CN113693882A

CN113693882A - Series-parallel system for gait and balance rehabilitation training

Info

Publication number: CN113693882A
Application number: CN202111026227.XA
Authority: CN
Inventors: 于宁波; 韩建达; 时明松; 周昭丞; 刘思慧
Original assignee: Nankai University
Current assignee: Nankai University
Priority date: 2021-09-02
Filing date: 2021-09-02
Publication date: 2021-11-26
Anticipated expiration: 2041-09-02
Also published as: CN113693882B

Abstract

The invention provides a series-parallel hybrid system for gait and balance rehabilitation training, including an outer frame, a gait trajectory generating unit and a balance control unit; the number of gait trajectory generating units is 2, and about the sagittal plane Symmetrically installed on the inner walls of both sides of the outer frame, including a composite link mechanism and a driving device, the driving device drives the composite link mechanism to output a gait trajectory that simulates a person's normal walking, which improves the accuracy of gait fitting; balance control unit The number of the three-degree-of-freedom parallel mechanism includes a fixed platform, a movable platform and a telescopic push rod. The fixed platform is fixed on the output end of the composite linkage mechanism, the pedal fixing device is fixed on the movable platform, and the telescopic push rod is fixed on the output end. The number of at least 3 is to support both sides of the forefoot and the heel of the foot respectively. The two ends of the telescopic push rod are hinged with the fixed platform and the movable platform respectively. Flexion, varus, valgus and rotation training requirements.

Description

Series-parallel system for gait and balance rehabilitation training

Technical Field

The invention relates to the technical field of rehabilitation training and the like, in particular to a series-parallel system for gait and balance rehabilitation training.

Background

In recent years, the cases of spine injury, nerve injury and organism injury caused by movement or accidents are increased, and some serious disabled patients have the problem that the patients cannot walk independently even though the patients have lower limb walking disorder after the operation. In addition, the number of patients suffering from aging population, physical function deterioration of the elderly, cardiovascular and cerebrovascular diseases, and central nervous system diseases increases, especially patients suffering from diseases accompanied by lower limb control and regulation disorders such as Parkinson, cerebral apoplexy, and hemiplegia.

The prior medical research proves that the patients have obvious improvement effect on the motor function and the balance function of the patients by scientific limb rehabilitation training besides surgical treatment and drug treatment. Therefore, the gait training device helps patients to complete a large amount of repetitive correct gait training, is beneficial to promoting the physical function of the patients to be recovered, and guides the patients to gradually establish correct motion modes, thereby recovering the lower limb balance support and the standing and walking ability. Compared with a mechanical training action which is repeated, the gait rehabilitation training method has better curative effect and more obvious gait rehabilitation training effect under various scenes of walking on flat ground, climbing on slope, climbing on stairs and the like.

Because the rehabilitation training cycle is long, and the work intensity of the rehabilitation trainee is high, in order to guarantee the training quality and reduce the work pressure of the trainee, the robot assistance is introduced to maintain the high-density long-time rehabilitation training, and the effect superior to the human assistance or the self-training of the patient is obtained.

The multifunctional gait rehabilitation machine overcomes the defects of the traditional artificial rehabilitation training, is an effective means for carrying out gait rehabilitation training on patients with abnormal gait caused by motor nervous system diseases, and mainly has two mechanism forms of leg driving type and foot driving type. The leg driving type gait rehabilitation machine usually adopts an exoskeleton form, and has the limitations that the degree of freedom of mechanical joints is less than that of actual human joints, joint movement in normal gait cannot be accurately reproduced, and the defect of uncomfortable wearing exists. The foot driving gait rehabilitation training machine drives the feet of a patient to move by moving the foot pedal, and then the big leg and the small leg of the patient are connected to move.

The existing foot-driven lower limb rehabilitation machine usually adopts a fixed mechanism to realize an elliptical motion track, can not flexibly adjust the motion track of the foot according to the physical condition and the training requirement of a patient, and is difficult to achieve the ideal rehabilitation effect.

Disclosure of Invention

In view of the above, the present invention provides a series-parallel hybrid system for gait and balance rehabilitation training, which can improve the precision of gait fitting, and can simulate the gait characteristics of walking on various terrains such as flat ground, stairs, climbing slopes, sand, etc. to perform gait and balance rehabilitation training in multiple scenes.

