CN208823790U - A kind of anti-hyperextension device of hemiplegic patient's Walking - Google Patents
A kind of anti-hyperextension device of hemiplegic patient's Walking Download PDFInfo
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- CN208823790U CN208823790U CN201720865975.XU CN201720865975U CN208823790U CN 208823790 U CN208823790 U CN 208823790U CN 201720865975 U CN201720865975 U CN 201720865975U CN 208823790 U CN208823790 U CN 208823790U
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- chip microcontroller
- patient
- hyperextension
- lower limb
- knee joint
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Abstract
The utility model discloses a kind of anti-hyperextension devices of hemiplegic patient's Walking, utilize the cooperation of single-chip microcontroller, electromagnetic brake, photoelectric encoder and lower limb mechanical exoskeleton, prevent the generation of knee joint hyperextension phenomenon, when patient carries out rehabilitation training, when detecting that knee joint will stretch by sensor, with its leg biceps muscle of thigh of electric pulse stimulation, shrink its knee joint, the generation of hyperextension phenomenon is prevented, the sequelae of knee joint hyperextension when leaving walking after rehabilitation so as to avoid patient.
Description
Technical field
The utility model belongs to medicine physical therapy device technical field, and in particular to a kind of anti-hyperextension of hemiplegic patient's Walking
Device.
Background technique
In recent years, China hemiplegic patient number persistently rises, and not only makes social security increased pressure, while also giving patient house
Front yard and individual bring very grave suffering.Although as the progress of medical technology, hemiplegia can be made by certain treatment means
Patient restores walking ability, but due to the limitation of existing treatment means and equipment, so that patient can stay after fully recovering
The sequelae of lower knee joint hyperextension causes patient's walking postures abnormal.
Functional electrostimulation (functional electrical stimulation, FES) belongs to neuromuscular electric stimulation therapy
The scope of (neuromuscular electrical stimulation, NES) is the low-frequency pulse using some strength
Stream stimulates one or more groups of muscle by preset program, induces muscular movement or the normal autokinetic movement of simulation, with
Achieve the purpose that improvement or recovery are stimulated muscle or muscle group function.
The lower limb of human body include more muscle group, and wherein knee joint musculus flexor group mainly includes caput longum musculi bicipitis femoris, stock two
Head flesh brachycephaly, semitendinosus and semimembranosus.Biceps muscle of thigh intersects at the tendon group near knee joint, is mainly responsible for control knee bends
With the movement of thigh stretching, extension, it is located on rear side of thigh, there is two head of length, basic function is bent after making shank.When with one it is appropriate
Electric pulse stimulation biceps muscle of thigh when, can cause biceps muscle of thigh shrink complete bending knee movement.
Knee joint excessively bent technical solution when the country prevents hemiplegic patient's Walking at present mainly include the following types:
1) when hemiplegic patient carries out Walking, when its knee joint just stretches, artificial applies to its knee joint
External force prevents the knee joint of patient excessively bent, and medical staff whole must assist hemiplegic patient to carry out Walking, and patient often walks one
Step, medical staff will apply an external force to its knee joint, and on the one hand excessively labor intensive, another aspect also make to assist its instruction
Experienced medical staff feels to feel exhausted.In addition, only with the observation of human eye, it is difficult to which whether the accurate knee joint for judging patient
It just stretches, therefore to preventing hemiplegic patient's knee joint hyperextension effect limited；
2) mechanical exoskeleton device, such technical solution are mainly the lower limb that mechanical exoskeleton is bundled in hemiplegic patient,
Cannot continue prone feature just when stretching by mechanical exoskeleton to prevent knee excessively bent, if mechanical exoskeleton with
The fixed defective tightness in the leg of patient, when mechanical exoskeleton stretches, since the muscle of human body has certain elasticity, patient
Knee remain to continue to be bent, therefore can not effectively prevent knee hyperextension；And if by the leg of mechanical exoskeleton and patient
It fixes too closely, then patient legs' blood circulation can be made unsmooth, cause secondary injury to the leg of patient, violated rehabilitation
Trained original intention；
3) Elastic bandage strapping, such technical solution are that upper elasticity bandage is tied up at the knee joint of hemiplegic patient, are led to
The elastic reaction for crossing Elastic bandage prevents hemiplegic patient's knee joint hyperextension, if Elastic bandage binding is too tight or bundlees the time too
It is long, can knee joint to patient or even entire girdle of inferior extremity damage；And bundle the too loose effect that the anti-hyperextension of knee joint is not achieved
Fruit, therefore its effect and practicability are unsatisfactory.
