CN113693882B

CN113693882B - Series-parallel system oriented to gait and balance rehabilitation training

Info

Publication number: CN113693882B
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: 2024-06-04
Anticipated expiration: 2041-09-02
Also published as: CN113693882A

Abstract

The invention provides a series-parallel series-parallel system for gait and balance rehabilitation training, which comprises an outer frame, a gait track generating unit and a balance control unit, wherein the gait track generating unit is connected with the outer frame; the number of gait track generating units is 2, the gait track generating units are symmetrically arranged on the inner walls of the two sides of the outer frame about the sagittal plane and comprise a composite link mechanism and a driving device, and the driving device drives the composite link mechanism to output gait tracks simulating normal walking of a person, so that the accuracy of gait fitting is improved; the number of the balance control units is 2, the 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 link mechanism, the pedal fixing device is fixed on the movable platform, the number of the telescopic push rods is at least 3, the heels of the two sides of the front sole and the feet are respectively supported, the two ends of the telescopic push rods are respectively hinged with the fixed platform and the movable platform, and the training requirements of plantarflexion, dorsiflexion, inversion, eversion, rotation and the like of the ankle joint are realized by adjusting the length of each telescopic push rod.

Description

Series-parallel system oriented to 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 spinal injury, nerve injury and body injury caused by sports or accidents are increasing, and the problem that patients with heavy disabilities have lower limb walking disorder after operation and even cannot walk independently is solved. In addition, the aged population is affected by the aging of the population, and the aged suffers from reduced bodily functions, cardiovascular and cerebrovascular diseases and central nervous system diseases, and especially suffering from diseases such as Parkinson's disease, cerebral apoplexy, hemiplegia, etc. accompanied with lower limb control and regulation disorders.

The prior medical research has proved that the scientific limb rehabilitation training has obvious improvement effect on the movement function and the balance function of the patient besides the operation treatment and the drug treatment. Therefore, the device helps the patient to complete a large number of repeated correct gait training, is beneficial to promoting rehabilitation of the limb functions of the patient, guides the patient to gradually establish a correct movement mode, and further restores the lower limb balance support and standing and walking capabilities. Compared with a training method which mechanically repeats a certain training action and assists a patient to keep balance and walk alone to avoid obstacles, the gait rehabilitation training method has better curative effect, and the gait rehabilitation training effect is more remarkable in various scenes such as flat ground walking, sloping field climbing, stair climbing and the like.

Because the rehabilitation training period is long, the working strength of a rehabilitation trainer is high, and in order to ensure the training quality and lighten the working pressure of the trainer, the robot assistance is introduced to maintain the high-density long-time rehabilitation training, so that the effect superior to the human assistance or the self-training of a patient is obtained.

The multifunctional gait rehabilitation machine makes up the defects of the traditional manual rehabilitation training, is an effective means for performing gait rehabilitation training on patients with abnormal gait caused by motor nervous system diseases, and mainly comprises two mechanism forms of leg driving type and foot driving type. Leg-driven gait rehabilitation machines generally take the form of an exoskeleton, which is limited in that the degree of freedom of mechanical joints is less than that of actual human joints, the joint motions in normal gait cannot be accurately reproduced, and the disadvantage of uncomfortable wearing exists. The foot driving gait rehabilitation training machine drives the feet of the patient to move through moving the foot pedals, and then the feet and the thighs of the patient are involved to move.

The existing foot-driven lower limb rehabilitation machine generally adopts a fixed mechanism to realize an elliptical motion trail, and cannot flexibly adjust the motion trail of the foot according to the physical condition and training requirements of a patient, so that an ideal rehabilitation effect is difficult to achieve.

Disclosure of Invention

Therefore, the invention aims to provide a series-parallel series-parallel system oriented to gait and balance rehabilitation training, which can improve the precision of gait fitting, simulate the gait characteristics when walking under various terrains such as flat ground, stairs, climbing, sand and the like, and perform gait and balance rehabilitation training under multiple scenes.

In order to achieve the above purpose, the present invention provides the following technical solutions:

a serial-parallel series-parallel system for 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 the two sides of the outer frame about the sagittal plane, the gait track generating units comprise a composite connecting rod mechanism and a driving device, the input end of the composite connecting rod mechanism is in transmission connection with the driving device, and the driving device drives the composite connecting rod mechanism to output gait tracks simulating normal walking of a person;

The number of the balance control units is 2, the balance control units are in one-to-one correspondence with the gait track generation units, the three-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform and a telescopic push rod, the fixed platform is fixed at the output end of the composite link mechanism, the pedal fixing device is fixed at the top end of the movable platform and is used for fixing feet to the movable platform, the number of the telescopic push rod is at least 3 and is used for respectively supporting the two sides of the front sole of the foot and the heels of the foot, and the two ends of the telescopic push rod are respectively hinged with the top end of the fixed platform and the bottom end of the movable platform.