In order to achieve the purpose, the invention provides the following technical scheme:

a series-parallel system facing gait and balance rehabilitation training comprises an outer frame, a gait track generating unit and a balance control unit;

the number of the gait track generating units is 2, the gait track generating units are symmetrically arranged on the inner walls of two sides of the outer frame about a sagittal plane, each gait track generating unit comprises a composite link mechanism and a driving device, the input end of each composite link mechanism is in transmission connection with the driving device, and the driving device drives the composite link mechanisms to output gait tracks when the simulator normally walks;

the number of the balance control units is 2, the balance control units correspond to the gait track generation units one by one and comprise three-degree-of-freedom parallel mechanisms and pedal fixing devices, each three-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform and telescopic push rods, the fixed platform is fixed at the output end of the composite connecting rod mechanism, the pedal fixing devices are fixed at the top end of the movable platform and used for fixing feet to the movable platform, the number of the telescopic push rods is at least 3, the telescopic push rods support two sides of a forefoot sole of the feet and heels of the feet respectively, and two ends of the telescopic push rods are hinged to the top end of the fixed platform and the bottom end of the movable platform respectively.

In a particular embodiment, the compound linkage comprises a first connecting plate, a second connecting plate, a third connecting plate, and a link;

the point A of the first connecting plate is an input point of the composite link mechanism, the point G of the second connecting plate is hinged with the inner wall of the outer frame, and the point E of the third connecting plate is connected with the fixed platform;

the point B of the first connecting plate is hinged with the point B of the second connecting plate, the point C of the second connecting plate is hinged with the first end of the connecting rod, the second end of the connecting rod is hinged with the point D of the third connecting plate, and the point F of the third connecting plate is hinged with the point F of the first connecting plate;

points A, B and F of the first connecting plate form a triangle, points B, C and G of the second connecting plate form a triangle, and points D, E and F of the third connecting plate form a triangle.

In another specific embodiment, the first connecting plate and the third connecting plate are respectively provided with a mounting through hole for passing through an adjustable bandage to tie the leg of the patient;

the ratio of the overall length of the compound link mechanism to the length of the lower limb of the patient is greater than or equal to 1.1 and less than or equal to 1.2.

In another specific embodiment, the driving device comprises a driving motor, a driving wheel, a driven wheel and a synchronous belt;

the driving motor is mounted on the inner wall of the outer frame, the driven wheels of the driving turbine are rotatably mounted on the inner wall of the outer frame, the driving wheel is in transmission connection with the driving motor, and the driven wheels are in transmission connection with the driving wheel through the synchronous belt;

the input point of the composite link mechanism is hinged with the disc surface of the driven wheel, and the input point of the composite link mechanism is away from the axis of the driven wheel by a preset distance.

In another specific embodiment, the telescopic push rod is an electric push rod, the top end of the electric push rod is hinged to the bottom end of the movable platform through a spherical hinge assembly, and the bottom end of the electric push rod is connected with the top end of the fixed platform through a universal joint.

In another specific embodiment, the balance control unit further comprises a position sensor and an angular velocity sensor;

the position sensor is installed on the telescopic push rod, and the angular velocity sensor is installed on the movable platform and used for monitoring the rotating angle of the movable platform.

In another specific embodiment, the balance control unit further comprises a plantar pressure sensor;

the sole pressure sensor is arranged on the top end surface of the pedal fixing device.

In another embodiment, the foothold fixture comprises a bottom plate, a binding band, and a slip-off prevention stopper;

the bottom plate is fixed on the top end face of the movable platform, the binding belts are used for binding feet on the bottom plate, and the anti-falling baffle is arranged on the bottom plate and used for preventing the feet from falling off from the rear of the ankles.

In another specific embodiment, the series-parallel hybrid system for gait-oriented and balance rehabilitation training further comprises a weight loss protection unit;

the weight-loss protection unit is mounted on the outer frame for providing an upward force to the body of the patient.

In another specific embodiment, the weight loss protection unit comprises a cross beam, a flexible lock, a mounting bracket and a tripod;

the cross beam is fixed to the top end of the outer frame, the top end of the flexible lock is connected with the cross beam, the bottom end of the flexible lock is connected with the mounting frame, the number of the triangular supports is 2, and the triangular supports are respectively mounted on two sides of the bottom end of the mounting frame;

shoulder straps of a walking lifting appliance penetrated by the waist of the patient respectively penetrate through the triangular supports to be fixed.