Summary of the invention
To solve the above-mentioned problems, the utility model provides a kind of anti-hyperextension device of hemiplegic patient's Walking, is suffering from
When person carries out rehabilitation training, when detecting knee joint by sensor will stretch, with its leg biceps muscle of thigh of electric pulse stimulation, make
Its knee joint is shunk, and prevents the generation of hyperextension phenomenon, leaves the abnormal (knee joint of walking postures after rehabilitation so as to avoid patient
Hyperextension) sequelae.
In order to achieve the above objectives, the anti-hyperextension device of a kind of hemiplegic patient's Walking described in the utility model, feature exist
In, including lower limb mechanical exoskeleton compatible with human body knee joint bone and single-chip microcontroller, lower limb mechanical exoskeleton include hinged
Thigh support and leg support, be provided with electric stimulation pulse generator, electric stimulation pulse generator on lower limb mechanical exoskeleton
Output end be provided with electrode slice, be provided with photoelectric encoder at the knee joint of lower limb mechanical exoskeleton, single-chip microcontroller respectively with light
Photoelectric coder is connected with electric stimulation pulse generator.
The photoelectric encoder is used to acquire the lower limb movement signal of patient, and converts phase difference for lower limb movement signal
For 90 degree of A, B two-way pulse, A, B two-way pulse are then transferred to single-chip microcontroller,
The single-chip microcontroller is used to receive A, B two-way pulse of photoelectric encoder transmitting, and according to the phase of A, B two-way pulse
Difference carries out incremented or decremented, and when single-chip microcontroller, which subtract, counts up to setting value, single-chip microcontroller is sent out to electric stimulation pulse generator
Enabling signal out is delayed after 2s~5s, and single-chip microcontroller issues shutdown signal to electric stimulation pulse generator,
The electric stimulation pulse generator is used to receive the starting or shutdown signal of single-chip microcontroller sending, and according to receiving
Signal enabling or closing.
It further include electromagnetic brake, the electromagnetic brake is connect with single chip communication.
The electromagnetic brake is energization braking type.
The electrical impulse frequency that the electric stimulation pulse generator generates is 20Hz~100Hz, and electric current wave amplitude is≤30mA.
The photoelectric encoder is the incremental rotary encoder of doubleway output.
The thigh support and leg support outer surface are provided with banding.
Compared with prior art, the utility model combines single-chip microcontroller, photoelectric encoder, electric stimulation pulse generator,
When patient's knee joint will stretch, its biceps muscle of thigh of electric pulse stimulation simultaneously starts electromagnetic brake, when preventing hemiplegic patient from walking
Knee joint hyperextension phenomenon occurs, while a kind of collection detection and analysis being provided and is controlled in integrated device, can effectively prevent inclined
Paralysed patient knee joint hyperextension in Walking, wherein photoelectric encoder can accurately detect the bending of lower limb mechanical exoskeleton
Angle, provide optimal opportunity for electro photoluminescence；Electric stimulation pulse generator is controlled by single-chip microcontroller, is realized intelligent.
Further, the thigh support of lower limb mechanical exoskeleton and the junction of leg support are additionally provided with electromagnetic brake,
Electromagnetic brake is connect with single chip communication, when single-chip microcontroller starts electric stimulation pulse generator, while starting electromagnetic brake, electromagnetism
Band-type brake is locked, and thigh support and leg support are relatively unrotatable, the movement of patient legs are limited, to further strengthen anti-
The only effect of patient's knee hyperextension of joints.
Further, electromagnetic brake is energization braking type, starts electric stimulation pulse hair when lower limb mechanical exoskeleton stretches
Raw device and electromagnetic brake, and remaining time is both at ' suspend mode ' state, greatly reduces power consumption, and promotes various pieces
Co-ordination.
Further, electric stimulation pulse generator generate electrical impulse frequency be 20Hz~100Hz, electric current wave amplitude be≤
On the one hand the electric pulse of 30mA is conducive to the sustained contraction of muscle, on the other hand can effectively mitigate leg muscle fatigue.
