, the rail is formed by firstly forming a wider rectangular groove body on a cuboid for placing the head of the bolt, the width is smaller than the diameter of the head of the bolt and larger than the diameter of the bolt, and then a narrower rectangular interface is formed on the upper surface, and the width is consistent with the diameter of the bolt. And the bolts are placed upside down, the heads of the bolts face downwards, and the bolts are clamped at the bottoms of the narrower connecting ports. The bolt 26 is matched with the flat washer 28 and the nut 27 after passing through the adjusting plate 9, the nut is loosened, the position of the bolt is moved on the inverted T-shaped guide rail, the bolt 26 drives the adjusting plate 9 to slide on the inverted T-shaped guide rail, and finally the nut is screwed down for position fixing, so that the distance of the adjusting plate 9 in the horizontal plane of the foot connecting piece is adjusted, and the use of patients with different foot lengths is met.
The supporting device 2, the bearing supporting seat 14, the first connecting device 31, the second connecting device 111, the third connecting device 114, and the inverted T-shaped track 113 may be printed on the actuator main body plate 15 or the foot connecting piece 11 by using a 3D printing technology, and the bobbin 4 and the adjusting plate 9 may also be manufactured by using a 3D printing technology, so as to reduce the degree of the slip angle generated on the supporting device 2 during the movement of the cable wire, and preferably, the 3D printing is performed by using a nylon material.
The exoskeleton rehabilitation robot has the working principle that under the action of a control system, the forward and reverse rotation states of a motor are controlled according to the myoelectric signal value of the front side of a thigh, the motor 5 provides power, the second connecting shaft 12 is driven to rotate by the rotation of the motor 5 through the coupler 21, when the foot is required to rotate for a certain angle relative to the lower leg during plantar flexion or dorsiflexion, the distance between the foot connecting piece 11 and the horizontal plane when the foot is horizontally placed when the foot connecting piece 11 provides rotation according to the length of cable wire output is provided, and the cable wire 3 suitable for the needed turns of the plantar flexion and dorsiflexion of a patient is wound on the winding reel 4 due to the lower strain rate of the cable wire. The second connecting shaft 12 drives the winding reel 4 to rotate together, the cable wire 3 on the winding reel passes through the supporting device 2 and is finally fixedly connected with the second connecting device 111 on the foot connecting piece 11 through the bolt 10, and the foot connecting piece 11 is pulled to move, so that the foot connecting piece 11 rotates around a crown shaft taking an ankle joint as a reference. Specifically, before the patient walks, the walking aid mechanism is started, the motor 5 rotates positively to drive the second connecting shaft 12 to rotate, so that the rope wire 3 is driven to move, the rope wire is connected with the foot connecting piece 11 after passing through the supporting device 2, and power is transmitted to the foot connecting piece 11, so that the foot connecting piece 11 rotates upwards in the sagittal plane, and the dorsiflexion movement of the human body is completed; because the plantar flexion movement of the patient is realized by the gravity of the foot, the walking aid mechanism is matched with the control force of the human body and the reverse rotation of the motor 5, so that the foot connecting piece 11 rotates downwards in the sagittal plane around the first connecting shaft 8 to complete the plantar flexion movement.
As can be seen from the moment analysis at the ankle, FIG. 11, it is assumed that the maximum mass of the human foot in the crowd is m 1 kg. The boot is made of light material, and the mass is m at maximum 2 kg, the total mass to be overcome is (m 1 +m 2 ) kg. Considering the first connecting shaft 8 as a fulcrum, the distance from the center of the circular hole of the third connecting device 114 to the center of the threaded hole 112 is the length of the arm, and the length is lm, and the moment M at this time can be obtained by the following calculation:
F＝(m 1 +m 2 )g
M＝l×F＝l×(m 1 +m 2 )g
in order to prevent the load caused by the fact that the mass of the foot and exoskeleton rehabilitation robot exceeds a theoretical value and consider the dynamic requirement of the human body during movement, a motor with rated moment exceeding M is selected, and the moment provided by the motor can meet the walking requirement of a patient with foot drop.
The function of the magic tape 1 is to fix the actuator body plate 15 to the human calf. The adjustment plate 9 is adjusted to a position that is comfortable for the patient.
As shown in fig. 8, a small hole 301 is formed in the side surface of the boot 30, and after the adjustment, the bottom of the foot link 11 is adhered to the insole of the boot 30, so that the walk-assisting mechanism is prevented from being separated from the boot 30. The motor 5 is then mounted through the aperture 301, the motor 5 is connected to the coupling 21, and the position of the motor on the motor bracket 20 is fixed by screws. Finally, the motor is decorated with decorative pieces at the motor 5 location. When the patient needs to take off, the boot is taken off by directly loosening the magic tape, and when the boot is needed to be put on again, only the adhesion parts at the two ends of the magic tape are adjusted.
The myoelectric sensor 23 is adhered to the bottom plate 24, two ends of the bottom plate 24 are provided with connectors for fixing the magic tape 25, and finally the bottom plate 24 is adhered to the thighs of the user by using the magic tape 25.