The various embodiments according to the invention can be combined as desired, and the embodiments obtained after these combinations are also within the scope of the invention and are part of the specific embodiments of the invention.

According to the technical scheme, the series-parallel system for gait and balance rehabilitation training improves the gait fitting accuracy through the composite connecting rod mechanism. In addition, because the compound link mechanisms of the 2 gait track generation units are respectively driven by respective driving devices, the single control of the single-side conforming link mechanisms is realized, and the control is not interfered with each other and does not influence each other. Aiming at hemiplegia, cerebral apoplexy and Parkinson patients with different diseases, the support posture of one side of the body can be adjusted as required, and the speed and the amplitude of the gait track can be set as required.

The invention realizes training requirements of plantar flexion, dorsiflexion, inversion, eversion, rotation and the like of the ankle joint by adjusting the length of the telescopic push rod on the balance control unit, simulates gait characteristics when walking under various terrains such as flat ground, stairs, climbing slope, sand and the like, and carries out gait and balance rehabilitation training under multiple scenes.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic three-dimensional structure diagram of a series-parallel hybrid system for gait and balance rehabilitation training according to the invention;

FIG. 2 is a schematic left-view structural diagram of a series-parallel hybrid system for gait and balance rehabilitation training according to the present invention;

FIG. 3 is a schematic three-dimensional structure of a gait trajectory generating unit provided by the invention;

fig. 4 is a schematic three-dimensional structure diagram of a balance control unit provided by the present invention.

Wherein, in fig. 1-4:

the walking mechanism comprises an outer frame 1, a gait track generation unit 2, a balance control unit 3, a composite link mechanism 201, a driving device 202, a three-degree-of-freedom parallel mechanism 301, a pedal fixing device 302, a fixed platform 3011, a movable platform 3012, a telescopic push rod 3013, a sole pressure sensor 303, a bottom plate 3021, an anti-drop baffle 3022, a first connecting plate 2011, a second connecting plate 2012, a third connecting plate 2013, a connecting rod 2014, a driving motor 2021, a driving wheel 2022, a driven wheel 2023, a synchronous belt 2024, a weight-reduction protection unit 4, a cross beam 401, a flexible lock 402, a mounting rack 403, a tripod 404, a ball head piece 5, a ball hinge seat 6 and a universal joint 7.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the position or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in figure 1, the invention discloses a series-parallel system for gait and balance rehabilitation training, which utilizes a composite link mechanism 201 to enable gait fitting to be more accurate, and utilizes a three-degree-of-freedom parallel mechanism 301 to achieve training requirements of ankle joint plantar flexion, dorsiflexion, inversion, eversion, rotation and the like. The invention can simultaneously carry out gait training and balance training, the induction monitoring device is arranged at the corresponding part of the important movable joint, the training difficulty and intensity can be set according to the requirement and real-time feedback of a patient, and the gait characteristics of walking on various terrains such as flat ground, stairs, climbing slope, sand and the like can be simulated to carry out gait and balance rehabilitation training under multiple scenes.

Specifically, the series-parallel hybrid system for gait and balance rehabilitation training includes an outer frame 1, a gait trajectory generation unit 2, and a balance control unit 3.

Specifically, the outer frame 1 is a U-shaped structure placed laterally, and the outer frame 1 may be formed by splicing or welding 3 plates, or may be formed by splicing a plurality of profiles. The U-shaped configuration of the outer frame 1 is only one preferred embodiment disclosed in the present invention, and in practical applications, the outer frame 1 may be configured in other shapes, such as a semicircular shape.

The bottom end of the inlet side of the outer frame 1 is provided with a slope step, so that a patient can conveniently enter the device.

The number of the gait track generating units 2 is 2, the gait track generating units are symmetrically arranged on the inner walls of two sides of the outer frame 1 about a sagittal plane, each gait track generating unit 2 comprises a composite link mechanism 201 and a driving device 202, the input end of the composite link mechanism 201 is in transmission connection with the driving device 202, and the driving device 202 drives the composite link mechanism 201 to output a gait track simulating normal walking of a human. The driving devices 202 respectively drive the corresponding compound link mechanisms 201 to simulate the gait track of the normal walking of the human.

The number of the balance control units 3 is 2, and the balance control units correspond to the gait track generation units 2 one by one. As shown in fig. 4, the balance control unit 3 includes a three-degree-of-freedom parallel mechanism 301 and a pedal fixing device 302, the three-degree-of-freedom parallel mechanism 301 includes a fixed platform 3011, a movable platform 3012 and a telescopic push rod 3013, the fixed platform 3011 is fixed at an output end of the composite link mechanism 201, the pedal fixing device 302 is fixed at a top end of the movable platform 3012 and is used for fixing feet onto the movable platform 3012, the number of the telescopic push rods 3013 is at least 3 and supports two sides of a forefoot of the feet and a heel of the feet, and two ends of the telescopic push rod 3013 are hinged to a top end of the fixed platform 3011 and a bottom end of the movable platform 3012 respectively. The movements of plantar flexion, dorsiflexion, inversion, eversion and rotation of the ankle joint are realized by controlling the extension and retraction of each telescopic push rod 3013.

The series-parallel system for gait and balance rehabilitation training improves the gait fitting accuracy through the composite connecting rod mechanism 201. In addition, since the compound link mechanisms 201 of the 2 gait trajectory generation units 2 are driven by the respective driving devices 202, individual control of the one-sided conforming link mechanisms is realized without interference or influence. Aiming at hemiplegia, cerebral apoplexy and Parkinson patients with different diseases, the support posture of one side of the body can be adjusted as required, and the speed and the amplitude of the gait track can be set as required.

The invention realizes training requirements of plantar flexion, dorsiflexion, inversion, eversion, rotation and the like of the ankle joint by adjusting the length of the telescopic push rod 3013 on the balance control unit 3, simulates gait characteristics when walking under various terrains such as flat ground, stairs, climbing, sand and the like, and carries out gait and balance rehabilitation training under multiple scenes.

In some embodiments, the telescopic push rod 3013 is an electric push rod, and the top end of the electric push rod is hinged to the bottom end of the movable platform 3012 through a spherical hinge assembly, and the bottom end of the electric push rod is connected to the top end of the fixed platform 3011 through a universal joint 7.

Specifically, the electric push rod is a linear electric push rod, the linear electric push rod is an electric push rod with a planetary gear reduction box, the stroke is 100mm-150mm, and a proper encoder is selected and matched for control.

The top end of the linear electric push rod is welded with a spherical head piece 5 of the spherical hinge assembly, a spherical hinge seat 6 of the spherical hinge assembly is welded with the movable platform 3012, the spherical head piece 5 is installed in the spherical hinge seat 6, the range of motion of the spherical hinge assembly is 30-35 degrees, the ankle joint of a patient can freely move, and the range of motion angle of the spherical hinge assembly can be set to other angle range values according to specific needs.

The universal joint 7 is a cross universal joint, the bottom end of the cross universal joint is mounted on a bottom universal joint fork, and the bottom universal joint fork is welded to the top end of the fixed platform 3011. The number of the bottom universal joint forks is equal to that of the cross shaft universal joints, the bottom universal joint forks are installed in a one-to-one correspondence mode, the ratio of the center distance of each bottom universal joint fork to the center distance of each spherical hinge seat 6 on the movable platform 3012 is 1.2-1.5, the three-degree-of-freedom parallel mechanism 301 is arranged in a table body mode, the stability of the balance control unit 3 is improved, and the top ends of the cross shaft universal joints are welded to the bottom ends of the linear electric push rods through the top universal joint forks.

The three-degree-of-freedom parallel mechanism 301 is a 3-RPU type parallel mechanism, wherein R represents a revolute pair, P represents a revolute pair, U represents a Hooke's joint, a spherical joint serves as a revolute pair, a linear electric push rod serves as a revolute pair, and a cross-shaped universal joint serves as a Hooke's joint.

It should be noted that, both ends of the electric push rod may also be provided with spherical hinges to be hinged to the movable platform 3012 and the fixed platform 3011, respectively. It should be understood that the telescopic rod 3013 is an electric rod, which is only a preferred embodiment of the present invention, and in practical applications, the telescopic rod 3013 may be a device capable of extending and contracting, such as an air cylinder or a hydraulic cylinder.

In the initial posture, the movable platform 3012 is kept horizontal, and the ankle joint rotation center is located at a height of 10cm above the movable platform 3012. The change of the rotation angle of the movable platform 3012 is realized by adjusting the stretching amount of the three electric push rods, and various rehabilitation training motion forms of ankle dorsiflexion, plantarflexion, inversion, eversion, rotation and the like are realized. The movable platform 3012 drives the ankle joint to dorsiflex and move at an angle up to 20 degrees, drives the ankle joint to plantarflex and move at an angle up to 30 degrees, and drives the ankle joint to invert and evert at an angle up to 30 degrees.