In a specific embodiment, the compound linkage comprises a first connection plate, a second connection plate, a third connection plate, and a connection rod;

The point A of the first connecting plate is an input point of the composite connecting rod 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;

The points A, B and F of the first connecting plate form a triangle, the points B, C and G of the second connecting plate form a triangle, and the 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 binding the leg of the patient through the adjustable binding belt;

The ratio of the overall length of the composite 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 arranged on the inner wall of the outer frame, the driven wheels of the driving wheel machine are rotatably arranged 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 compound connecting rod mechanism is hinged with the disk surface of the driven wheel, and the input point of the compound connecting rod mechanism is spaced from the axis of the driven wheel by a preset distance.

In another specific embodiment, the telescopic pushing rod is an electric pushing rod, the top end of the electric pushing rod is hinged with the bottom end of the movable platform through a spherical hinge assembly, and the bottom end of the electric pushing 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 rotation angle of the movable platform.

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

The plantar pressure sensor is arranged on the top end face of the pedal fixing device.

In another embodiment, the foot fixing device comprises a bottom plate, a binding belt and an anti-falling baffle;

The bottom plate is fixed on the top end face of the movable platform, the binding belt is used for binding the foot on the bottom plate, and the anti-falling baffle is arranged on the bottom plate and used for preventing the foot from falling off from the rear of the ankle.

In another specific embodiment, the serial-parallel serial-parallel system facing gait and balance rehabilitation training further comprises a weight reduction protection unit;

The weight-reduction protection unit is mounted on the outer frame for providing an upward force to the patient's body.

In another specific embodiment, the weight-reducing protection unit comprises a cross beam, a flexible lock, a mounting rack and a tripod;

the cross beam is fixed at 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 frames is 2, and the triangular frames are respectively arranged at two sides of the bottom end of the mounting frame;

shoulder binding bands of a walking sling penetrating through the waist of a patient respectively penetrate through the tripod to be fixed.

The various embodiments according to the invention may be combined as desired and the resulting embodiments after such combination are also within the scope of the invention and are part of specific embodiments of the invention.

According to the technical scheme, the series-parallel connection system for gait and balance rehabilitation training improves the accuracy of gait fitting through the composite link mechanism. In addition, because the compound link mechanisms of the 2 gait track generation units are respectively driven by the respective driving devices, the single control of the single-side coincidence link mechanisms is realized, the mutual interference and the mutual influence are avoided. Aiming at hemiplegia, cerebral apoplexy and parkinsonism patients with different symptoms, the supporting 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.

According to the invention, the length of the telescopic push rod on the balance control unit is adjusted, so that the training requirements of plantarflexion, dorsiflexion, varus, valgus, rotation and the like of the ankle joint are realized, the gait characteristics of walking under various terrains such as flat ground, stairs, climbing, sand and the like are simulated, and gait and balance rehabilitation training under multiple scenes are performed.

Drawings

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

FIG. 1 is a schematic three-dimensional structure of a series-parallel system for gait and balance rehabilitation training provided by the invention;

Fig. 2 is a schematic diagram of a left-view structure of a serial-parallel series-parallel system for gait and balance rehabilitation training provided by the invention;

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

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

Wherein in fig. 1-4:

The device 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 fixing platform 3011, a movable platform 3012, a telescopic push rod 3013, a plantar pressure sensor 303, a bottom plate 3021, an anti-falling 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-reducing protection unit 4, a cross beam 401, a flexible lock 402, a mounting bracket 403, a tripod 404, a ball head piece 5, a ball hinge seat 6 and a universal joint 7.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "top surface", "bottom surface", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the indicated positions or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limitations of the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 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 realize training requirements of plantarflexion, dorsiflexion, varus, valgus, rotation and the like of an ankle joint. The invention can simultaneously perform gait training and balance training, and the corresponding part of the important movable joint is provided with the induction monitoring device, so that the training difficulty and strength can be set according to the requirements of patients and real-time feedback, and the gait characteristics of walking under various terrains such as flat ground, stairs, climbing, sand and the like can be simulated, and gait and balance rehabilitation training under multiple scenes can be performed.

Specifically, the serial-parallel system facing gait and balance rehabilitation training comprises an outer frame 1, a gait track generating unit 2 and a balance control unit 3.

