CN1973806A - Robot for multiple posture exoskeleton lower limb rehabilitation training - Google Patents
Robot for multiple posture exoskeleton lower limb rehabilitation training Download PDFInfo
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- CN1973806A CN1973806A CN 200610155048 CN200610155048A CN1973806A CN 1973806 A CN1973806 A CN 1973806A CN 200610155048 CN200610155048 CN 200610155048 CN 200610155048 A CN200610155048 A CN 200610155048A CN 1973806 A CN1973806 A CN 1973806A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 23
- 210000000689 upper leg Anatomy 0.000 claims description 19
- 210000001624 hip Anatomy 0.000 claims description 13
- 239000000725 suspension Substances 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 210000004394 hip joint Anatomy 0.000 claims description 3
- 210000000629 knee joint Anatomy 0.000 claims description 3
- 208000006011 Stroke Diseases 0.000 abstract description 7
- 206010008190 Cerebrovascular accident Diseases 0.000 abstract description 5
- 238000000554 physical therapy Methods 0.000 abstract description 4
- 206010033799 Paralysis Diseases 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 2
- 238000002560 therapeutic procedure Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 4
- 230000005021 gait Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 208000020431 spinal cord injury Diseases 0.000 description 3
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 238000001584 occupational therapy Methods 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 208000021090 palsy Diseases 0.000 description 1
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Abstract
The present invention discloses one exoskeleton robot for multiple posture lower limb rehabilitation. The robot includes one support, one guard rail and suspending system, one exoskeleton training system and one computerized control system. The robot is developed through combining international Brunnstrom training method with the physical therapy and operating therapy for apoplexy patient with paralyzed lower limbs. Different training modes, including active pace mode, passively controlled pace mode, passive damp-adjustable pace mode, etc may be realized for different apoplexy patients in different treating stages. The robot is suitable for the lower limb rehabilitating training of patient in sitting, standing or lying state.
Description
Technical field
The present invention relates to a kind of robot for multiple posture exoskeleton lower limb rehabilitation training, belong to the rehabilitation medical instrument field.Be applicable to cerebro-vascular diseases patient and spinal cord injury patient's lower limb rehabilitation training.
Background technology
Increase along with the aging of modern society and traffic, industrial accident, progressively become a kind of common colony of modern society as cardiovascular patients such as apoplexy and spinal cord injury patient, this class patient is except Drug therapy or operative treatment, and the rehabilitation training of science improves extremely important for suffering from the limb motor function.Usually by doing and illustrating paralyses patient is adopted the specific muscle group of selectivity manual stretch by doctor, PT teacher, OT teacher at present, use standing bed and carry out standing exercise gradually.The rehabilitation training of this passive type, working strength is big, and can't satisfy more patients' demand.Training effect and medical teacher's skills involved in the labour are closely related, keep the concordance of rehabilitation training action at different patients with being difficult to accurately put in place.Therefore developing at present much to replace the doctor independently to train the rehabilitation of patients robot.But these healing robots generally can only be trained the patient of independent position, can not satisfy different rehabilitation stage patients' rehabilitation training requirement simultaneously.Chinese patent CN2730338 is a kind of wearable lower limb walking ectoskeleton, and it is with the motion of air cylinder driven people lower limb, but there is the not high enough shortcoming of positioning accuracy in the air cylinder driven device, will not reach good rehabilitation efficacy if be used for rehabilitation training.
Summary of the invention
The purpose of this invention is to provide a kind of ectoskeleton lower limbs rehabilitation training robot that can help cerebro-vascular diseases patient and spinal cord injury patient to carry out rehabilitation training.