The user holds a lithium battery in the backpack, which supplies power to the motor 5 and the myoelectric sensor 23. An interface of a drive board power supply is arranged on the drive board 17 and is connected with a lithium battery through a lead; in addition, a control signal input interface is also arranged on the driving plate 17, and signals are sent to a driver of the motor according to the control signals analyzed by the control system to control the forward and reverse rotation states of the motor; the power interface of the driving plate 17 is connected with the interface of the power module 16 above the driving plate, the output interface of the power module 16 is connected with the myoelectric sensor 23 through a wire, and the output voltage of the driving plate 17 is regulated down to 9V by the power module 16, so that the normal work of the myoelectric sensor is ensured.
The principle of the related control part is that the sensor transmits myoelectricity of the front side of the thigh to the sensing system, so as to detect the current movement gait of the patient and predict the movement intention of the patient, form a sensing signal, transmit the sensing signal to the control system, and the control system converts the detected sensing signal into a corresponding control signal and correspondingly controls the motor according to the parameters of the control signal, so that the cable wire drives the foot connecting piece to rotate. Specifically, the sensing system takes the electromyographic signal value at the front side of the thigh as a sensing signal, and then transmits the acquired sensing signal to the control system, and the control system generates a corresponding control signal to control the working state of the motor so as to drive the walking aid mechanism to generate the required movement pose.
Preferably, the force and torque required for operation of the mechanism are provided by rotation of the motor.
Preferably, the advantage of voltage reduction can be realized by using the power supply module, so that the lithium battery supplies power for the myoelectric sensor.
Preferably, a portion of the cord is wound on the bobbin so that the patient can take up the space required for the movement.
The invention navigates the movement of the exoskeleton rehabilitation robot based on the rule of myoelectric signals generated between thighs and calves when a human body walks. Because the thigh of drop foot patient can normally work, can be according to the myoelectric signal that the patient produced in thigh front side when walking, the present motion state of analysis patient and prediction motion consciousness, and then turn into control signal, operate the executor at last, instruct exoskeleton rehabilitation robot to drive the motion of patient's shank, assist the patient to carry out rehabilitation training. The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (4)
1. Foot drop patient rehabilitation training robot based on electromyographic signals, its characterized in that: the boot comprises a walking aid mechanism, a sensing module and a boot; the walking aid mechanism mainly comprises an actuator main body plate, a foot connecting piece and a driving device; the actuator body plate is arranged at the rear end part of the foot connecting piece, the actuator body plate is hinged with the foot connecting piece by means of a first connecting shaft, the actuator body plate can rotate relative to the foot connecting piece, the position of the actuator body plate can be consistent with the surface of the shank of a human body, and the foot connecting piece can also rotate; the sensing module comprises a myoelectric sensor and a bottom plate, wherein the myoelectric sensor is worn at the front side position of the thigh of a human body through a magic tape on the bottom plate; the boot is arranged outside the walking aid mechanism and supports the walking aid mechanism;
the device comprises an actuator main body plate, a support device, a first connecting device, a second connecting shaft, a shaft coupling, a motor, a winding reel, a bolt and a screw hole on the second connecting device of a foot connecting piece, wherein the support device for a cable wire to pass through is fixed on two sides of the front upper part of the actuator main body plate, the first connecting device is fixed above the support device and used for connecting a magic tape, the magic tape is wound on the lower leg and is adhered to two ends of the lower leg, the second connecting shaft is arranged below the support device, one end of the second connecting shaft is connected with the motor by the shaft coupling, the motor is arranged on a motor bracket, the motor bracket is fixed on the side part of the actuator main body plate by the support plate, the two winding reels are fixedly adhered to the second connecting shaft, the cable wire is wound on the winding reel, the end part of the cable wire is wound on the bolt after passing through the support device, and the screw hole on the second connecting device of the foot connecting piece is pre-fastened;
a pair of bearing support seats are fixed on the left side and the right side of the middle position of the actuator main body plate, a pair of bearing support seats are respectively fixed on the left side and the right side of the lower side of the actuator main body plate, a first bearing is assembled on the pair of bearing support seats below the actuator main body plate, a first connecting shaft is matched with the first bearing to realize the connection of the first connecting shaft on the actuator main body plate, the first connecting shaft is connected with a third connecting device on the foot connecting piece to complete the hinging of the actuator main body plate and the foot connecting piece, the axial movement of the first connecting shaft is limited, clamping springs are arranged on the outer sides of the first bearing, a second bearing is assembled on the two pairs of bearing support seats on the left side and the right side of the middle position of the actuator main body plate, the second connecting shaft is matched with the second bearing to realize the connection of the second connecting shaft on the actuator main body plate, the clamping springs are arranged on the outer sides of the second connecting shaft to limit the axial movement of the second connecting shaft, and the winding drums are fixedly adhered on the second connecting shaft and are positioned on the middle position of the pair of bearing support seats;
