CN210785264U

CN210785264U - Lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients

Info

Publication number: CN210785264U
Application number: CN201920719716.5U
Authority: CN
Inventors: 管小荣; 管陆双; 夏新浩; 朱蒙; 蔡可书; 李仲; 李回滨; 邹铠帆
Original assignee: Nanjing University of Science and Technology
Current assignee: Nanjing University of Science and Technology
Priority date: 2019-05-20
Filing date: 2019-05-20
Publication date: 2020-06-19
Anticipated expiration: 2029-05-20

Abstract

The utility model discloses a wearable low limbs of light rehabilitation to hemiplegia patient helps capable ectoskeleton, including lumbar support mechanism and two sets of low limbs actuating mechanism, two sets of low limbs actuating mechanism symmetry set up in lumbar support mechanism both sides, and lumbar support mechanism fixes at hemiplegia patient's waist, and two sets of low limbs actuating mechanism symmetry lie in hemiplegia patient's the shank outside, and low limbs actuating mechanism includes hip joint actuating mechanism, thigh supporting mechanism, knee joint actuating mechanism, shank supporting mechanism, sole mechanism from top to bottom establish ties in proper order. The utility model discloses take the lightweight design, small, the quality is light, with low costs, and it is convenient to dress, and human-computer interface is comfortable, has joint protect function, can be used to hemiplegia patient's rehabilitation and helping hand walking, makes the patient can resume normal walking ability gradually under the assistance of outer skeleton.

Description

Lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients

Technical Field

The utility model belongs to medical treatment auxiliary devices field, concretely relates to wearable low limbs of light rehabilitation to hemiplegia patient helps capable ectoskeleton.

Background

The research on human exoskeleton originally originates from the individual load requirement in military application, namely the requirement in the aspect of assistance. With the progress of China into the aging society, the number of middle-aged and elderly patients suffering from hemiplegia due to cardiovascular and cerebrovascular diseases is increasing, scientific rehabilitation training is very important for recovery of limb movement functions except necessary surgical treatment and drug treatment, and the lower limb assisting exoskeleton can also be used as a rehabilitation trainer and an auxiliary walking device for the hemiplegia patients.

The traditional rehabilitation machine reduces the dead weight of a patient by means of a suspension system, and the patient walks in situ by matching with a running table, so that the patient cannot obtain visual feedback in space, and the balance capability is not improved; the suspension system is easy to rub the skin of the patient, and the tightening feeling generated by suspension also causes discomfort to the patient; and such machines tend to be heavy and bulky in order to increase the stability of the suspension system. Some of the existing hemiplegic rehabilitation exoskeletons are of a single-leg structure, although the volume can be reduced and the cost can be reduced by the scheme, the structure can not provide a symmetrical rehabilitation training mode for a patient and is not beneficial to improving the gait synchronism of lower limbs. In addition, the hip joints and the knee joints of some rehabilitation walking assisting exoskeleton robots are not provided with limiting structures, so that the accident that the rotation angle of the exoskeleton exceeds the limit of a human body cannot be prevented, and the human body is easily injured; and the waist size and the leg length can not be adjusted continuously, so that the utility model can not adapt to people with different body types. In addition, currently, most exoskeletons select to use an electromyography sensor, although the electromyography sensor can quickly sense the movement intention of a wearer, the electromyography sensor needs to be tightly attached to the skin when in use and cannot be blocked by clothes, and the wearing is inconvenient; and sweat that the wearer produced easily interferes with signal acquisition, also easily makes the sensor drop.

Disclosure of Invention

An object of the utility model is to provide a wearable low limbs of light rehabilitation to hemiplegia patient helps capable ectoskeleton.

Realize the utility model discloses the technical solution of purpose does: the utility model provides a recovered external skeleton that helps of wearable low limbs of light to hemiplegia patient, includes lumbar support mechanism and two sets of low limbs actuating mechanism, and two sets of low limbs actuating mechanism symmetry set up in lumbar support mechanism both sides, and lumbar support mechanism fixes the hemiplegia patient waist, and two sets of low limbs actuating mechanism symmetry lie in hemiplegia patient's shank outside, and low limbs actuating mechanism includes hip joint actuating mechanism, thigh supporting mechanism, knee joint actuating mechanism, shank supporting mechanism, sole mechanism from last to bottom establishing ties in proper order.

