CN117398267A - Gait environment simulation device and method for flexible lower limb rehabilitation training robot - Google Patents

Gait environment simulation device and method for flexible lower limb rehabilitation training robot Download PDF

Info

Publication number
CN117398267A
CN117398267A CN202311500888.0A CN202311500888A CN117398267A CN 117398267 A CN117398267 A CN 117398267A CN 202311500888 A CN202311500888 A CN 202311500888A CN 117398267 A CN117398267 A CN 117398267A
Authority
CN
China
Prior art keywords
recovered
rehabilitation
airbag
shoe
lower limb
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311500888.0A
Other languages
Chinese (zh)
Inventor
杨岩
蒋煊妃
陈行
李昕欣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Century Jinghua Intelligent Technology Research Institute Co ltd
Chongqing University of Technology
Original Assignee
Chongqing Century Jinghua Intelligent Technology Research Institute Co ltd
Chongqing University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chongqing Century Jinghua Intelligent Technology Research Institute Co ltd, Chongqing University of Technology filed Critical Chongqing Century Jinghua Intelligent Technology Research Institute Co ltd
Priority to CN202311500888.0A priority Critical patent/CN117398267A/en
Publication of CN117398267A publication Critical patent/CN117398267A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B23/00—Uppers; Boot legs; Stiffeners; Other single parts of footwear
    • A43B23/02—Uppers; Boot legs
    • A43B23/0245—Uppers; Boot legs characterised by the constructive form
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B23/00—Uppers; Boot legs; Stiffeners; Other single parts of footwear
    • A43B23/26—Tongues for shoes
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B3/00—Footwear characterised by the shape or the use
    • A43B3/34—Footwear characterised by the shape or the use with electrical or electronic arrangements
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B3/00—Footwear characterised by the shape or the use
    • A43B3/34—Footwear characterised by the shape or the use with electrical or electronic arrangements
    • A43B3/44—Footwear characterised by the shape or the use with electrical or electronic arrangements with sensors, e.g. for detecting contact or position
    • A—HUMAN NECESSITIES
    • A43—FOOTWEAR
    • A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
    • A43B7/00—Footwear with health or hygienic arrangements
    • 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
    • A61H1/0218—Drawing-out devices
    • A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
    • 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
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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

Abstract

The invention relates to the technical field of medical rehabilitation, and particularly discloses a gait environment simulation device and method for a flexible lower limb rehabilitation training robot. The suspension rotary weight-reducing platform of the flexible lower limb rehabilitation training robot can enable a patient to be in a suspension weight-reducing state in the rehabilitation process of the flexible lower limb rehabilitation training robot, so that the patient can experience a feeling of normal and real walking in the suspension state of the rehabilitation robot, and the brain cortex of the patient is stimulated, and the brain structure and brain function of the patient are remodeled.