Robot for multiple posture exoskeleton lower limb rehabilitation training of the present invention comprises support, guardrail, suspension system, ectoskeleton training devices and computer control system;
Support: comprise the chassis of carrying entire machine, treadmill and support, treadmill place on the chassis, and support is fixed on the rear end on chassis;
Guardrail: form by vertical rod, cross bar and handrail, be installed on the stationary holder of treadmill;
Suspension system: comprise load-bearing camisole, the hanger rope that is connected with camisole, counterweight and be arranged on pulley on the support, the hanger rope rope is wound on the pulley, and an end of hawser links to each other with hanger rope, and the other end links to each other with counterweight;
Ectoskeleton training devices: comprise the seat that ectoskeleton lower limb, medicated cushion and backrest are hinged, the parallelogram connecting rod and the antivibrator of four limit hinges, the vertical edge and the backrest of parallelogram connecting rod are fixed, another vertical edge and support are fixed, one end of antivibrator and the last rod hinge connection of parallelogram connecting rod, the other end and the support of antivibrator are hinged; The ectoskeleton lower limb comprise hip bar, thigh bar and shank bar, the hinged formation hip joint of hip bar and thigh bar, the hinged formation knee joint of thigh bar and shank bar, the two ends of first ball-screw are hinged with the upper end of the end of hip bar and thigh bar respectively, the end of hip bar and the backrest of seat connect firmly, the rotating shaft of first motor links to each other by the nut of synchronous pulley with first ball-screw, the two ends of second ball-screw are hinged with thigh bar and shank bar upper end respectively, and the rotating shaft of second motor links to each other by the nut of synchronous pulley with second ball-screw;
Computer control system: comprise main frame, display screen and controller, controller is installed on the cross bar or armrest of guardrail, and display screen is fixed on the chassis.
For ease of regulating " sit, stand, lie " three posture attitudes of seat, can below backrest and medicated cushion, install linear actuator.
At the patient who is in the different rehabilitation training stage, the present invention can be by regulating the speed of motor, and the moment of motor creates different rehabilitation environments with the attitude of mechanical body, makes the rehabilitation of patients training more targeted.
The present invention is by analyzing international Brunnstrom training method, in conjunction with " physiotherapy (PT) and occupational therapy (OT) " to the patients with stroke palsy lower limb, at the rehabilitation training requirement of the different positions of cerebral apoplexy patient different phase, set up patients with stroke leg training healing robot with different incentive degrees and multiple training mode.Can in different course, realize simultaneously the training mode of multiple excitation according to different apoplexy patients, comprise initiatively gait,, thereby reach the effect of optimal rehabilitation exercise by power control gait, passive damping is adjustable gait isotype.
Description of drawings
Fig. 1 is the structural representation of robot for multiple posture exoskeleton lower limb rehabilitation training;
Fig. 2 is parallel-crank mechanism figure;
Fig. 3 is the structural representation of ectoskeleton lower limb.
The specific embodiment
Below in conjunction with description of drawings the present invention.
Referring to Fig. 1, robot for multiple posture exoskeleton lower limb rehabilitation training comprises support, guardrail, suspension system, ectoskeleton training devices and computer control system;
Support: comprise the chassis 4 of carrying entire machine, treadmill 3 and support 1, treadmill 3 place on the chassis 4, and support 1 is fixed on the rear end on chassis 4;
Guardrail: form by vertical rod 7, cross bar 6 and handrail 5, be installed on the stationary holder of treadmill 3;
Suspension system: the hanger rope 9 that comprise load-bearing camisole 10, is connected, counterweight 2 and be arranged on pulley 8 on the support 1 with camisole, the hanger rope rope is wound on the pulley 8, and an end of hawser links to each other with hanger rope 9, and the other end links to each other with counterweight 2.Suspension system is used to suspend in midair the patient to keep the balance of health, when the patient puts on camisole, when carrying out the rehabilitation training under the standing state, by regulating the balancing weight on the Weighting system, strains hanger rope, makes patient be in suspended state, to keep balance.
Ectoskeleton training devices: comprise the seat that ectoskeleton lower limb 18, medicated cushion 17 and backrest 15 are hinged, the parallelogram connecting rod 16 of four limit hinges and antivibrator 19, vertical edge of parallelogram connecting rod 16 and backrest 15 are fixing, another vertical edge and support 1 are fixing, one end of antivibrator 19 and the last rod hinge connection of parallelogram connecting rod 16, the other end of antivibrator and support 1 hinged (as shown in Figure 2).Because when standing ambulation training, patient body can be along with the fluctuation alternately and up and down of gait, antivibrator can play buffered effect, also can play the effect of part body support simultaneously.Ectoskeleton lower limb 18 (as shown in Figure 3) comprise hip bar 20, thigh bar 23 and shank bar 26, hip bar 20 and thigh bar 23 hinged formation hip joints, thigh bar 23 and shank bar 26 hinged formation knee joints, the two ends of first ball-screw 22 are hinged with the upper end of the end of hip bar 20 and thigh bar respectively, the end of hip bar 20 and the backrest of seat connect firmly, the rotating shaft of first motor 21 links to each other by the nut of synchronous pulley with first ball-screw 22, the two ends of second ball-screw 25 are hinged with thigh bar 23 and shank bar upper end respectively, and the rotating shaft of second motor 24 links to each other by the nut of synchronous pulley with second ball-screw 25.
When rehabilitation training, can make seat upright by the linear actuator that is installed in below medicated cushion and the backrest, be fit to the training of patient's stance, also can make seat become " chaise longue ", the lie low training of posture of suitable patient, under the seat state, the training when being fit to patient in sitting.By the conversion of posture, many position training have been realized.People's thigh and shank are separately fixed on thigh bar 23 and the shank bar 26 during rehabilitation training, and when first, second two motor-driven thigh bars 23 and shank bar 26 were moving, the lower limb that just can drive the patient carried out rehabilitation training.
Computer control system: comprise main frame, display screen 12 and controller 11, controller 11 is installed on the cross bar or armrest of guardrail, and display screen 12 is fixed on the chassis 4.Computer control system is used to control all drive system, can control the motor that is positioned on ectoskeleton hip bar and the thigh bar, and is positioned at the linear actuator below backrest and the medicated cushion.Display screen can allow the patient clearly see the various situations that oneself is trained.Controller can be controlled the conversion of three positions, regulates the speed of training and the size of motor torque.When patient's standing exercise, controller can be placed on the guardrail handrail, when patient in sitting is trained and lie low training, can be placed on controller on the armrest.
Claims (1)
1. a robot for multiple posture exoskeleton lower limb rehabilitation training is characterized in that comprising support, guardrail, suspension system, ectoskeleton training devices and computer control system;
Support: comprise the chassis (4) of carrying entire machine, treadmill (3) and support (1), treadmill (3) place on the chassis (4), and support (1) is fixed on the rear end of chassis (4);
Guardrail: form by vertical rod (7), cross bar (6) and handrail (5), be installed on the stationary holder of treadmill (3);
Suspension system: the hanger rope (9) that comprise load-bearing camisole (10), is connected, counterweight (2) and be arranged on pulley (8) on the support (1) with camisole, the hanger rope rope is wound on the pulley (8), one end of hawser links to each other with hanger rope (9), and the other end links to each other with counterweight (2);
Ectoskeleton training devices: comprise ectoskeleton lower limb (18), medicated cushion (17) and the hinged seat of backrest (15), the parallelogram connecting rod (16) of four limit hinges and antivibrator (19), vertical edge of parallelogram connecting rod (16) and backrest (15) are fixing, another vertical edge and support (1) are fixing, the last rod hinge connection of one end of antivibrator (19) and parallelogram connecting rod (16), the other end of antivibrator and support (1) are hinged, ectoskeleton lower limb (18) comprise hip bar (20), thigh bar (23) and shank bar (26), hip bar (20) and the hinged formation hip joint of thigh bar (23), thigh bar (23) and the hinged formation knee joint of shank bar (26), the two ends of first ball-screw (22) are hinged with the upper end of the end of hip bar (20) and thigh bar respectively, the end of hip bar (20) and the backrest of seat connect firmly, the rotating shaft of first motor (21) links to each other by the nut of synchronous pulley with first ball-screw (22), the two ends of second ball-screw (25) are hinged with thigh bar (23) and shank bar upper end respectively, and the rotating shaft of second motor (24) links to each other by the nut of synchronous pulley with second ball-screw (25);
Computer control system: comprise main frame, display screen (12) and controller (11), controller (11) is installed on the cross bar or armrest of guardrail, and display screen (12) is fixed on the chassis (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610155048A CN100589787C (en) | 2006-12-07 | 2006-12-07 | Robot for multiple posture exoskeleton lower limb rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200610155048A CN100589787C (en) | 2006-12-07 | 2006-12-07 | Robot for multiple posture exoskeleton lower limb rehabilitation training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1973806A true CN1973806A (en) | 2007-06-06 |
| CN100589787C CN100589787C (en) | 2010-02-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200610155048A Expired - Fee Related CN100589787C (en) | 2006-12-07 | 2006-12-07 | Robot for multiple posture exoskeleton lower limb rehabilitation training |
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| CN (1) | CN100589787C (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100417577C (en) * | 2007-06-13 | 2008-09-10 | 哈尔滨工程大学 | Astronaut exercising apparatus |
| CN101254147B (en) * | 2008-03-25 | 2010-11-03 | 浙江大学 | Dermaskeleton with two freedom degree hip-joint accessory movement |
| CN102671341A (en) * | 2012-05-30 | 2012-09-19 | 华南理工大学 | Intelligent rehabilitation training device for lower limbs |
| CN102670112A (en) * | 2012-01-06 | 2012-09-19 | 河南科技大学 | Automatic synchronous standing-assisting device |
| CN102791580A (en) * | 2010-02-20 | 2012-11-21 | 阿斯特里姆有限责任公司 | Device for fixing a test person on a standing surface |
| CN105128027A (en) * | 2015-09-10 | 2015-12-09 | 河南科技大学 | Rotational joint and mechanical arm with same |
| WO2016149891A1 (en) * | 2015-03-20 | 2016-09-29 | 中国科学院自动化研究所 | Multi-pose lower-limb rehabilitation training robot |
| CN106313107A (en) * | 2015-06-23 | 2017-01-11 | 湖北飞歌科技有限公司 | Robot body simulation arm and robot |
| CN106965871A (en) * | 2017-05-04 | 2017-07-21 | 吉林大学 | A kind of big carrying legged type robot leg structure |
| CN107157709A (en) * | 2017-05-22 | 2017-09-15 | 天津大学 | Family type lower limb exoskeleton recovery exercising robot |
| CN107374911A (en) * | 2017-08-29 | 2017-11-24 | 中航创世机器人（东莞）有限公司 | A kind of intelligent medical robot for lower limb rehabilitation treatment |
| KR101801918B1 (en) * | 2015-05-14 | 2017-11-27 | 한양대학교 산학협력단 | Apparatus for improving core atheletic ability |
| CN107635622A (en) * | 2015-04-01 | 2018-01-26 | 睿博专利有限公司 | For in combination in the lower limb and the device in vertical position training walking of dorsal position or part clinostatism training of human |
| CN108836755A (en) * | 2018-09-10 | 2018-11-20 | 安庆中船柴油机有限公司 | A kind of hip joint driving device of healing robot |
| CN108853928A (en) * | 2018-09-10 | 2018-11-23 | 安庆中船柴油机有限公司 | A kind of healing robot |
| CN108969306A (en) * | 2018-09-10 | 2018-12-11 | 安庆中船柴油机有限公司 | A kind of lower limb exoskeleton device of healing robot |
| CN109009881A (en) * | 2018-09-10 | 2018-12-18 | 安庆中船柴油机有限公司 | A kind of knee joint driving device of healing robot |
| CN110302498A (en) * | 2019-08-02 | 2019-10-08 | 象山锐文智能装备有限公司 | A kind of lower limb rehabilitation physical therapy seat of orthopaedics |
| CN110559163A (en) * | 2019-09-06 | 2019-12-13 | 山东中医药大学附属医院 | Gait walking rehabilitation training device |
| CN112043558A (en) * | 2020-09-14 | 2020-12-08 | 西安理工大学 | Lower limb exoskeleton rehabilitation robot with rehabilitation training and assisted walking functions |
| CN112891152A (en) * | 2020-12-02 | 2021-06-04 | 山东科技大学 | Double-freedom-degree backrest and active weight reduction rack suitable for rehabilitation exoskeleton |
| CN114305967A (en) * | 2021-12-06 | 2022-04-12 | 黄珊珊 | A suspend in midair bearing structure that is used for intelligent robot of low limbs rehabilitation |
-
2006
- 2006-12-07 CN CN200610155048A patent/CN100589787C/en not_active Expired - Fee Related
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100417577C (en) * | 2007-06-13 | 2008-09-10 | 哈尔滨工程大学 | Astronaut exercising apparatus |
| CN101254147B (en) * | 2008-03-25 | 2010-11-03 | 浙江大学 | Dermaskeleton with two freedom degree hip-joint accessory movement |
| US9517156B2 (en) | 2010-02-20 | 2016-12-13 | Airbus Ds Gmbh | Device for fixing a test person on a standing surface |
| CN102791580A (en) * | 2010-02-20 | 2012-11-21 | 阿斯特里姆有限责任公司 | Device for fixing a test person on a standing surface |
| US9205935B2 (en) | 2010-02-20 | 2015-12-08 | Airbus Ds Gmbh | Device for fixing a test person on a standing surface |
| CN102670112A (en) * | 2012-01-06 | 2012-09-19 | 河南科技大学 | Automatic synchronous standing-assisting device |
| CN102670112B (en) * | 2012-01-06 | 2013-11-06 | 河南科技大学 | Automatic synchronous standing-assisting device |
| CN102671341A (en) * | 2012-05-30 | 2012-09-19 | 华南理工大学 | Intelligent rehabilitation training device for lower limbs |
| WO2016149891A1 (en) * | 2015-03-20 | 2016-09-29 | 中国科学院自动化研究所 | Multi-pose lower-limb rehabilitation training robot |
| US10722416B2 (en) | 2015-03-20 | 2020-07-28 | Institute Of Automation Chinese Academy Of Sciences | Multi-posture lower limb rehabilitation robot |
| CN107635622A (en) * | 2015-04-01 | 2018-01-26 | 睿博专利有限公司 | For in combination in the lower limb and the device in vertical position training walking of dorsal position or part clinostatism training of human |
| KR101801918B1 (en) * | 2015-05-14 | 2017-11-27 | 한양대학교 산학협력단 | Apparatus for improving core atheletic ability |
| CN106313107A (en) * | 2015-06-23 | 2017-01-11 | 湖北飞歌科技有限公司 | Robot body simulation arm and robot |
| CN105128027A (en) * | 2015-09-10 | 2015-12-09 | 河南科技大学 | Rotational joint and mechanical arm with same |
| CN106965871A (en) * | 2017-05-04 | 2017-07-21 | 吉林大学 | A kind of big carrying legged type robot leg structure |
| CN107157709A (en) * | 2017-05-22 | 2017-09-15 | 天津大学 | Family type lower limb exoskeleton recovery exercising robot |
| CN107374911A (en) * | 2017-08-29 | 2017-11-24 | 中航创世机器人（东莞）有限公司 | A kind of intelligent medical robot for lower limb rehabilitation treatment |
| CN107374911B (en) * | 2017-08-29 | 2024-05-10 | 中航创世机器人(西安)有限公司 | Intelligent medical robot for lower limb rehabilitation |
| CN108836755A (en) * | 2018-09-10 | 2018-11-20 | 安庆中船柴油机有限公司 | A kind of hip joint driving device of healing robot |
| CN108853928A (en) * | 2018-09-10 | 2018-11-23 | 安庆中船柴油机有限公司 | A kind of healing robot |
| CN108969306A (en) * | 2018-09-10 | 2018-12-11 | 安庆中船柴油机有限公司 | A kind of lower limb exoskeleton device of healing robot |
| CN109009881A (en) * | 2018-09-10 | 2018-12-18 | 安庆中船柴油机有限公司 | A kind of knee joint driving device of healing robot |
| CN110302498A (en) * | 2019-08-02 | 2019-10-08 | 象山锐文智能装备有限公司 | A kind of lower limb rehabilitation physical therapy seat of orthopaedics |
| CN110559163A (en) * | 2019-09-06 | 2019-12-13 | 山东中医药大学附属医院 | Gait walking rehabilitation training device |
| CN112043558A (en) * | 2020-09-14 | 2020-12-08 | 西安理工大学 | Lower limb exoskeleton rehabilitation robot with rehabilitation training and assisted walking functions |
| CN112043558B (en) * | 2020-09-14 | 2022-05-10 | 西安理工大学 | Lower limb exoskeleton rehabilitation robot with rehabilitation training and assisted walking functions |
| CN112891152A (en) * | 2020-12-02 | 2021-06-04 | 山东科技大学 | Double-freedom-degree backrest and active weight reduction rack suitable for rehabilitation exoskeleton |
| CN114305967A (en) * | 2021-12-06 | 2022-04-12 | 黄珊珊 | A suspend in midair bearing structure that is used for intelligent robot of low limbs rehabilitation |
Also Published As
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