Further, photoelectric encoder is the incremental rotary encoder of doubleway output, the rotary encoder of doubleway output
It is 90 degree of pulse that A, B two-way phase difference, which can be exported, and the angle of rotation can be not only measured by this two-way pulse, can be with
Judge the direction of rotation.
Further, thigh support and leg support outer surface are provided with banding, and banding is for adjusting thigh support or small
The tightness of leg support and human body cooperation.
Detailed description of the invention
Fig. 1 is utility model diagram；
Fig. 2 is utility model works flow chart；
In attached drawing: 1, thigh support, 2, banding, 3, photoelectric encoder, 5, leg support, 6, electric stimulation pulse generator,
7, electrode slice, 8, electromagnetic brake.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
Referring to Fig.1, a kind of anti-hyperextension device of hemiplegic patient's Walking include electrically stimulating parts, Detection & Controling part and
Mechanical part.
Mechanical part includes lower limb mechanical exoskeleton compatible with human body knee joint bone, and lower limb mechanical exoskeleton is inclined
Paralysed patient provides leg support, while the carrier as other parts installation, lower limb mechanical exoskeleton when carrying out Walking
Including thigh support 1 and leg support 5, thigh support 1 is connected with leg support 5 by the movable joint of energy, 1 He of thigh support
Flexible banding 2 is wound on leg support 5, banding 2 is used to adjust thigh support 1 or leg support 5 is matched with human body
The tightness of conjunction, 1 outer surface of thigh support are provided with electric stimulation pulse generator 6, the output end of electric stimulation pulse generator 6
It is connect with electrode slice 7,5 outer surface of leg support is provided with banding, and photoelectricity volume is provided at the knee joint of lower limb mechanical exoskeleton
Code device 3 and electromagnetic brake 8, electromagnetic brake 8 is mounted on the outside of lower limb mechanical exoskeleton, and photoelectric encoder 3 is mounted on lower limb machine
On the inside of tool ectoskeleton.
Detection & Controling part includes that single-chip microcontroller, electromagnetic brake 8, photoelectric encoder 3 and DC power supply, DC power supply are used for
It powers to single-chip microcontroller, electromagnetic brake 8, photoelectric encoder 3 and electric stimulation pulse generator 6, whether whole device works straight by this
The control of galvanic electricity source, opens DC power supply switch, and whole device is started to work；DC power supply switch is closed, whole device stops work
Make.Single-chip microcontroller is that the control centre of whole device, single-chip microcontroller and photoelectric encoder 3 and electromagnetic brake 8 communicate to connect, and single-chip microcontroller is used
Counted in the output signal to photoelectric encoder 3, and control electromagnetic brake 8 and electric stimulation pulse generator 6 starting or
It closes, detailed process are as follows: single-chip microcontroller sends a control signal to electric stimulation pulse generator 6 and electromagnetic brake 8, makes electric stimulation pulse
Generator 6 generates electric pulse stimulation patient lower limb biceps muscle of thigh, shrinks patient's knee joint；Electromagnetic brake 8 is set to be powered, after energization
Electromagnetic brake 8 is locked, and limitation lower limb mechanical exoskeleton movement, when electromagnetic brake 8 is not powered on, thigh support 1 and leg support 5 can
To be relatively rotated, electromagnetic brake 8 is locked after energization, relatively unrotatable between thigh support 1 and leg support 5, thus
Limit the kneed movement of patient.
Because whether human body knee joint stretches more difficult detection, the utility model is by judging lower limb mechanical exoskeleton
It is no to stretch to judge indirectly, in order to detect the direction of shank rotation, judge when patient's knee joint stretches, using doubleway output
Incremental rotary encoder.It is 90 degree of pulse that the rotary encoder of doubleway output, which can export A/B two-way phase difference, by this two
Road pulse is transferred to single-chip microcontroller, and single-chip microcontroller can not only measure the angle of knee joint rotation, can also judge knee joint rotation
Direction, photoelectric encoder 3 are mounted on patient's preaxial, it is mentioned below it is " suitable, counterclockwise " be in terms of preaxial to light
For photoelectric coder 3, for left lower extremity: when knee joint is gradually curved, photoelectric encoder 3 is rotated clockwise, the two-way of output
In pulse, 90 degree of the advanced road the B impulse phase of the phase of the road A pulse, single-chip microcontroller is counted up at this time；When knee joint gradually stretches
When, photoelectric encoder 3 rotates counterclockwise, in the two-way pulse of output, 90 degree of the advanced road the A impulse phase of the phase of the road B pulse, and light
The work of photoelectric coder 3 subtracts counting；For right lower extremity: when knee joint gradually stretches, photoelectric encoder 3 is rotated clockwise, output
In two-way pulse, 90 degree of the advanced road the B impulse phase of the phase of the road A pulse, single-chip microcontroller work subtracts counting, when knee joint is gradually curved
When, photoelectric encoder 3 rotates counterclockwise, and in the two-way pulse of output, 90 degree of the advanced road the A impulse phase of the phase of the road B pulse is single
Piece machine counts up.