In some embodiments, the balance control unit 3 further includes a position sensor and an angular velocity sensor, the position sensor is mounted on the electric putter, and the angular velocity sensor is mounted on the movable platform 3012 and is used for monitoring the rotation angle of the movable platform 3012, so as to monitor the movable platform 3012 and facilitate the adjustment of the posture of the movable platform 3012.

Further, the invention discloses that the balance control unit 3 further comprises a sole pressure sensor 303, wherein the sole pressure sensor 303 is installed on the top end surface of the pedal fixing device 302 and used for measuring and recording the sole supporting force of a patient in the gait rehabilitation training process in real time, and comparing the measured sole supporting force in a plurality of rehabilitation cycles, so that the body rehabilitation degree of the patient can be analyzed, and the intensity and the density of the rehabilitation training can be adjusted in time. Meanwhile, the rotation angle of the movable platform 3012 can be reasonably adjusted according to the injury condition of the bones and the bodies of the patient, and the continuous excessive stress on the injury side of the patient is avoided.

It should be noted that the number of the sole pressure sensors 303 is not limited to 1, and in order to improve the accuracy of the data, the invention discloses that the number of the sole pressure sensors 303 is multiple and is uniformly distributed on the top surface of the pedal fixing device 302 for supporting the sole.

Further, the present invention discloses that the foothold 302 comprises a bottom plate 3021, a binding band and an anti-slip cover 3022, the bottom plate 3021 is fixed on the top end surface of the movable platform 3012, and specifically, the bottom plate 3021 is rigidly connected to the movable platform 3012.

The binding band is used for binding the foot on the bottom plate 3021, and the anti-slip stopper 3022 is provided on the bottom plate 3021 for preventing the foot from slipping out from the rear of the ankle.

Specifically, a plurality of through holes are formed in the side surface of the bottom plate 3021, and a binding band is inserted into each through hole to bind the foot part to the bottom plate 3021.

In order to better prevent the foot from falling off from the rear of the ankle, the invention discloses that the anti-falling baffle 3022 is arc-shaped and is matched with the shape of the ankle, and in order to reduce weight, lightening holes can be formed in the anti-falling baffle 3022 and are arranged to be of a net-like arc structure.

Specifically, the anti-slip baffle 3022 is an integrally formed arc-shaped plate, and it should be noted that the anti-slip baffle 3022 may also be formed by splicing a plurality of plates. Of course, the anti-dropping baffle 3022 may also be a plurality of arc-shaped plates or rectangular plates arranged at intervals. In some embodiments, as shown in fig. 3, compound linkage 201 includes a first connection plate 2011, a second connection plate 2012, a third connection plate 2013, and a link 2014.

The point a of the first connecting plate 2011 is an input point of the compound link mechanism 201, the point G of the second connecting plate 2012 is hinged to the inner wall of the outer frame 1, and the point E of the third connecting plate 2013 is connected to the fixed platform 3011. The point B of the first connecting plate 2011 is hinged to the point B of the second connecting plate 2012, the point C of the second connecting plate 2012 is hinged to the first end of the connecting rod 2014, the second end of the connecting rod 2014 is hinged to the point D of the third connecting plate 2013, and the point F of the third connecting plate 2013 is hinged to the point F of the first connecting plate 2011.

Points a, B, and F of the first connecting plate 2011 form a triangle, points B, C, and G of the second connecting plate 2012 form a triangle, and points D, E, and F of the third connecting plate 2013 form a triangle.

The first connecting plate 2011 and the driving device 202 are hinged at a point a of the first connecting plate 2011 to form a crank connecting rod 2014, and the driving device 202 drives the first connecting plate 2011 to make a circular motion. The point E of the third connecting plate 2013 serves as an actuating end of the parallel four-bar linkage, the gait track is output to be simulated, and meanwhile the Z-shaped fixed platform 3011 is led out to the inner side through a structural part at the point E. During actual design, the side length of each connecting plate and the length of the connecting rod 2014 need to be determined through a computer simulation experiment under the condition that the E point output track is close to the walking gait track of a normal person according to the height and the body type of a patient.

Each connecting plate may be a triangular plate, or may be a plate having a regular shape such as a square plate or a circular plate. Of course, the connecting plate can be a special-shaped structure, and the connecting plate which does not interfere with the movement is within the protection scope of the invention.

Further, mounting through holes are respectively formed in the first connecting plate 2011 and the third connecting plate 2013 and used for penetrating the adjustable bandage to tie the leg of the patient, so that the connection stability is further improved.

Specifically, the adjustable strap passes through a through hole on the first connecting plate 2011 to be fixed with the thigh of the patient, and the adjustable strap passes through a through hole on the third connecting plate 2013 to be fixed with the calf of the patient.

Further, the present invention discloses that the ratio of the overall length of the link 2014 compound link mechanism 201 to the lower limb length of the patient is greater than or equal to 1.1 and less than or equal to 1.2. Within this range, the patient's rehabilitation effect is optimal.

Further, the invention specifically discloses that the driving device 202 comprises a driving motor 2021, a driving wheel 2022, a driven wheel 2023 and a synchronous belt 2024, the driving motor 2021 is mounted on the inner wall of the outer frame 1, the driving wheel 2022 and the driven wheel 2023 can be rotatably mounted on the inner wall of the outer frame 1, the driving wheel 2022 is in transmission connection with the driving motor 2021, and the driven wheel 2023 is in transmission connection with the driving wheel 2022 through the synchronous belt 2024. Specifically, the driving wheel 2022 and the driven wheel 2023 both use a trapezoidal tooth synchronous pulley, and the corresponding synchronous belt 2024 uses a trapezoidal tooth synchronous belt, so as to realize synchronous transmission between the driving wheel 2022 and the driven wheel 2023.

The wheel centers of the driving wheel 2022 and the driven wheel 2023 are hinged on the inner wall of the outer frame 1 through connecting shafts. The input point of the compound link mechanism 201 is hinged to the disc surface of the driven wheel 2023, and the input point of the compound link mechanism 201 is away from the axis of the driven wheel 2023 by a preset distance. The preset distance can be set as required.

In some embodiments, the serial-parallel hybrid robot further comprises a weight-loss protection unit 4, the weight-loss protection unit 4 being mounted on the outer frame 1 for providing an upward force to the body of the patient.

Specifically, as shown in fig. 1 and 2, the weight-reduction protection unit 4 includes a cross beam 401, a flexible lock 402, a mounting bracket 403, and tripods 404, the cross beam 401 is fixed on the top end of the outer frame 1, the top end of the flexible lock 402 is connected with the cross beam 401, the bottom end of the flexible lock 402 is connected with the mounting bracket 403, and the number of the tripods is 2, and the tripods are respectively installed on both sides of the bottom end of the mounting bracket 403.

Shoulder straps of a walking sling penetrated by the waist of the patient respectively penetrate through the tripod 404 for fixation.

The shoulder bandage adopts the pin fastener type belt fastener, conveniently adjusts the elasticity degree of shoulder bandage in order to adapt to patient's size, provides ascending weight reduction protection for the patient at the in-process of rehabilitation motion.

Further, the invention discloses that the height of the beam 401 is adjustable, so as to meet the use requirements of patients with different heights, and the width of the outer frame 1 needs to ensure that the ratio of the center distance of the pedal fixing device 302 at the inner side to the shoulder width of the patient is 1.2: 1.

before the device is used, a patient wears the movable lifting appliance, then the foot is fixed in the pedal fixing device 302 through the binding belt, and finally the composite link mechanism 201 of the gait track generating unit 2 is fixed with the lower limb of the patient through the adjustable binding belt. When the training starts, the movable platform 3012 is kept horizontal, the driving motor 2021 rotates at a low speed, the connecting rod 2014 composite connecting rod mechanism 201 drives the lower limbs of the patient to perform normal gait movement at a low speed, the posture of the movable platform 3012 is gradually adjusted along with the propulsion of the rehabilitation training, and balance disturbance is introduced, so that the ankle joints of the patient are driven to move together in the walking training.

The series-parallel system for gait and balance rehabilitation training is also provided with a controller, and the controller controls the action of each component according to the acquired signals so as to realize passive training and active training of a user.