Description

Gait environment simulation device and method for flexible lower limb rehabilitation training robot
Technical Field
The invention relates to the technical field of medical rehabilitation, in particular to a gait environment simulation device and method for a flexible lower limb rehabilitation training robot.
Background
At present, an air bag inflatable rehabilitation shoe applied to medical rehabilitation mainly has the functions of protecting achilles tendons and supporting heels, the rehabilitation shoe is designed aiming at foot leg lesions caused by foot drop, foot arch sag and cerebral palsy nervous system diseases, and the air bag plays an intermittent pressurizing effect in the movement process, so that lower limbs in movement are protected more forcefully.
In the prior art, the walking shoes for correcting gait use the multi-layer structure design of the sole to naturally guide the gravity center change of the human body to accord with the optimal pressure distribution curve of the foot step when the human body walks.
However, in the prior art, the rehabilitation shoes or walking shoes play an auxiliary role in rehabilitation training for patients, cannot be applied to flexible lower limb rehabilitation training robots, cannot give the patients real gait simulation, cannot combine with the normal walking gait cycle curve of the human body, and cannot achieve real walking training rehabilitation.
Disclosure of Invention
The invention aims to provide a gait environment simulation device and method for a flexible lower limb rehabilitation training robot, and aims to solve the technical problems that a rehabilitation shoe or a walking shoe in the prior art can assist rehabilitation training for a patient, cannot be applied to the flexible lower limb rehabilitation training robot, cannot give the patient real gait simulation, cannot combine with a normal walking gait cycle curve of a human body, and cannot achieve real walking training rehabilitation for the patient.
In order to achieve the above purpose, the gait environment simulation device for the flexible lower limb rehabilitation training robot comprises a rehabilitation shoe body, a rehabilitation shoe control box, a first air bag, a second air bag, a first rehabilitation shoe, a second rehabilitation shoe, a third rehabilitation shoe, a fourth rehabilitation shoe and a plantar air bag set, wherein the rehabilitation shoe control box is fixedly connected with the rehabilitation shoe body and is positioned on the outer surface wall of the rehabilitation shoe body, the first air bag is fixedly connected with the rehabilitation shoe body and is positioned on the inner wall of the rehabilitation shoe body, the second air bag is fixedly connected with the rehabilitation shoe body and is positioned on the inner wall of the rehabilitation shoe body, the first air bag and the second air bag are communicated with the rehabilitation shoe control box, the first rehabilitation shoe is arranged on the outer surface wall of the rehabilitation shoe body, the second rehabilitation shoe is arranged on the outer surface wall of the rehabilitation shoe body, the third rehabilitation shoe is arranged on the outer surface wall of the rehabilitation shoe body, and the fourth air bag is arranged on the outer surface wall of the shoe body and the plantar air bag set is arranged inside the rehabilitation shoe body.
The sole air bag set comprises a third air bag, an air pipe set, a fourth air bag, a fifth air bag, pressure release valves and a power line, wherein the third air bag is arranged in the rehabilitation shoe body, the fourth air bag is arranged in the rehabilitation shoe body, the fifth air bag is arranged in the rehabilitation shoe body, the air pipe assembly is arranged in the rehabilitation shoe body, the air pipe set is communicated with the rehabilitation shoe control box, the third air bag, the fourth air bag and the fifth air bag, the pressure release valves are multiple, each pressure release valve is respectively embedded in the third air bag, the fourth air bag and the fifth air bag, one end of the power line is electrically connected with the rehabilitation shoe control box, and the other end of the power line is communicated with the pressure release valves.
The rehabilitation shoe body comprises a sole, a shoe tongue and a shoe barrel, wherein the shoe barrel is fixedly connected with the sole and is positioned at the upper end of the sole, and the shoe tongue is fixedly connected with the shoe barrel and is embedded in the shoe barrel.
The invention also provides a gait environment simulation method for the rehabilitation robot, which is applied to the gait environment simulation device for the flexible lower limb rehabilitation training robot, and comprises the following steps:
connecting the line plug with a monitoring instrument;
running calculation software, debugging a moving optical camera by using an infrared lamp holder and zeroing pressure plate data;
debugging the computing software and hardware, and inputting physical parameters into the computing software after debugging;
correspondingly attaching 16 reflective sensing balls to the positions of the shoes, the outer sides of the lower legs, the inner sides of the knees and the waist;
building a structural model of the lower limb through calculation software;
after the calculation software builds the lower limb model, a start button on the calculation software is pressed, the lower limb model passes through the pressure plate at a constant speed, the experiment is repeatedly carried out for three times, and the experimental result is recorded.
Wherein the body data includes height, weight, leg length, knee width, and ankle width when the step of inputting the body data.