The waist support mechanism comprises a waist protector and two waist rigid support rods; two waist rigid supporting rods are symmetrically fixed on two sides of the waist protector, and a hip joint driving mechanism is arranged on each waist rigid supporting rod.

The hip joint driving mechanism comprises a first limiting end cover, a first flexible gear flange, a first coupler, a first rigid gear flange, a first harmonic reducer, a first motor flange and a first motor; the first limiting end cover, the first flexible gear flange, the first rigid gear flange, the first harmonic reducer, the first motor flange and the first motor are sequentially arranged; the first motor is connected with the first motor flange; a motor shaft of the first motor is connected with a wave generator of the first harmonic reducer through a first coupler; the first motor flange and the first rigid wheel flange are respectively connected and fixed with a rigid wheel of the first harmonic reducer; the first flexible gear flange is connected with a flexible gear of the first harmonic reducer, and the first limiting end cover is connected with the first rigid gear flange; the bottom end of the waist rigid support rod is connected with the top end of the first rigid wheel flange, so that the connection between the waist support mechanism and the hip joint driving mechanism is realized; the bottom end of the first flexible gear flange is connected with the thigh supporting mechanism.

The thigh supporting mechanism comprises a thigh chute supporting rod, a thigh protective tool and a thigh rigid supporting rod; the top end of the thigh chute supporting rod is fixedly connected with a first flexible wheel flange, so that the connection between the hip joint driving mechanism and the thigh supporting mechanism is realized; the bottom end of the thigh chute supporting rod is fixedly connected with a thigh rigid supporting rod; the thigh protector is arranged at the inner side of the thigh rigid supporting rod and is fixedly connected with the thigh rigid supporting rod; the bottom end of the thigh rigid support rod is fixedly connected with a knee joint driving mechanism.

The knee joint driving mechanism comprises a second limiting end cover, a second flexible wheel flange, a second coupling, a second rigid wheel flange, a second harmonic reducer, a second motor flange and a second motor; the first limiting end cover, the first flexible gear flange, the first rigid gear flange, the first harmonic reducer, the first motor flange and the first motor are sequentially arranged; the second motor is connected with the second motor through a flange; a motor shaft of the second motor is connected with a wave generator of a second harmonic reducer through a second coupling; a second motor flange and a second rigid wheel flange are respectively connected and fixed with a rigid wheel of a second harmonic reducer; a second flexible gear flange is connected with a flexible gear of a second harmonic reducer, and a second limiting end cover is connected with a second rigid gear flange; the bottom end of the thigh rigid supporting rod is connected with the top end of the second rigid wheel flange, so that the thigh supporting mechanism is connected with the knee joint driving mechanism. The bottom end of the second flexible gear flange is connected with the lower leg supporting mechanism.

The shank support mechanism comprises a shank chute support rod, a shank protector and a shank rigid support rod; the top end of the shank chute supporting rod is fixedly connected with a second flexible wheel flange, so that the knee joint driving mechanism is connected with the shank supporting mechanism; the lower leg protective tool is positioned at the inner side of the lower leg rigid supporting rod and is fixedly connected with the lower leg sliding groove supporting rod; the bottom end of the shank rigid support rod is fixedly connected with the sole mechanism.

The sole mechanism comprises a shoe and at least three pressure sensors, wherein the three pressure sensors are all positioned on the contact surface of the sole of the human body and the shoe, one pressure sensor is positioned at the position of the heel, and the other pressure sensor is positioned at the position of the front sole.

An inertia measuring unit is arranged on the outer side wall of the waist protector and positioned on the back of the human body; an inertia measuring unit is arranged on the outer side wall of the thigh protective tool and positioned at the rear side of the thigh of the human body; an inertia measuring unit is arranged on the outer side wall of the shank protector and positioned at the rear side of the shank of the human body. The first motor and the second motor are respectively provided with an encoder.

