CN201012158Y

CN201012158Y - Gas dynamic type multi-posture ectoskeleton crura healing and training robot

Info

Publication number: CN201012158Y
Application number: CNU2007201063234U
Authority: CN
Inventors: 杨灿军; 周洪; 张欣; 耿昱; 张佳帆; 张�杰; 邓美英
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2007-02-06
Filing date: 2007-02-06
Publication date: 2008-01-30
Anticipated expiration: 2017-02-06

Abstract

The utility model relates to an air-driven healing training robot with multi-body ectoskeleton lower limbs, which belongs to the healing medical treatment apparatus region. The device includes a machine seat, a shield, a suspending system, an ectoskeleton training device and a computer control system. The robot adopts the international general Brunnstrom training method to analyze, combines ''Physical Treatment'' (PT) and ''Operational Treatment'' (OT) to the patient in the paralysis of the lower limbs; the device builds a healing training robot for the patient in the paralysis of the lower limbs with different inspiriting degree and multi-training modes according to the healing training requirement in different stages and different body positions for the patients. Besides, the device can realize different inspiriting training modes according to different patients in different treatment stages and periods, including positive pace, passive control pace and passive damping adjustable pace and so on so as to realize the optimal healing training effect. The system can satisfy three training states such as sitting, standing and lying, which is adaptable to the healing training for the lower limbs in different healing stages for the patients.

Description

Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs

Technical field

This utility model relates to a kind of Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs, belongs 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.

Summary of the invention

The purpose of this utility model provides a kind of Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs that can help cerebro-vascular diseases patient and spinal cord injury patient to carry out rehabilitation training.

Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs of the present utility model 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, are fixed with support in 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 piston rod of hinged first cylinder of thigh bar upper end hip joint, the cylinder barrel of first cylinder and hip rod rear end are hinged, have the extension bar perpendicular to thigh bar on the thigh bar, the piston rod of the lower end of shank bar and second cylinder is hinged, and the cylinder barrel of second cylinder and the extension bar of thigh bar are hinged;

Computer control system: comprise main frame, display screen and controller, controller is installed on the cross bar of guardrail, and display screen is fixed on the chassis.

At the patient who is in the different rehabilitation training stage, this utility model can come the speed of regulating piston bar by the flow of adjustments of gas, and the moment of cylinder creates different rehabilitation environments with the attitude of mechanical body, makes the rehabilitation of patients training more targeted.

This utility model 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 Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs;

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 this utility model.

Referring to Fig. 1, Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs 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 4 rear end is fixed with support 1 on the chassis.

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 ectoskeleton lower limb 18, the seat that 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 24, hip bar 20 and thigh bar 23 hinged formation hip joints, thigh bar 23 and shank bar 24 hinged formation knee joints, the piston rod of hinged first cylinder 22 of thigh bar 23 upper end hip joints, the cylinder barrel of first cylinder 22 and hip bar 20 rear ends are hinged, has extension bar 21 on the thigh bar 23 perpendicular to thigh bar, the piston rod of the lower end of shank bar 24 and second cylinder 25 is hinged, and the cylinder barrel of second cylinder and the extension bar of thigh bar 21 are hinged.

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 24 during rehabilitation training, and when air cylinder driven thigh bar 23 and shank bar 24 moved, 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 6 of guardrail 2, and display screen 12 is fixed on the chassis 3.Computer control system is used to control all drive system, can control the cylinder 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 " sit, stand, lie " three positions, regulates the speed of training and the size of cylinder moment.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. Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs 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 the rear end of (4) is fixed with support (1) on the chassis;

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 (24), 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 (24), the piston rod of thigh bar (23) upper end hinged first cylinder of hip joint (22), the cylinder barrel of first cylinder (22) and hip bar (20) rear end are hinged, has extension bar (21) on the thigh bar (23) perpendicular to thigh bar, the piston rod of the lower end of shank bar (24) and second cylinder (25) is hinged, and the cylinder barrel of second cylinder and the extension bar of thigh bar (21) are hinged;

Computer control system: comprise main frame, display screen (12) and controller (11), controller (11) is installed on the cross bar (6) of guardrail (2), and display screen (12) is fixed on the chassis (3).