The invention relates to a gait environment simulation device and a method for a flexible lower limb rehabilitation training robot, which are characterized in that a battery is arranged in a rehabilitation shoe control box to supply a vacuum air pump for directly inflating and deflating a first air bag, a second air bag, a third air bag, a fourth air bag and a fifth air bag by air pressure driving to simulate the reaction force of the ground to a patient, so that the patient experiences walking feeling, the vacuum air pump is arranged in the rehabilitation shoe control box, the inflation amount and the deflation amount are controlled by controlling, after a switch is pressed, the third air bag, the fourth air bag and the fifth air bag reach preset values, and then the corresponding pressure relief valves are respectively used for deflating, the third air bag, the fourth air bag and the fifth air bag are sequentially inflated to a preset value and then deflated through the corresponding pressure relief valves, so that a rehabilitation cycle is completed, wireless circulation is carried out on the rehabilitation cycle, the cyclic rehabilitation movement is achieved, the sole is subjected to pressure periodic feedback, the control part of the patient sole pressure test is realized by a singlechip, the inflation and deflation of the air bags are realized through pulse signals, after the pressure in the corresponding air bags reaches the preset value, the pressure relief valves are controlled by pulses to exhaust, the pressure relief valves and all parts of the whole rehabilitation sports shoes move in a coordinated manner, a closed-loop control system is formed, a patient is in a suspended weight-reducing state by a suspended rotation weight-reducing platform in the rehabilitation process of the flexible lower limb rehabilitation training robot, the gait environment simulation device for the flexible lower limb rehabilitation training robot can apply data of a gait periodic pressure curve of normal walking of the patient, the rehabilitation robot has the advantages that the patient can experience the feeling of normal and real walking under the suspension state of the rehabilitation robot so as to stimulate the cerebral cortex of the patient, remodel the brain structure and the brain function of the patient, and enable the patient to learn limb movements correctly again.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a gait environment simulation apparatus for a flexible lower limb rehabilitation training robot of the present invention.
Fig. 2 is a schematic diagram showing the internal structure of the gait environment simulation apparatus for the flexible lower limb rehabilitation training robot of the present invention.
FIG. 3 is a schematic view of the force-bearing structure of the sole and the joints of the present invention.
Fig. 4 is a schematic structural view of the force of the calf muscle group of the invention.
Fig. 5 is a schematic diagram of a model structure of a rope fixing rod of the present invention simulating a leg.
Figure 6 is a graph of force analysis of the foot during walking in accordance with the present invention.
FIG. 7 is a schematic view of the force-receiving structure of the foot during walking in accordance with the present invention.
Figure 8 is a diagrammatic view of a foot during walking in accordance with the present invention.
Fig. 9 is a flowchart showing steps of a gait environment simulation method for a rehabilitation robot according to the present invention.
1-sole, 2-tongue, 3-shoe canister, 4-recovered shoes control box, 5-first gasbag, 6-second gasbag, 7-first recovered shoelace, 8-second recovered shoelace, 9-third recovered shoelace, 10-fourth recovered shoelace, 11-third gasbag, 12-gas tube group, 13-fourth gasbag, 14-fifth gasbag, 15-relief valve, 16-power cord.
Detailed Description
Referring to fig. 1 to 8, the invention provides a gait environment simulation device for a flexible lower limb rehabilitation training robot, which comprises a rehabilitation shoe body, a rehabilitation shoe control box 4, a first air bag 5, a second air bag 6, a first rehabilitation shoe 7, a second rehabilitation shoe 8, a third rehabilitation shoe 9, a fourth rehabilitation shoe 10 and a plantar air bag group, wherein the rehabilitation shoe control box 4 is fixedly connected with the rehabilitation shoe body and is positioned on the outer surface wall of the rehabilitation shoe body, the first air bag 5 is fixedly connected with the rehabilitation shoe body and is positioned on the inner wall of the rehabilitation shoe body, the second air bag 6 is fixedly connected with the rehabilitation shoe body and is positioned on the inner wall of the rehabilitation shoe body, the first air bag 5 and the second air bag 6 are communicated with the rehabilitation shoe control box 4, the first rehabilitation shoe 7 is arranged on the outer surface wall of the rehabilitation shoe body, the second shoe 8 is arranged on the outer surface wall of the rehabilitation shoe body, the third shoe 9 is arranged on the outer surface wall of the rehabilitation shoe body, the second air bag 6 is arranged on the outer surface wall of the rehabilitation shoe body and the plantar surface of the second shoe 6 is arranged on the inner surface of the rehabilitation shoe body.
Further, the plantar airbag group includes third gasbag 11, gas tube group 12, fourth gasbag 13, fifth gasbag 14, relief valve 15 and power cord 16, third gasbag 11 set up in the inside of the recovered shoes body, fourth gasbag 13 set up in the inside of the recovered shoes body, fifth gasbag 14 set up in the inside of the recovered shoes body, tracheal group 12 spare set up in the inside of the recovered shoes body, just tracheal group 12 intercommunication recovered shoes control box 4, third gasbag 11, fourth gasbag 13 and fifth gasbag 14, the quantity of relief valve 15 is a plurality of, every relief valve 15 inlay respectively in third gasbag 11, fourth gasbag 13 and the inside of fifth gasbag 14, one end of power cord 16 with recovered shoes control box 4 electric connection, the other end of power cord 16 communicates with a plurality of relief valve 15.
Further, the rehabilitation shoe body comprises a sole 1, a shoe tongue 2 and a shoe barrel 3, wherein the shoe barrel 3 is fixedly connected with the sole 1 and is positioned at the upper end of the sole 1, and the shoe tongue 2 is fixedly connected with the shoe barrel 3 and is embedded in the shoe barrel 3.
Referring to fig. 9, the invention further provides a gait environment simulation method for a rehabilitation robot, which is applied to the gait environment simulation device for the flexible lower limb rehabilitation training robot, and comprises the following steps:
s1: connecting the line plug with a monitoring instrument;
s2: running calculation software, debugging a moving optical camera by using an infrared lamp holder and zeroing pressure plate data;
s3: debugging the computing software and hardware, and inputting physical parameters into the computing software after debugging;
s4: correspondingly attaching 16 reflective sensing balls to the positions of the shoes, the outer sides of the lower legs, the inner sides of the knees and the waist;
s4: building a structural model of the lower limb through calculation software;
s6: after the calculation software builds the lower limb model, a start button on the calculation software is pressed, the lower limb model passes through the pressure plate at a constant speed, the experiment is repeatedly carried out for three times, and the experimental result is recorded.
Further, in the step of inputting body data,: the body data includes height, weight, leg length, knee width, and ankle width.