Compared with the prior art, the utility model, it is showing the advantage and lies in: at present, the rehabilitation medical instrument for patients with lower limb hemiplegia is too heavy, bulky and expensive, so the instrument can be only used in hospitals. However, the disadvantages of long treatment period and high cost make many patients not insist on treatment, so the utility model of the household rehabilitation medical auxiliary apparatus is very important. The utility model discloses small, the quality is light, convenient to carry, with low costs, be applicable to the patient and use at home, can be used to hemiplegia patient's rehabilitation and helping hand walking, make the patient can resume normal walking ability under the assistance of exoskeletal gradually. Compared with the traditional rehabilitation machine, the lower limb rehabilitation exoskeleton enables a patient to walk in space, and the patient obtains movement visual feedback, so that the balance ability is improved; compared with the rehabilitation exoskeleton with a single-leg structure, the double-leg structure can provide a symmetric rehabilitation training mode for a patient, and the hemiplegic leg simulates the motion of a healthy side leg, so that the gait synchronism and the stability of the lower limbs are improved. The utility model combines the advantages of the medical protective equipment, is convenient to wear, has comfortable man-machine interface, can continuously adjust the sizes of the waist and the legs, and can meet the requirements of different people; has joint protection function and is safe and reliable in use. And the inertia measuring unit is used for predicting the human motion intention, so that the human motion intention is more stable and convenient than a muscle force sensor and a myoelectricity sensor.

Drawings

Fig. 1 is a light wearable lower limb rehabilitation walking aid exoskeleton structure diagram for hemiplegic patients.

Fig. 2 is an exploded view of the hip joint driving mechanism of the present invention.

Fig. 3 is an exploded view of the knee joint driving mechanism of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

With reference to fig. 1, the light wearable lower limb rehabilitation walking assisting exoskeleton for the hemiplegic patients comprises a waist supporting mechanism and two groups of lower limb driving mechanisms, wherein the two groups of lower limb driving mechanisms are symmetrically arranged on two sides of the waist supporting mechanism, the waist supporting mechanism is fixed on the waist of the hemiplegic patients, the two groups of lower limb driving mechanisms are symmetrically positioned on the outer sides of legs of the hemiplegic patients, and each lower limb driving mechanism comprises a hip joint driving mechanism, a thigh supporting mechanism, a knee joint driving mechanism, a crus supporting mechanism and a sole mechanism which are sequentially connected in series from top to bottom.

Referring to fig. 1, the lumbar support mechanism includes a lumbar supporter 1 and two lumbar rigid support rods 2; waist protective equipment 1 closely laminates through porous flexible material and human body, and the closed buckle of protective equipment has the elasticity, makes the waistline size adjustable, adapts to different crowds needs. Two 2 symmetries of waist rigidity bracing piece are fixed in 1 both sides of waist protective equipment, and through changing waist protective equipment 1 and 2 relative position of waist rigidity bracing piece, the length of lumbar support mechanism is adjustable. The waist rigid support rod 2 is provided with a hip joint driving mechanism 3.

Referring to fig. 2, the hip joint driving mechanism 3 includes a first limit end cap 12, a first flexible gear flange 13, a first coupling 14, a first rigid gear flange 15, a first harmonic reducer 16, a first motor flange 17, and a first motor 18; wherein, the first limit end cover 12, the first flexible gear flange 13, the first rigid gear flange 15, the first harmonic reducer 16, the first motor flange 17 and the first motor 18 are arranged in sequence. The first harmonic reducer 16 is a core component of the hip joint driving mechanism 3, has the advantages of small volume and light weight, has three input and output interfaces of a wave generator, a flexible gear and a rigid gear, and plays a role in reducing the speed and increasing the torque of the first motor 18 through the following connection. The first motor 18 is connected with the first motor flange 17; a motor shaft of a first motor 18 is connected with a wave generator of a first harmonic reducer 16 through a first coupling 14; the first motor flange 17 and the first rigid wheel flange 15 are respectively connected and fixed with a rigid wheel of the first harmonic reducer 16; the first flexible gear flange 13 is connected with a flexible gear of a first harmonic reducer 16; the first limit end cap 12 is connected with a first rigid wheel flange 15. The first limit end cover 12 is manufactured according to the limit rotation angle of the hip joint of the human body, has a mechanical limit function, can effectively prevent the occurrence of the condition that the rotation angle of the hip joint driving mechanism is too large, and protects the human joint. The bottom end of the waist rigid support rod 2 is connected with the top end of a first rigid wheel flange 15, so that the connection between the waist support mechanism and the hip joint driving mechanism 3 is realized; the bottom end of the first flexible wheel flange 13 is connected with the thigh supporting mechanism. Although the patient with mild hemiplegia can still move, the patient walks up and goes to bend the upper limbs and straighten the lower limbs, and the paralyzed lower limbs are drawn half a circle by one step. In order to correct the hemiplegic gait of the patient, the exoskeleton only keeps the freedom degree of lifting the legs before and after the hip joint so as to avoid the occurrence of the situation that the patient walks and draws a circle. When the human body walks, the first motor 18 rotates to drive the flexible wheel flange 13 and the thigh chute supporting rod 4 to rotate relative to the waist rigid supporting rod 2, so that the leg lifting motion is realized to be followed or supported. The hip joint drive mechanism 3 can swing the thighs in the front-rear direction during walking.

With reference to fig. 1, the thigh support mechanism includes a thigh chute support bar 4, a thigh protector 5, and a thigh rigid support bar 6; the top end of the thigh chute supporting rod 4 is fixedly connected with a first flexible wheel flange 13, so that the connection between the hip joint driving mechanism 3 and a thigh supporting mechanism is realized; the bottom end of the thigh chute supporting rod 4 is fixedly connected with the thigh rigid supporting rod 6, the relative position of the thigh chute supporting rod 4 and the thigh rigid supporting rod 6 is changed through the chute, and the length of the thigh supporting mechanism is adjustable; the thigh protector 5 is arranged at the inner side of the thigh rigid supporting rod 6 and fixedly connected with the thigh rigid supporting rod; the bottom end of the thigh rigid supporting rod 6 is fixedly connected with a knee joint driving mechanism 7.

With reference to fig. 2, the knee joint driving mechanism 7 includes a second limiting end cap 19, a second flexible gear flange 20, a second coupling 21, a second rigid gear flange 22, a second harmonic reducer 23, a second motor flange 24, and a second motor 25; wherein the second limit end cap 19, the second flexible gear flange 20, the second rigid gear flange 22, the second harmonic reducer 23, the second motor flange 24 and the second motor 25 are sequentially arranged. The second harmonic reducer 23 is a core component of the knee joint driving mechanism 7, has the advantages of small volume and light weight, has three input and output interfaces of a wave generator, a flexible gear and a rigid gear, and plays a role in reducing the speed and increasing the torque of the second motor 25 through the following connection. The motor is connected with a second motor flange 24; a motor shaft of the second motor 25 is connected with a wave generator of the second harmonic reducer 23 through a second coupler 21; the second motor flange 24 and the second rigid wheel flange 22 are respectively connected and fixed with a rigid wheel of the second harmonic reducer 23; the second flexible gear flange 20 is connected with a flexible gear of a second harmonic reducer 23; the second limit end cap 19 is connected with a second rigid wheel flange 22. The second limit end cover 19 is manufactured according to the limit rotation angle of the knee joint of the human body, has a mechanical limit function, can effectively prevent the situation that the rotation angle of the knee joint driving mechanism is too large, and protects the joint of the human body. The bottom end of the thigh rigid supporting rod 6 is connected with the top end of the second rigid wheel flange 22, so that the connection between the thigh supporting mechanism and the knee joint driving mechanism 7 is realized. The bottom end of the second flexspline flange 20 is connected with the lower leg support mechanism. When the human body walks, the second motor 25 rotates to drive the flexible wheel flange 20 and the shank chute supporting rod 8 to rotate relative to the thigh rigid supporting rod 6, so that the human body can follow or support the leg lifting movement. The knee joint drive mechanism 7 can swing the lower leg in the front-rear direction during walking.

With reference to fig. 1, the lower leg support mechanism includes a lower leg chute support bar 8, a lower leg protector 9 and a lower leg rigid support bar 10; the top end of the shank chute supporting rod 8 is fixedly connected with a second flexible wheel flange 20, so that the knee joint driving mechanism 7 is connected with the shank supporting mechanism; the bottom end of the shank chute supporting rod 8 is fixedly connected with a shank rigid supporting rod 10, the relative position of the shank chute supporting rod 8 and the shank rigid supporting rod 10 is changed through the chute, and the length of the shank supporting mechanism can be adjusted; the shank protector 9 is positioned at the inner side of the shank rigid support rod 10 and fixedly connected with the shank rigid support rod; the bottom end of the shank rigid support rod 10 is fixedly connected with the sole mechanism.

The sole mechanism includes a shoe 11 and at least three pressure sensors. The shoe 11 is attached to the foot of the human body by the adjustable buckle and the porous flexible material. The hemiplegic patient often has foot drop or inversion due to low or high foot muscle tension, and the ankle of the patient is fixed in medical treatment. Therefore, the utility model can also cancel the degree of freedom of the ankle, and the shank supporting mechanism is fixedly connected with the sole mechanism, and the sole is added with a plurality of cambered surfaces to compensate the degree of freedom of the ankle joint, so that the patient can walk smoothly.

In order to collect the distribution state of sole pressure during human movement and determine the gait of human movement, at least three pressure sensors are required to be installed on the shoes 11. The three pressure sensors are all positioned on the vamp, one is positioned at the position of the heel, and the other is positioned at the position of the front sole. In order to collect motion pose signals of the lower limbs of the human body during walking, an inertia measurement unit is required to be installed on the exoskeleton. An inertia measuring unit is arranged on the outer side wall of the waist protector 1 and positioned on the back of a human body; an inertia measuring unit is arranged on the outer side wall of the thigh protective tool 5 and positioned at the rear side of the thigh of the human body; an inertia measuring unit is arranged on the outer side wall of the shank protector 9 and positioned at the rear side of the shank of the human body. In order to accurately measure the rotating angle of the knee joint and the hip joint of the human body, an encoder is required to be arranged at a joint driving part. The first motor 18 and the second motor 25 are respectively provided with an encoder.

When the lower limb rehabilitation walking aid exoskeleton is worn on two sides of two legs, a patient can tightly attach the protective tool to the lower limb of the wearer by virtue of the porous flexible material and the elastic buckle. Each leg has 2 controllable degrees of freedom, driving the exoskeleton to move.

Claims

1. The utility model provides a recovered capable ectoskeleton of helping of light wearable low limbs to hemiplegia patient which characterized in that: the waist support mechanism is fixed on the waist of a hemiplegic patient, the two groups of lower limb driving mechanisms are symmetrically arranged on the outer sides of the legs of the hemiplegic patient, and each lower limb driving mechanism comprises a hip joint driving mechanism, a thigh supporting mechanism, a knee joint driving mechanism, a shank supporting mechanism and a sole mechanism which are sequentially connected in series from top to bottom.

2. The lightweight wearable lower limb rehabilitation walking aid exoskeleton of claim 1, which is used for hemiplegic patients, and is characterized in that: the waist support mechanism comprises a waist protector (1) and two waist rigid support rods (2); two waist rigid supporting rods (2) are symmetrically fixed at two sides of the waist protector (1), and a hip joint driving mechanism (3) is arranged on the waist rigid supporting rods (2).

3. The lightweight wearable lower limb rehabilitation walking aid exoskeleton of claim 2 for hemiplegic patients, wherein: the hip joint driving mechanism (3) comprises a first limiting end cover (12), a first flexible gear flange (13), a first coupler (14), a first rigid gear flange (15), a first harmonic reducer (16), a first motor flange (17) and a first motor (18); the first limiting end cover (12), the first flexible gear flange (13), the first rigid gear flange (15), the first harmonic reducer (16), the first motor flange (17) and the first motor (18) are sequentially arranged; the first motor (18) is connected with a first motor flange (17); a motor shaft of a first motor (18) is connected with a wave generator of a first harmonic reducer (16) through a first coupling (14); a first motor flange (17) and a first rigid wheel flange (15) are respectively connected and fixed with a rigid wheel of a first harmonic reducer (16); a first flexible gear flange (13) is connected with a flexible gear of a first harmonic reducer (16), and a first limiting end cover (12) is connected with a first rigid gear flange (15); the bottom end of the waist rigid support rod (2) is connected with the top end of a first rigid wheel flange (15) to realize the connection of a waist support mechanism and a hip joint driving mechanism (3); the bottom end of the first flexible gear flange (13) is connected with the thigh supporting mechanism.

4. The lightweight wearable lower limb rehabilitation walking aid exoskeleton of claim 3 for hemiplegic patients, wherein: the thigh supporting mechanism comprises a thigh chute supporting rod (4), a thigh protective tool (5) and a thigh rigid supporting rod (6); the top end of the thigh chute supporting rod (4) is fixedly connected with a first flexible wheel flange (13) to realize the connection of the hip joint driving mechanism (3) and the thigh supporting mechanism; the bottom end of the thigh chute supporting rod (4) is fixedly connected with a thigh rigid supporting rod (6); the thigh protector (5) is arranged at the inner side of the thigh rigid supporting rod (6) and fixedly connected with the thigh rigid supporting rod; the bottom end of the thigh rigid supporting rod (6) is fixedly connected with a knee joint driving mechanism (7).

5. The lightweight wearable lower limb rehabilitation walking aid exoskeleton of claim 4 for hemiplegic patients, wherein: the knee joint driving mechanism (7) comprises a second limiting end cover (19), a second flexible gear flange (20), a second coupling (21), a second rigid gear flange (22), a second harmonic reducer (23), a second motor flange (24) and a second motor (25); wherein the second limiting end cover (19), the second flexible gear flange (20), the second rigid gear flange (22), the second harmonic reducer (23), the second motor flange (24) and the second motor (25) are sequentially arranged; the second motor (25) is connected with a second motor flange (24); a motor shaft of the second motor (25) is connected with a wave generator of the second harmonic reducer (23) through a second coupling (21); a second motor flange (24) and a second rigid wheel flange (22) are respectively connected and fixed with a rigid wheel of a second harmonic reducer (23); a second flexible gear flange (20) is connected with a flexible gear of a second harmonic reducer (23), and a second limiting end cover (19) is connected with a second rigid gear flange (22); the bottom end of the thigh rigid supporting rod (6) is connected with the top end of a second rigid wheel flange (22) to realize the connection of the thigh supporting mechanism and the knee joint driving mechanism (7); the bottom end of the second flexible wheel flange (20) is connected with the lower leg supporting mechanism.

6. The lightweight wearable lower limb rehabilitation walking aid exoskeleton of claim 5 for hemiplegic patients, wherein: the lower leg supporting mechanism comprises a lower leg sliding groove supporting rod (8), a lower leg protective tool (9) and a lower leg rigid supporting rod (10); the top end of the shank chute supporting rod (8) is fixedly connected with a second flexible gear flange (20) to realize the connection of the knee joint driving mechanism (7) and the shank supporting mechanism; the bottom end of the shank chute supporting rod (8) is fixedly connected with a shank rigid supporting rod (10), and a shank protector (9) is positioned at the inner side of the shank rigid supporting rod (10) and fixedly connected with the shank rigid supporting rod; the bottom end of the shank rigid support rod (10) is fixedly connected with the sole mechanism.

7. The lightweight wearable lower limb rehabilitation walking aid exoskeleton of claim 5 for hemiplegic patients, wherein: the sole mechanism comprises a shoe (11) and at least three pressure sensors, wherein the three pressure sensors are all positioned on the contact surface of the sole of the human body and the shoe (11), one pressure sensor is positioned at the position of the heel, and the other pressure sensor is positioned at the position of the front sole.

8. The lightweight wearable lower limb rehabilitation walking aid exoskeleton of claim 2, 4 or 6 for hemiplegic patients, wherein: an inertia measuring unit is arranged on the outer side wall of the waist protector (1) and positioned on the back of a human body; an inertia measuring unit is arranged on the outer side wall of the thigh protective tool (5) and positioned at the rear side of the thigh of the human body; an inertia measuring unit is arranged on the outer side wall of the shank protector (9) and is positioned at the rear side of the shank of the human body.

9. The lightweight wearable lower limb rehabilitation walking aid exoskeleton of claim 3 or 5 for hemiplegic patients, wherein: the first motor (18) and the second motor (25) are respectively provided with an encoder.