When passive training is carried out, the series-parallel system for gait and balance rehabilitation training enters a driving mode. The gait tracks of normal persons, similar to the tested patient, of the height, the weight and the body type, the distribution and the change conditions of the plantar pressure in a gait cycle are collected in advance and stored in the controller. Initially, 3 electric pushers were adjusted to keep the movable platform 3012 horizontal, the subject's feet were fixed to the movable platform 3102 by binding bands, and the collected static sole load was compared with that of a normal person for posture assessment. For the patients with hemiplegia or the patients with Parkinson with high muscle tension, the situation that the soles cannot keep the horizontal posture due to the atrophy of part of muscle groups can occur, the stretching amount of the 3 electric push rods is reasonably adjusted at the moment, so that the movable platform 3012 can be attached to the soles of the patients as far as possible on the premise of ensuring the support, and the secondary damage to the patients due to excessive pursuit of the normal posture is avoided.

The plantar pressure sensor 303 disclosed by the invention consists of a pressure insole and a signal processing module, and the whole plantar pressure sensor 303 is integrally nested in the movable platform 3012. In the running process of the system, the pressure of the sole of a tested patient is collected and fed back in real time and compared with a change curve of the sole load on a time axis under normal gait, so that the activity intention of the joint is judged in advance. The variation difference of the sole pressure is used as an input signal for the telescopic control of the electric push rods, the telescopic amount of the 3 electric push rods is adjusted in real time, a patient is assisted to complete plantarflexion and dorsiflexion movements in a gait cycle, and the movable platform 3012 can always keep a certain inclination angle in the period, so that sufficient support protection is provided for the affected side joint.

When active training is carried out, the series-parallel system facing gait and balance rehabilitation training utilizes the moment control of the driving motor 2021 to develop an impedance training mode, displacement change is detected through the position sensor, corresponding impedance force is generated, at the moment, a testee needs larger muscle force to drive lower limb movement to complete a gait track, and for young patients recovering part of the muscle force, the training mode can greatly promote walking consciousness and train the ability of maintaining the muscle force.

It should be noted that, in the present specification, words indicating orientation, such as upper and lower, are set forth in the direction of fig. 1, and are used for convenience of description only, and have no other specific meanings.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and inventive features disclosed herein.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

1. A series-parallel system for gait and balance rehabilitation training is characterized by comprising an outer frame, a gait track generating unit and a balance control unit;

the number of the balance control units is 2, the balance control units correspond to the gait track generation units one by one and comprise three-degree-of-freedom parallel mechanisms and pedal fixing devices, each three-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform and telescopic push rods, the fixed platform is fixed at the output end of the composite connecting rod mechanism, the pedal fixing devices are fixed at the top end of the movable platform and used for fixing feet to the movable platform, the number of the telescopic push rods is at least 3, the telescopic push rods support two sides of the front sole of the feet and the heel of the feet respectively, and two ends of the telescopic push rods are hinged to the top end of the fixed platform and the bottom end of the movable platform respectively.

2. The gait-oriented and balance rehabilitation training series-parallel hybrid system according to claim 1, wherein the compound linkage mechanism includes a first connecting plate, a second connecting plate, a third connecting plate, and a connecting rod;

3. The gait-oriented and balance rehabilitation training series-parallel hybrid system according to claim 2, wherein the first connecting plate and the third connecting plate each have a mounting through hole for passing an adjustable strap to attach the leg of the patient;

4. The gait-and balance rehabilitation-oriented series-parallel connection system according to claim 2, wherein the drive means includes a drive motor, a drive pulley, a driven pulley and a synchronous belt;

5. The series-parallel hybrid system for gait and balance rehabilitation training according to claim 1, wherein the telescopic push rod is an electric push rod, the top end of the electric push rod is hinged to the bottom end of the movable platform through a spherical hinge assembly, and the bottom end of the electric push rod is connected to the top end of the fixed platform through a universal joint.

6. The gait and balance rehabilitation training oriented series-parallel hybrid system according to claim 1, wherein the balance control unit further comprises a position sensor and an angular velocity sensor;

7. The gait-and balance-oriented rehabilitation training series-parallel connection system according to claim 1, wherein the balance control unit further comprises a plantar pressure sensor;

8. The gait-and balance rehabilitation training-oriented series-parallel hybrid system according to claim 4, wherein the pedal fixing means includes a base plate, a binding band and an anti-drop baffle;

9. The series-parallel hybrid system for gait and balance rehabilitation training according to any one of claims 1 to 8, further comprising a weight loss protection unit;

10. The gait-oriented and balance rehabilitation training series-parallel hybrid system according to claim 9, wherein the weight loss protection unit comprises a beam, a flexible lock, a mounting bracket and a tripod;