Specifically, the outer frame 1 has a side-placed U-shaped structure, and the outer frame 1 may be formed by splicing or welding 3 plates, or may be formed by splicing a plurality of sections or the like. The U-shaped structure of the outer frame 1 is only a preferred embodiment of the present disclosure, and in practical applications, other structures of the outer frame 1 may be provided, for example, semi-circular structures, etc.

The bottom of the inlet side of the outer frame 1 is provided with a slope step, which is convenient for the patient to enter.

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

The number of 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 the output end of the composite link mechanism 201, the pedal fixing device 302 is fixed at the top end of the movable platform 3012 and is used for fixing the foot to the movable platform 3012, the number of the telescopic push rods 3013 is at least 3, the two sides of the front sole of the foot and the heel of the foot are respectively supported, and two ends of the telescopic push rod 3013 are respectively hinged with the top end of the fixed platform 3011 and the bottom end of the movable platform 3012. The movements of plantarflexion, dorsiflexion, varus, valgus, rotation, and the like of the ankle are achieved by controlling the extension and retraction of each extension push rod 3013.

The series-parallel connection system for gait and balance rehabilitation training improves the accuracy of gait fitting through the composite link mechanism 201. In addition, since the composite link mechanisms 201 of the 2 gait track generation units 2 are driven by the respective driving devices 202, the single control of the single-sided coincidence link mechanisms is realized without interference and mutual influence. Aiming at hemiplegia, cerebral apoplexy and parkinsonism patients with different symptoms, the supporting 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.

According to the invention, the length of the telescopic push rod 3013 on the balance control unit 3 is adjusted, so that training requirements of plantarflexion, dorsiflexion, varus, valgus, rotation and the like of the ankle joint are realized, gait characteristics of walking under various terrains such as flat ground, stairs, climbing, sand and the like are simulated, and gait and balance rehabilitation training under multiple scenes are performed.

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 for control.

The top end of the linear electric push rod is welded with the ball head piece 5 of the ball hinge assembly, the ball hinge seat 6 of the ball hinge assembly is welded with the movable platform 3012, the ball head piece 5 is arranged in the ball hinge seat 6, the movable range of the ball hinge assembly is 30-35 degrees, the free movement of the ankle joint of a patient is ensured, and the movable angle range of the ball hinge assembly can be set to be other angle range values according to specific requirements.

The universal joint 7 is a cross shaft universal joint, the bottom end of the cross shaft universal joint is arranged on a bottom end universal joint fork, and the bottom end universal joint fork is welded at 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 type, 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 end 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 hook joint, a ball joint is used as the revolute pair, a linear electric push rod is used as the revolute pair, and a cross-shaft universal joint is used as the hook joint.

It should be noted that, spherical hinges may be respectively provided at two ends of the electric putter and hinged to the movable platform 3012 and the fixed platform 3011. It should be understood that the telescopic push rod 3013 is only a preferred embodiment of the present invention, and in practical application, the telescopic push rod 3013 may be a device capable of realizing telescopic motion, such as an air cylinder or a hydraulic cylinder.

In the initial posture, the movable platform 3012 is kept horizontal, and the ankle rotation center is located at a height of 10cm above the movable platform 3012. The rotation angle of the movable platform 3012 is changed by adjusting the expansion and contraction amounts of the three electric push rods, and various rehabilitation training movement forms such as dorsiflexion, plantarflexion, varus, valgus and rotation of the ankle are realized. The movable platform 3012 drives the ankle joint to dorsiflex up to 20 degrees, the ankle joint to plantarflex up to 30 degrees, and the ankle joint to varus and valgus 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, 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 a balance control unit 3 further comprising a plantar pressure sensor 303, wherein the plantar pressure sensor 303 is arranged on the top end face of the pedal fixing device 302 and is used for measuring and recording plantar supporting force of a patient in the gait rehabilitation training process in real time, and comparing the plantar supporting force measured in a plurality of rehabilitation cycles, so that the rehabilitation degree of the body 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 bone and body injury condition of a patient, so that the continuous overstress of the injury side of the patient is avoided.

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

Still further, the present invention discloses that the pedal fixing device 302 includes a bottom plate 3021, a binding belt, and an anti-drop barrier 3022, wherein the bottom plate 3021 is fixed on the top end surface of the movable platform 3012, and in particular, the bottom plate 3021 is rigidly connected to the movable platform 3012.

The binding band is used to bind the foot to the bottom plate 3021, and the escape prevention shield 3022 is provided to the bottom plate 3021 for preventing the foot from escaping from behind the ankle.