In this embodiment, the air tube and the pressure release valve 15 are used to inflate and deflate, the battery is installed in the rehabilitation shoe control box 4 and can supply a vacuum air pump, the air pressure is used to directly inflate and deflate the first air bag 5, the second air bag 6, the third air bag 11, the fourth air bag 13 and the fifth air bag 14 to simulate the reaction force of the ground to the patient, so that the patient experiences the sensation of walking, the vacuum air pump is installed in the rehabilitation shoe control box 4, the inflation amount and the deflation amount are controlled by controlling the switch, after the switch is pressed, the third air bag 11, the fourth air bag 13 and the fifth air bag 14 reach the preset value, and then deflate through the corresponding pressure release valve 15, the third air bag 11, the fourth air bag 13 and the fifth air bag 14 are inflated to the preset value in sequence and then deflate through the corresponding pressure release valve 15, and then a rehabilitation cycle is completed, the wireless cycle is carried out on the rehabilitation cycle, the cyclic rehabilitation movement is achieved, the sole bearing pressure is periodically fed back, the control part for testing the pressure on the sole of a patient is realized by a singlechip, the air inflation and the air deflation of the air bags are realized through pulse signals, after the pressure in the corresponding air bags reaches a preset value, the pressure release valves 15 are controlled by pulses to exhaust, and the pressure release valves and the parts of the whole rehabilitation sports shoes move in coordination, so that a closed-loop control system is formed, the suspension, rotation and weight reduction platform of the flexible lower limb rehabilitation training robot can lead the patient to be in a suspension and weight reduction state, the gait environment simulation device for the flexible lower limb rehabilitation training robot can apply the data of the periodic pressure curve of the gait law of normal walking of the human body to the patient for correcting and protecting the action of achilles tendons, the patient can experience the feeling of normal and real walking so as to stimulate the cerebral cortex of the patient and remodel the brain structure and brain function of the patient, so that the patient can learn limb movements correctly again;
the calculation program is preset in the calculation software, only the corresponding body data of the patient need to be input, the body data of the patient need to be input into the calculation software for calculation, the corresponding calculation is performed according to the input critical data, the inflation time and the inflation force required by the patient are calculated, the inflation force and the corresponding duration of the third air bag 11, the fourth air bag 13 and the fifth air bag 14 are used for achieving the touch feeling during the simulated walking, the corresponding nerves can be stimulated, the patient can feel the real walking feeling during the rehabilitation of the flexible lower limb, the patient is padded for the subsequent walking, and the specific calculation is as shown in the following embodiment 1:
example 1, assuming a human weight of 65kg, at a speed of 25 steps/min;
when the human body stands still:
the human body has a mass of 65kg, and the contact area of the feet and the ground is 0.04m 3 At this time, the human body is taken as a whole, the pressure of the sole can be replaced by the ground supporting force, and the balance of the two forces can be known:
gman=fn man=mg=650n, where p=f/s=650/0.04=16.25 Kpa;
when a human body stands still with a single foot: the mass of the person is 65kg, the contact area of a single foot and the ground is 0.02 square meter, the person is regarded as a whole at the moment, the pressure of the sole can be replaced by the ground supporting force, and the balance of the two forces can be known:
ghuman=fn human=mg=650n; p=f/s=650/0.02=32.5 Kpa at this time;
referring to fig. 5, when the body leans forward such that the center of gravity is shifted forward, the foot is grasped without leaving the ground: and (3) carrying out mechanical analysis:
the weight of 650/2=325N is born on each foot, the O point is the place where the tibia of the arch and the talus are contacted with each other, F is muscle force, the force arms of two forces F and N are respectively, the supporting force of the ground facing the whole human body is represented by N, and the balance condition of the moment is adopted to obtain:
n=g=325 newtons;
dN=0.02 meters, dF=0.03 meters;
f=n×dn/df=325×0.02/0.03=216 newtons;
referring to fig. 6, the force applied to the sole of a foot can be expressed by T according to newton's third theory, where N is approximately parallel to F:
t=n+f=325+216=541 newtons;
the sole pressure at this time was p=f/s=541/0.02=27 Kpa;
when a human body walks, one foot contacts the ground, and when the other foot is separated from the ground by about 30 degrees, the stress condition is analyzed:
referring to fig. 7, by the equilibrium condition:
F×dF-N×dN＝0，F＝N×dN/dF；
where N is the supporting force when the person corresponding to gravity is regarded as a whole, n=g=325 newton;
as can be seen from the three force balance conditions, the force must meet a point, and by using the force polygon principle, please refer to fig. 8, f=655 newtons can be obtained by a method of drawing a solution, and the force acting on the sole local area can be represented by T according to the newton third theory:
t=975 newtons;
the pressure of the foot at about 30 ° from the ground is p=f/s=975/0.02=48.75 Kpa
The other foot can be regarded as the first situation that the center of gravity is inclined forward, and the sole pressure is 27Kpa;
speed of movement: from the estimated walking speed of 25 steps/minute, the human motion mechanism 4.8s is regarded as a motion cycle, i.e. t=4.8 s, ω 1 1.309 the gait mechanism travels for one cycle, the motion law of the reciprocating motion is cosine function, and the angular velocity of the gesture mechanism is ω 2 ＝Acosω 1 t, the gait mechanism moves for 1/2 period, and the gesture mechanism also moves for 1/2 period, namely pi/3;
substituting the numerical integration gives a=1.37 rad/s.
The above disclosure is only a preferred embodiment of the present invention, and it should be understood that the scope of the invention is not limited thereto, and those skilled in the art will appreciate that all or part of the procedures described above can be performed according to the equivalent changes of the claims, and still fall within the scope of the present invention.