the shape of the adjusting plate is consistent with the shape of the heel of a human body, and threaded holes matched with the bolts are formed at two ends of the adjusting plate; the two sides of the rear side of the upper surface of the foot connecting piece are fixedly provided with inverted T-shaped tracks for placing bolts, the inverted T-shaped tracks are provided with a first rectangular groove body and a second rectangular groove body, the width of the first rectangular groove body is larger than that of the second rectangular groove body, the width of the first rectangular groove body is smaller than the diameter of the head of the bolt and larger than that of the screw rod, the width of the second rectangular groove body is consistent with that of the screw rod of the bolt, the bolts are matched with the nuts through flat washers after passing through the adjusting plates, the nuts are loosened, the positions of the bolts are moved, the bolts are moved to drive the adjusting plates to move on the inverted T-shaped tracks, and finally the nuts are screwed down to fix, so that the adjustment of the distance of the adjusting plates in the horizontal plane of the foot connecting piece is realized, and patients with different foot lengths can use the adjusting plates;
the back of the actuator main body plate is adhered with an adjustable power supply module and an actuator driving plate, and the adjustable power supply module is arranged at the upper position of the actuator driving plate;
when a patient moves, the sensing system acquires a sensing signal based on the thigh front side electromyographic signal value, and transmits the acquired sensing signal to the control system to form a corresponding control signal, the control system transmits the control signal to a driver of the motor, so that the motor drives the second connecting shaft to rotate in the running state of the motor, the second connecting shaft drives the winding reel to rotate, the winding reel drives the cable wire to rotate, and the cable wire pulls the foot connecting piece to rotate through the supporting device, so that the foot of the patient is driven to move;
when the motor rotates positively, the second connecting shaft is driven to rotate after passing through the coupler, the rotation of the second connecting shaft drives the rope wire on the winding reel to move, the rope wire is fixedly connected with the foot connecting piece after being pre-tightened through the supporting device by the bolt, the movement of the rope wire drives the foot connecting piece to move, and the dorsiflexion movement is completed under the drive of the foot connecting piece; because the plantar flexion movement of the patient is realized by the gravity of the foot of the patient, the walking aid mechanism releases the cable wire by virtue of the control force of the human body and the reverse movement of the motor, and the foot connecting piece rotates downwards in the sagittal plane around the first connecting shaft to finish the plantar flexion movement;
the method comprises the steps of predicting the movement intention of a patient based on the law of the myoelectric signals between the thighs and the shanks of the human body by using the law of the myoelectric signals between the thighs and the shanks of the human body when the human body walks, identifying the pose required to be reached by dorsiflexion or plantarflexion movement of the human body through the myoelectric signal value of the front side of the thighs, and controlling the robot to assist the patient to complete training of preset actions;
a threaded hole is formed in the round thin plate at the end part of the winding drum, the winding drum is wound with the cable wire, the head end of the cable wire is wound on the screw rod of the screw, the screw wound with the cable wire is matched with the threaded hole, and the screw is pre-tightened, so that a wiring mechanism is formed;
the foot connecting piece and the actuator main body plate can be matched with the foot shape and the leg shape of a human body;
a pair of bearing support seats are fixed on two sides of the middle position of the actuator main body plate, a bearing support seat is fixed on the left side and the right side of the front lower part of the actuator main body plate, a first connecting shaft and a second connecting shaft are respectively arranged on the actuator main body plate by means of a first bearing and a second bearing, and two bobbins are respectively stuck between the second connecting shaft and the pair of bearing support seats;
the middle part of the supporting device is a cylinder, the two end parts of the supporting device are thin sheets with round corners, and the supporting device is printed or stuck on the main body plate of the actuator through a 3D printing technology;
the distance from the center of the round hole of the third connecting device to the center of the threaded hole on the second connecting device is the length of a force arm, and the length isl M, the moment M at this time is obtained by the following calculation:
in order to prevent the load caused by the fact that the mass of the foot and exoskeleton rehabilitation robot exceeds a theoretical value and consider the dynamic requirement of the human body during movement, a motor with rated moment exceeding M is selected, and the moment provided by the motor can meet the walking requirement of a patient with foot drop.
2. The electromyographic signal based foot drop patient rehabilitation training robot according to claim 1, wherein: the two ends of the first connecting shaft are fixed by means of a first bearing, and the two ends of the second connecting shaft are fixed by means of a second bearing; in order to prevent the first connecting shaft and the second connecting shaft from generating axial movement, a clamping spring is arranged on the outer side of the bearing to limit the axial movement of the connecting shafts.
3. The electromyographic signal based foot drop patient rehabilitation training robot according to claim 1, wherein: the lithium battery is placed in the knapsack, the lithium battery is used for supplying power to the motor and the myoelectric sensor.
4. The electromyographic signal based foot drop patient rehabilitation training robot according to claim 1, wherein: the second connecting device is fixed in the middle of two sides of the foot connecting piece, a threaded hole is formed in the second connecting device, the bolt is installed at the threaded hole, the end part of the cable wire is wound on the bolt and fastened with the nut after passing through the gasket, and therefore the foot connecting piece is fixed.
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