Specifically, a plurality of through holes are formed in the side surface of the bottom plate 3021, and a strap is inserted through each through hole to tie the foot to the bottom plate 3021.

In order to better prevent the foot from falling out of the rear of the ankle, the invention discloses an anti-falling baffle 3022 which is arc-shaped and is matched with the ankle in shape, and in order to reduce weight, a weight reducing hole can be formed on the anti-falling baffle 3022 and is arranged to be similar to a reticular arc-shaped structure and the like.

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

The point a of the first connecting plate 2011 is an input point of the composite 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. Point B of the first connecting plate 2011 is hinged to point B of the second connecting plate 2012, point C of the second connecting plate 2012 is hinged to a first end of the connecting rod 2014, a second end of the connecting rod 2014 is hinged to D of the third connecting plate 2013, and point F of the third connecting plate 2013 is hinged to point F of the first connecting plate 2011.

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

The first connecting plate 2011 and the driving device 202 are hinged at the 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 do circular motion. The E point of the third connecting plate 2013 is used as an execution end of the parallel four-bar mechanism and is output as a simulated gait track, and meanwhile, the Z-shaped fixed platform 3011 is led out to the inner side at the E point through a structural member. In actual design, the side length of each connecting plate and the length of each connecting rod 2014 are determined through a computer simulation experiment under the condition of ensuring 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.

The connection plates may be triangular plates, or may be regular plates such as square plates and circular plates. Of course, the connecting plates can also be provided with special-shaped structures and the like, and the connecting plates which do not interfere when in movement are all in the protection scope of the invention.

Further, the first connecting plate 2011 and the third connecting plate 2013 are respectively provided with a mounting through hole for passing through the adjustable binding band to bind the leg of the patient, so as to further improve the connection stability.

Specifically, the adjustable strap is fixed to the thigh of the patient through the through hole in the first connecting plate 2011, and the adjustable strap is fixed to the calf of the patient through the through hole in the third connecting plate 2013.

Further, the present invention discloses that the ratio of the overall length of the link 2014-compound link mechanism 201 to the length of the patient's lower limb 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 a driving device 202 comprising a driving motor 2021, a driving wheel 2022, a driven wheel 2023 and a synchronous belt 2024, wherein the driving motor 2021 is installed on the inner wall of the outer frame 1, the driving wheel 2022 and the driven wheel 2023 are both rotatably installed 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 are respectively trapezoidal tooth synchronous pulleys, and the corresponding synchronous belt 2024 is a trapezoidal tooth synchronous belt, so that synchronous transmission between the driving wheel 2022 and the driven wheel 2023 is realized.

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 with the disk surface of the driven wheel 2023, and the input point of the compound link mechanism 201 is spaced 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-reduction protection unit 4, the weight-reduction protection unit 4 being mounted on the outer frame 1 for providing an upward force to the patient's body.

Specifically, as shown in fig. 1 and 2, the weight-reducing protection unit 4 includes a cross beam 401, flexible locks 402, a mounting frame 403 and triangular frames 404, the cross beam 401 is fixed at the top end of the outer frame 1, the top end of the flexible locks 402 is connected with the cross beam 401, the bottom ends of the flexible locks 402 are connected with the mounting frame 403, and the number of the triangular frames is 2, and the triangular frames are respectively mounted at two sides of the bottom end of the mounting frame 403.

Shoulder straps of a walking sling penetrating through the waist of a patient are respectively fixed through the tripod 404.

The shoulder strap adopts the needle buckle type belt buckle, so that the tightness degree of the shoulder strap is conveniently adjusted to adapt to the body shape of a patient, and the upward weight reduction protection is provided for the patient in the rehabilitation exercise process.

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 gait track generating unit is used, a patient wears the movement 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. At the beginning of training, the movable platform 3012 keeps horizontal, the driving motor 2021 rotates at a low speed, the connecting rod 2014 and the connecting rod mechanism 201 drive the lower limb of the patient to perform normal gait motions at a low speed, and the posture of the movable platform 3012 is gradually adjusted along with the advancement of rehabilitation training, so that balance disturbance is introduced, and the ankle joint of the patient is driven to move together in walking training.

It can be understood that the serial-parallel system facing gait and balance rehabilitation training provided by the invention is also provided with a controller, and the controller controls the actions of all the components according to the collected signals so as to realize passive training and active training of a user.

When passive training is performed, the series-parallel system oriented to gait and balance rehabilitation training enters a driving mode. The gait track of a normal person with the similar height, weight, body shape and tested patient and the distribution and variation of plantar pressure in a gait cycle are collected in advance and stored in a controller. Initially, 3 electric pushrods are adjusted to keep the movable platform 3012 horizontal, the feet of a subject are fixed on the movable platform 3102 through binding belts, the collected static plantar load is compared with the plantar load of a normal person, and posture evaluation is performed. For parkinsonian patients with hemiplegia or greater muscular tension, the situation that the soles cannot keep a horizontal posture due to partial muscular atrophy can possibly occur, and the expansion and contraction amount of 3 electric push rods should be reasonably adjusted at the moment, so that the movable platform 3012 fits the soles of the patients as much as possible on the premise of guaranteeing support, and secondary damage to the patients due to excessive pursuit of normal postures is avoided.

The plantar pressure sensor 303 of the invention consists of a pressure insole and a signal processing module, and the whole plantar pressure sensor 303 is integrated and nested in the movable platform 3012. In the running process of the system, the plantar pressure of the tested patient is collected and fed back in real time and compared with the change curve of plantar load on a time axis under normal gait, so that the activity intention of the joint is predicted. The variable difference value of the plantar pressure is used as an input signal of the electric push rod expansion control, 3 electric push rod expansion amounts are adjusted in real time, a patient is assisted to complete plantar flexion and dorsiflexion movements in a gait cycle, the movable platform 3012 can always keep a certain inclination angle during the plantar flexion and dorsiflexion movements, and sufficient support protection is guaranteed to the affected side joints.

When the active training is carried out, the series-parallel connection system facing gait and balance rehabilitation training utilizes the moment control of the driving motor 2021 to develop an impedance training mode, the displacement change is detected through the position sensor to generate corresponding impedance force, at the moment, a tested person needs larger muscle force to drive lower limbs to move to complete gait tracks, and for young patients with partial muscle force recovery, the training mode can greatly promote walking consciousness and exercise muscle force maintenance capacity.

The words expressing the orientation herein, such as up and down, are each set in the direction shown in fig. 1, and have no other specific meaning for convenience of description only.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer 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 novel features disclosed herein.

In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, 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 present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 serial-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 are in one-to-one correspondence with the gait track generation units, the three-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform and a telescopic push rod, the fixed platform is fixed at the output end of the composite link mechanism, the pedal fixing device is fixed at the top end of the movable platform and is used for fixing feet on the movable platform, the number of the telescopic push rod is at least 3 and is used for respectively supporting the two sides of the front sole of the feet and the heels of the feet, and the two ends of the telescopic push rod are respectively hinged with the top end of the fixed platform and the bottom end of the movable platform;

The compound connecting rod mechanism comprises a first connecting plate, a second connecting plate, a third connecting plate and a connecting rod;

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

the balance control unit further comprises a plantar pressure sensor which is arranged on the top end face of the pedal fixing device and used for measuring and recording plantar supporting force of a patient in the gait rehabilitation training process in real time, comparing the plantar supporting force measured in a plurality of rehabilitation cycles and analyzing the rehabilitation degree of the body of the patient so as to adjust the strength and the density of the rehabilitation training in time;

The telescopic push rod is an electric push rod, the top end of the electric push rod is hinged with 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;

When passive training is carried out, a series-parallel system oriented to gait and balance rehabilitation training enters a driving mode, the gait track of a normal person with the similar height, weight, body shape and tested patient and the distribution and change conditions of plantar pressure in a gait cycle are collected in advance and stored in a controller, initially, the electric push rod is regulated to keep the movable platform horizontal, the feet of a subject are fixed on the movable platform through binding belts, the collected static plantar load is compared with the plantar load of the normal person, and posture evaluation is carried out.

2. The series-parallel connection system for gait and balance rehabilitation training according to claim 1, wherein the first connecting plate and the third connecting plate are respectively provided with a mounting through hole for binding the leg of the patient through the adjustable binding band;

3. The gait and balance rehabilitation training oriented serial-parallel system according to claim 1, wherein the driving device comprises a driving motor, a driving wheel, a driven wheel and a synchronous belt;

4. The gait and balance rehabilitation oriented serial-parallel serial system of claim 1, wherein the balance control unit further comprises a position sensor and an angular velocity sensor;

5. The gait and balance rehabilitation oriented serial-parallel serial system of claim 3, wherein the foot fixing device comprises a bottom plate, a binding belt and an anti-drop baffle;

6. The gait and balance rehabilitation training oriented serial-parallel connection system according to any one of claims 1 to 5, further comprising a weight reduction protection unit;

7. The gait and balance rehabilitation oriented serial-parallel serial system of claim 6, wherein the weight-reduction protection unit comprises a cross beam, a flexible lock, a mounting bracket and a tripod;