Referring to Fig. 2, by taking patient's right lower extremity as an example, the working principle and the course of work of photoelectric encoder 3 are as follows: photoelectric coding
Device 3 selects incremental rotary encoder, photoelectric encoder 3 when incremental rotary encoder stretches lower limb mechanical exoskeleton completely
Count value be set as 0, and set initial position for this position.After patient starts walking, leg support 5 is relative to thigh branch
Support 1 is to rotate backward, and 90 degree of phase of the advanced road the A output pulse of the phase of the pulse of the road B output at this time, single-chip microcontroller counts up, from
Patient starts to run to knee joint bending to maximum angle, and single-chip microcontroller count down to N.After patient's knee joint bending to maximum angle,
Lower limb mechanical exoskeleton walks on patient legs', and leg support 5 rotates forward relative to thigh support 1, due to light
Photoelectric coder 3 is rotated backward also with lower limb mechanical exoskeleton, and the road A exports the phase of the advanced road the B output pulse of phase of pulse
90 degree, it is possible thereby to judge that the knee joint of patient starts gradually to stretch, single-chip microcontroller carries out subtracting counting.When lower limb mechanical exoskeleton is
When will stretch, it is meant that the count value of single-chip microcontroller will be returned to 0, it is contemplated that the time delay of device various pieces works as single-chip microcontroller
Subtract when counting down to setting value, starting electric stimulation pulse generator and electromagnetic brake work.The range of set value is patient's knee joint
Count value of the bending angle within the scope of 5~10 degree, depending on the individual difference of patient.
Electrically stimulating parts include electric stimulation pulse generator 6 and electrode slice 7, the electricity thorn that electric stimulation pulse generator 6 generates
Sharp pulse is shown in Table 1, and electrode slice 7 is directly adhered at the biceps muscle of thigh of patient's lower limb, produces for conducting electric stimulation pulse generator 6
Raw electric pulse.
1 muscle function electro photoluminescence of table-electric stimulation pulse parameter
The operating process of the utility model is as follows: in use, dressing lower limb mechanical exoskeleton to the lower limb of patient, thigh
Support 1 is bonded with thigh, and leg support 5 is bonded with shank, is carried out in rehabilitation training in patient, when its knee joint is gradually curved
Qu Shi, single-chip microcontroller are constantly in the mode of counting up, and count value is gradually increased, when the knee joint bending of patient to utmostly when,
The count value of single-chip microcontroller reaches maximum value.As patient walks on, knee joint is gradually stretched, this process single-chip microcontroller, which is in, subtracts meter
Digital modeling, count value are gradually reduced, and when the count value of single-chip microcontroller reduces to setting value, single-chip microcontroller issues two-way control letter immediately
Control electric stimulation pulse generator 6 and electromagnetic brake 8 work number respectively, and starting electric stimulation pulse generator 6 generates electric pulse, electricity
Pulse is conducted by electrode slice 7 to patient's lower limb, and biceps muscle of thigh is stimulated, and shrinks patient's knee joint；Another way control signal opens
Dynamic electromagnetic brake 8, limits the movement of lower limb mechanical exoskeleton；Electromagnetic brake 8 acts on simultaneously with electro photoluminescence, reaches anti-hyperextension effect
Fruit is delayed after 2s~5s, and single-chip microcontroller closes electric stimulation pulse generator 6 and electromagnetic brake 8, and patient walks on, single-chip microcontroller after
It is continuous to count, the utility model by electrically stimulating parts, mechanical part and mutually coordinated, the collective effect that detects and controls part,
To efficiently accurately prevent hemiplegic patient's knee joint hyperextension during Walking.
Claims (7)
1. a kind of anti-hyperextension device of hemiplegic patient's Walking, which is characterized in that including compatible with human body knee joint bone
Lower limb mechanical exoskeleton and single-chip microcontroller, lower limb mechanical exoskeleton include hinged thigh support (1) and leg support (5), lower limb
It is provided on mechanical exoskeleton electric stimulation pulse generator (6), the output end of electric stimulation pulse generator (6) is provided with electrode slice
(7), the thigh support of lower limb mechanical exoskeleton and the junction of leg support are provided with photoelectric encoder (3), single-chip microcontroller difference
It is connect with photoelectric encoder (3) and electric stimulation pulse generator (6).
2. the anti-hyperextension device of a kind of hemiplegic patient's Walking according to claim 1, which is characterized in that the photoelectricity is compiled
Code device (3) is used to acquire the lower limb movement signal of patient, and converts A, B two-way that phase difference is 90 degree for lower limb movement signal
Then A, B two-way pulse are transferred to single-chip microcontroller by pulse,
The single-chip microcontroller is used to receive A, B two-way pulse of photoelectric encoder (3) transmitting, and according to the phase of A, B two-way pulse
Difference carries out incremented or decremented, and when single-chip microcontroller, which subtract, counts up to setting value, single-chip microcontroller is to electric stimulation pulse generator (6)
Enabling signal is issued, is delayed after 2s~5s, single-chip microcontroller issues shutdown signal to electric stimulation pulse generator (6),
The electric stimulation pulse generator (6) is used to receive the starting or shutdown signal of single-chip microcontroller sending, and according to receiving
Signal enabling or closing.
3. the anti-hyperextension device of a kind of hemiplegic patient's Walking according to claim 1, which is characterized in that further include electromagnetism
Band-type brake (8), the electromagnetic brake (8) connect with single chip communication.
4. the anti-hyperextension device of a kind of hemiplegic patient's Walking according to claim 3, which is characterized in that the electromagnetism is embraced
Lock (8) is energization braking type.
5. the anti-hyperextension device of a kind of hemiplegic patient's Walking according to claim 1, which is characterized in that the electro photoluminescence
The electrical impulse frequency that impulse generator (6) generates is 20Hz~100Hz, and electric current wave amplitude is≤30mA.
6. the anti-hyperextension device of a kind of hemiplegic patient's Walking according to claim 1, which is characterized in that the photoelectricity is compiled
Code device (3) is the incremental rotary encoder of doubleway output.
7. the anti-hyperextension device of a kind of hemiplegic patient's Walking according to claim 1, which is characterized in that the thigh branch
Support (1) and leg support (5) outer surface is provided with banding (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720865975.XU CN208823790U (en) | 2017-07-17 | 2017-07-17 | A kind of anti-hyperextension device of hemiplegic patient's Walking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720865975.XU CN208823790U (en) | 2017-07-17 | 2017-07-17 | A kind of anti-hyperextension device of hemiplegic patient's Walking |
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| Publication Number | Publication Date |
|---|---|
| CN208823790U true CN208823790U (en) | 2019-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720865975.XU Expired - Fee Related CN208823790U (en) | 2017-07-17 | 2017-07-17 | A kind of anti-hyperextension device of hemiplegic patient's Walking |
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| CN (1) | CN208823790U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111408043A (en) * | 2020-03-27 | 2020-07-14 | 浙江迈联医疗科技有限公司 | Coordination control method, device, storage medium and system for functional electrical stimulation and exoskeleton equipment |
-
2017
- 2017-07-17 CN CN201720865975.XU patent/CN208823790U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111408043A (en) * | 2020-03-27 | 2020-07-14 | 浙江迈联医疗科技有限公司 | Coordination control method, device, storage medium and system for functional electrical stimulation and exoskeleton equipment |
| CN111408043B (en) * | 2020-03-27 | 2023-10-03 | 浙江迈联医疗科技有限公司 | Coordination control method, device, storage medium and system for functional electric stimulation and exoskeleton equipment |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190507 Termination date: 20210717 |
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| CF01 | Termination of patent right due to non-payment of annual fee |