Claims (5)

1. A gait environment simulation device for a flexible lower limb rehabilitation training robot is characterized in that,
including the recovered shoes body, recovered shoes control box, first gasbag, second gasbag, first recovered shoelace, second recovered shoelace, third recovered shoelace, fourth recovered shoelace and plantar gasbag group, recovered shoes control box with recovered shoes body fixed connection, and be located recovered shoes body's outward appearance wall, first gasbag with recovered shoes body fixed connection, and be located recovered shoes body's inner wall, second gasbag with recovered shoes body fixed connection, and be located recovered shoes body's inner wall, just first gasbag with second gasbag with recovered shoes control box intercommunication, first recovered shoelace set up in recovered shoes body's outward appearance wall, second recovered shoelace set up in recovered shoes body's outward appearance wall, third recovered shoelace set up in recovered shoes body's outward appearance wall, fourth shoelace set up in recovered shoes body's outward appearance wall, plantar gasbag group set up in recovered shoes body's inside.
2. The gait environment simulation apparatus for a flexible lower limb rehabilitation training robot according to claim 1,
the plantar airbag set comprises a third airbag, an airbag set, a fourth airbag, a fifth airbag, a pressure release valve and a power line, wherein the third airbag is arranged in the rehabilitation shoe body, the fourth airbag is arranged in the rehabilitation shoe body, the fifth airbag is arranged in the rehabilitation shoe body, the airbag set is communicated with the rehabilitation shoe control box, the third airbag, the fourth airbag and the fifth airbag, the number of the pressure release valves is multiple, each pressure release valve is respectively embedded in the third airbag, the fourth airbag and the fifth airbag, one end of the power line is electrically connected with the rehabilitation shoe control box, and the other end of the power line is communicated with the pressure release valves.
3. The gait environment simulation apparatus for the flexible lower limb rehabilitation training robot according to claim 2, wherein,
the rehabilitation shoe body comprises a sole, a shoe tongue and a shoe sleeve, wherein the shoe sleeve is fixedly connected with the sole and is positioned at the upper end of the sole, and the shoe tongue is fixedly connected with the shoe sleeve and is embedded in the shoe sleeve.
4. A gait environment simulation method for a rehabilitation robot, which is applied to the gait environment simulation device for the flexible lower limb rehabilitation training robot according to claim 1, and is characterized by comprising the following steps:
connecting the line plug with a monitoring instrument;
running calculation software, debugging a moving optical camera by using an infrared lamp holder and zeroing pressure plate data;
debugging the computing software and hardware, and inputting physical parameters into the computing software after debugging;
correspondingly attaching 16 reflective sensing balls to the positions of the shoes, the outer sides of the lower legs, the inner sides of the knees and the waist;
building a structural model of the lower limb through calculation software;
after the calculation software builds the lower limb model, a start button on the calculation software is pressed, the lower limb model passes through the pressure plate at a constant speed, the experiment is repeatedly carried out for three times, and the experimental result is recorded.
5. The gait environment simulation method for a rehabilitation robot according to claim 4, wherein,
in the step of inputting body data: the body data includes height, weight, leg length, knee width, and ankle width.
CN202311500888.0A 2023-11-13 2023-11-13 Gait environment simulation device and method for flexible lower limb rehabilitation training robot Pending CN117398267A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311500888.0A CN117398267A (en) 2023-11-13 2023-11-13 Gait environment simulation device and method for flexible lower limb rehabilitation training robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311500888.0A CN117398267A (en) 2023-11-13 2023-11-13 Gait environment simulation device and method for flexible lower limb rehabilitation training robot

Publications (1)

Publication Number Publication Date
CN117398267A true CN117398267A (en) 2024-01-16

Family

ID=89497927

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311500888.0A Pending CN117398267A (en) 2023-11-13 2023-11-13 Gait environment simulation device and method for flexible lower limb rehabilitation training robot

Country Status (1)

Country Link
CN (1) CN117398267A (en)

Similar Documents

Publication Publication Date Title
JP6175050B2 (en) Active robotic walking training system and method
US6666831B1 (en) Method, apparatus and system for automation of body weight support training (bwst) of biped locomotion over a treadmill using a programmable stepper device (psd) operating like an exoskeleton drive system from a fixed base
US11259980B2 (en) Soft inflatable exosuit for knee rehabilitation
EP2671559B1 (en) Ambulation training device and ambulation training system
US8771208B2 (en) Powered orthosis systems and methods
AU2004201136B2 (en) Lower Limb Function Training Device
TWI475965B (en) Shoe
US20100152629A1 (en) Integrated system to assist in the rehabilitation and/or exercising of a single leg after stroke or other unilateral injury
KR100907425B1 (en) Leg rehabilitation apparatus
JPWO2009044568A1 (en) Walking assist device
JP2011115323A (en) Walking assist robot
JP4670702B2 (en) Massage machine
Thalman et al. Toward a soft robotic ankle-foot orthosis (sr-afo) exosuit for human locomotion: Preliminary results in late stance plantarflexion assistance
US9480300B2 (en) Orthotic device
Hu et al. A soft robotic intervention for gait enhancement in older adults
US20200337597A1 (en) Soft hip extension device to aid hemiparetic gait
CN117398267A (en) Gait environment simulation device and method for flexible lower limb rehabilitation training robot
Martins et al. Review and classification of human gait training and rehabilitation devices
KR20120012010A (en) Rehabilitation apparatus which follows the action of a normal human body part
EP4129264A1 (en) Robotic orthosis for lower extremity for gait rehabilitation training
KR102282205B1 (en) walking rehabilitation device with improved cognitive ability
CN114642573A (en) Exoskeleton for rehabilitation
Ishak et al. Development of ankle foot orthosis (AFO) using pneumatic artificial muscle for disabled children
CN111150611A (en) Ankle joint diagnosis and treatment device
TWI778760B (en) Stretching and stretching system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination