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

Abstract

The utility model discloses a lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients, which comprises a waist support mechanism and two sets of lower limb drive mechanisms. The two sets of lower limb drive mechanisms are symmetrically arranged on both sides of the waist support mechanism, and the waist support mechanism Fixed on the waist of the hemiplegic patient, two sets of lower extremity driving mechanisms are located symmetrically on the outside of the legs of the hemiplegic patient. bottom body. The utility model adopts lightweight design, small size, light weight, low cost, convenient wearing, comfortable man-machine interface, and joint protection function, and can be used for rehabilitation treatment and assisting walking of hemiplegia patients, so that patients can gradually be assisted by exoskeletons. Restore normal walking ability.

Description

A lightweight wearable lower limb rehabilitation exoskeleton for hemiplegic patients

technical field

The utility model belongs to the field of medical aids, in particular to a lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegia patients.

Background technique

The research on human exoskeleton originated from the individual soldier's load-bearing requirement in military applications, that is, the need for power assistance. As my country has entered an aging society, the number of middle-aged and elderly patients with hemiplegia due to cardiovascular and cerebrovascular diseases is increasing. In addition to necessary surgical treatment and drug treatment, scientific rehabilitation training is very important for the recovery of limb motor function, and the lower limbs assist exoskeletons. It can also become a rehabilitation training device and an auxiliary walking device for hemiplegic patients.

Traditional rehabilitation machines rely on the suspension system to reduce the patient's own weight, and then use a sports treadmill to make the patient walk on the spot. The patient cannot get visual feedback in space, which is not conducive to improving the balance ability; the suspension system is easy to rub the patient's skin, and the suspension caused by Tightness is also uncomfortable for the patient; and such machines tend to have bulky chassis for added suspension stability. Some of the existing hemiplegic rehabilitation exoskeletons have a single-leg structure. Although this solution can reduce the volume and reduce the cost, this structure cannot provide patients with a symmetrical rehabilitation training mode, which is not conducive to improving the gait synchronization of the lower limbs. In addition, some rehabilitation exoskeleton robots have no limit structures at the hip and knee joints, which cannot prevent accidents where the rotation angle of the exoskeleton exceeds the limit of the human body, which is easy to cause harm to the human body; and its waist size cannot be adjusted, and the legs are not adjustable. The length of the section is also not continuously adjustable and cannot be adapted to people of different body types. In addition, many exoskeletons now choose to use EMG sensors. Although EMG sensors can quickly sense the wearer's movement intentions, the EMG sensors must be close to the skin when used and cannot be blocked by clothing, which will cause inconvenience to wearing; The sweat generated by the user is easy to interfere with signal acquisition, and it is easy to drop the sensor.

SUMMARY OF THE INVENTION

The purpose of the utility model is to provide a lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients.

The technical solution to achieve the purpose of the utility model is: a lightweight wearable lower limb rehabilitation walking exoskeleton for hemiplegic patients, comprising a waist support mechanism and two sets of lower limb drive mechanisms, and the two sets of lower limb drive mechanisms are symmetrically arranged on the waist support mechanism. On both sides, the lumbar support mechanism is fixed on the waist of the hemiplegic patient, and the two sets of lower extremity driving mechanisms are located symmetrically on the outside of the legs of the hemiplegic patient. , calf support mechanism, foot mechanism.

The waist support mechanism includes a waist supporter and two waist rigid support rods; the two waist rigid support rods are symmetrically fixed on both sides of the waist supporter, and a hip joint drive mechanism is arranged on the waist rigid support rod.

The hip joint drive mechanism includes a first limit end cover, a first flexible wheel flange, a first coupling, a first rigid wheel flange, a first harmonic reducer, a first motor flange and a first motor; wherein The first limit end cover, the first flexible wheel flange, the first rigid wheel flange, the first harmonic reducer, the first motor flange and the first motor are arranged in sequence; the first motor is connected with the first motor flange The motor shaft of the first motor is connected with the wave generator of the first harmonic reducer through the first coupling; the first motor flange and the first rigid wheel flange are respectively connected with the rigid wheel of the first harmonic reducer Fixed; the first flexible wheel flange is connected with the flexible wheel of the first harmonic reducer, the first limit end cover is connected with the first rigid wheel flange; the bottom end of the waist rigid support rod is connected with the top of the first rigid wheel flange , to realize the connection between the waist support mechanism and the hip joint drive mechanism; the bottom end of the first flexible wheel flange is connected with the thigh support mechanism.

The thigh support mechanism includes a thigh chute support rod, a thigh protector and a thigh rigid support rod; the top of the thigh chute support rod is fixedly connected with the first flexible wheel flange to realize the connection between the hip joint drive mechanism and the thigh support mechanism; the thigh chute The bottom end of the support rod is fixedly connected with the thigh rigid support rod; the thigh protector is arranged on the inner side of the thigh rigid support rod, and the two are fixedly connected; the bottom end of the thigh rigid support rod is fixed with the knee joint drive mechanism.

The knee joint drive mechanism includes a second limit 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; wherein The second limit end cover, the second flexible wheel flange, the second rigid wheel flange, the second harmonic reducer, the second motor flange and the second motor are arranged in sequence; the second motor is connected with the second motor flange The motor shaft of the second motor is connected with the wave generator of the second harmonic reducer through the second coupling; the second motor flange and the second rigid wheel flange are respectively connected with the rigid wheel of the second harmonic reducer Fixed; the second flexible wheel flange is connected with the flexible wheel of the second harmonic reducer, the second limit end cover is connected with the second rigid wheel flange; the bottom end of the thigh rigid support rod is connected with the top of the second rigid wheel flange , to realize the connection between the thigh support mechanism and the knee joint drive mechanism. The bottom end of the second flexible wheel flange is connected with the calf support mechanism.

The calf support mechanism includes a calf chute support rod, a calf protector and a calf rigid support rod; the top of the calf chute support rod is fixedly connected with the second flexible wheel flange to realize the connection between the knee joint drive mechanism and the calf support mechanism; the calf chute The bottom end of the support rod is fixedly connected with the calf rigid support rod, the calf protector is located inside the calf rigid support rod, and the two are fixedly connected; the bottom end of the calf rigid support rod is fixedly connected with the sole mechanism.

The sole mechanism includes a shoe and at least three pressure sensors. The three pressure sensors are all located on the contact surface between the sole of the human body and the shoe, one is located at the heel and two are located at the forefoot.

An inertial measurement unit is provided on the outer side wall of the waist supporter and located on the back of the human body; an inertial measurement unit is provided on the outer side wall of the thigh supporter and located on the back side of the human thigh; The position is equipped with an inertial measurement unit. The first motor and the second motor are respectively provided with encoders.

Compared with the prior art, the present utility model has the significant advantages that the current rehabilitation medical instruments for lower limb hemiplegia patients are too bulky, bulky and expensive, so they can only be used in hospitals. However, the shortcomings of long treatment period and high cost make many patients unable to adhere to the treatment, so the utility model of home rehabilitation medical aids is very important. The utility model is small in size, light in weight, convenient to carry and low in cost, and is suitable for patients to use at home, and can be used for the rehabilitation treatment and assisting walking of hemiplegia patients, so that the patients can gradually restore their normal walking ability with the assistance of exoskeletons. Compared with traditional rehabilitation machines, the lower limb rehabilitation exoskeleton can enable patients to walk in space, and the patients can get visual feedback of motion, which helps to improve their balance ability; Symmetrical rehabilitation training mode, the hemiplegic leg imitates the movement of the unaffected leg, which helps to improve the gait synchronization and stability of the lower limbs. The utility model combines the advantages of the medical protective gear, is convenient to wear, and has a comfortable man-machine interface. The size of the waist and legs can be continuously adjusted, which can meet the needs of different groups of people. And using inertial measurement unit to predict human motion intention is more stable and convenient than muscle force sensor and myoelectric sensor.

Description of drawings

FIG. 1 is a structural diagram of a lightweight and wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients according to the present invention.

Figure 2 is an exploded view of the hip joint drive mechanism of the present invention.

Figure 3 is an exploded view of the knee joint drive mechanism of the present invention.

Detailed ways

The present utility model is further described below in conjunction with the accompanying drawings.

Referring to Figure 1, a lightweight wearable lower limb rehabilitation exoskeleton for hemiplegic patients includes a lumbar support mechanism and two sets of lower limb drive mechanisms. The two sets of lower limb drive mechanisms are symmetrically arranged on both sides of the waist support mechanism, and the waist support mechanism is fixed on The waist of the hemiplegic patient, two sets of lower extremity drive mechanisms are located symmetrically on the outside of the legs of the hemiplegic patient. .

With reference to Figure 1, the waist support mechanism includes a waist supporter 1 and two waist rigid support rods 2; the waist supporter 1 is closely fitted with the human body through porous flexible materials, and the closure buckle of the supporter has an elastic, so that the waist size can be adjusted to adapt to Different groups of people need it. The two waist rigid support rods 2 are symmetrically fixed on both sides of the waist supporter 1 , and the length of the waist support mechanism can be adjusted by changing the relative positions of the waist supporter 1 and the waist rigid support rod 2 . A hip joint drive mechanism 3 is arranged on the waist rigid support rod 2 .

2, the hip joint drive mechanism 3 includes a first limit end cover 12, a first flexible wheel flange 13, a first coupling 14, a first rigid wheel flange 15, a first harmonic reducer 16, a first A motor flange 17 and a first motor 18; wherein the first limit end cover 12, the first flexible wheel flange 13, the first rigid wheel flange 15, the first harmonic reducer 16, and the first motor flange 17 and the first motor 18 are arranged in sequence. The first harmonic reducer 16 is the core component of the hip joint drive mechanism 3. It has the advantages of small size and light weight. It has three input and output interfaces: a wave generator, a flexible wheel and a rigid wheel. The motor 18 has the function of decelerating and increasing the torque. The first motor 18 is connected with the first motor flange 17; the motor shaft of the first motor 18 is connected with the wave generator of the first harmonic reducer 16 through the first coupling 14; the first motor flange 17, the first The rigid wheel flange 15 is respectively connected and fixed with the rigid wheel of the first harmonic reducer 16; the first flexible wheel flange 13 is connected with the flexible wheel of the first harmonic reducer 16; the first limit end cover 12 is connected with the first The rigid wheel flange 15 is connected. The first limit end cover 12 is manufactured according to the limit rotation angle of the human hip joint, and has a mechanical limit function, which can effectively prevent the rotation angle of the hip joint drive mechanism from being too large, and protect the human joint. The bottom end of the waist rigid support rod 2 is connected with the top end of the first rigid wheel flange 15 to realize the connection between the waist support mechanism and the hip joint drive mechanism 3; the bottom end of the first flexible wheel flange 13 is connected with the thigh support mechanism. Although patients with mild hemiplegia are still able to move, they tend to flex their upper limbs and straighten their lower limbs when walking, and the paralyzed lower limbs take a step and draw half a circle. In order to correct the hemiplegic gait of the patient, the exoskeleton only retains the freedom of the hip joint to lift the legs forward and backward, so as to avoid the situation of the patient walking in circles. When the human body is walking, the first motor 18 rotates to drive the flexible wheel flange 13 and the thigh chute support rod 4 to rotate relative to the waist rigid support rod 2 to follow or support the leg-lifting movement. The hip joint drive mechanism 3 can realize the swing of the thigh in the front and rear directions when walking.

1, the thigh support mechanism includes a thigh chute support rod 4, a thigh protector 5 and a thigh rigid support rod 6; the top of the thigh chute support rod 4 is fixedly connected with the first flexible wheel flange 13 to realize the hip joint drive mechanism 3 The connection with the thigh support mechanism; the bottom end of the thigh chute support rod 4 is fixedly connected with the thigh rigid support rod 6, and the relative position of the thigh chute support rod 4 and the thigh rigid support rod 6 is changed through the chute, and the length of the thigh support mechanism can be adjusted The thigh supporter 5 is arranged on the inner side of the thigh rigid support rod 6, and the two are fixedly connected; the bottom end of the thigh rigid support rod 6 is fixed with the knee joint drive mechanism 7.

2, the knee joint drive mechanism 7 includes a second limit end cover 19, a second flexible wheel flange 20, a second coupling 21, a second rigid wheel flange 22, a second harmonic reducer 23, a second Two motor flanges 24 and a second motor 25; wherein the second limit end cover 19, the second flexible wheel flange 20, the second rigid wheel flange 22, the second harmonic reducer 23, the second motor flange 24 and the second motor 25 are arranged in sequence. The second harmonic reducer 23 is the core component of the knee joint drive mechanism 7, and has the advantages of small size and light weight. It has three input and output interfaces of a wave generator, a flexible wheel and a rigid wheel. Through the following connections, it acts as the second The function of the motor 25 to decelerate and increase the torque. The motor is connected with the second motor flange 24; the motor shaft of the second motor 25 is connected with the wave generator of the second harmonic reducer 23 through the second coupling 21; the second motor flange 24, the second rigid wheel method The flange 22 is connected and fixed with the rigid wheel of the second harmonic reducer 23 respectively; the second flexible wheel flange 20 is connected with the flexible wheel of the second harmonic reducer 23; the second limit end cover 19 is connected with the second rigid wheel Lan 22 connection. The second limit end cap 19 is made according to the limit rotation angle of the knee joint of the human body, and has a mechanical limit function, which can effectively prevent the rotation angle of the knee joint drive mechanism from being too large, and protect the human body joint. The bottom end of the thigh rigid support rod 6 is connected with the top end of the second rigid wheel flange 22 to realize the connection between the thigh support mechanism and the knee joint drive mechanism 7 . The bottom end of the second flexible wheel flange 20 is connected with the calf support mechanism. When the human body is walking, the second motor 25 rotates to drive the flexible wheel flange 20 and the calf chute support rod 8 to rotate relative to the thigh rigid support rod 6, so as to follow or support the leg-lifting movement. The knee joint drive mechanism 7 can realize the swing of the calf in the front-rear direction during walking.

1, the calf support mechanism includes a calf chute support rod 8, a calf protector 9 and a calf rigid support rod 10; the top of the calf chute support rod 8 is fixedly connected with the second flexible wheel flange 20 to realize the knee joint drive mechanism 7 The connection with the calf support mechanism; the bottom end of the calf chute support rod 8 is fixedly connected with the calf rigid support rod 10, and the relative position of the calf chute support rod 8 and the calf rigid support rod 10 is changed through the chute, and the length of the calf support mechanism can be adjusted The calf supporter 9 is located on the inner side of the calf rigid support rod 10, and the two are fixedly connected; the bottom end of the calf rigid support rod 10 is fixedly connected with the sole mechanism.

The sole mechanism includes the shoe 11 and at least three pressure sensors. The shoe 11 fits the foot of the human body through the porous flexible material and the adjustable buckle. Hemiplegia patients often suffer from foot sagging or varus due to low or high foot muscle tone. In medical treatment, the patient's ankle is often immobilized. Therefore, the utility model also cancels the degree of freedom at the ankle, the calf support mechanism and the sole mechanism are fixedly connected, and the sole adds a multi-camber design to compensate for the degree of freedom of the ankle joint so that the patient can walk smoothly.

In order to collect the distribution state of the plantar pressure when a person is exercising, so as to judge the gait in which the person is exercising, at least three pressure sensors need to be installed on the shoe 11 . Three pressure sensors are located on the upper, one in the heel and two in the forefoot. In order to collect the motion pose signals of the human lower limbs when walking, an inertial measurement unit needs to be installed on the exoskeleton. An inertial measurement unit is provided on the outer side wall of the waist supporter 1 and located on the back of the human body; an inertial measurement unit is provided on the outer side wall of the thigh supporter 5 and located on the back side of the human thigh; An inertial measurement unit is located on the back of the calf. In order to accurately measure the angle rotated by the knee and hip joints of the human body, an encoder needs to be installed at the joint drive. Encoders are provided on the first motor 18 and the second motor 25, respectively.

When wearing, the patient wears the lower limb rehabilitation exoskeleton on both sides of the legs, relying on porous flexible materials and elastic buckles to make the protective gear close to the wearer's lower limbs. Each leg has 2 controllable degrees of freedom, driving the exoskeleton to move.

Claims (9)

1. a lightweight wearable lower limb rehabilitation exoskeleton for hemiplegia patients, characterized in that: comprising a waist support mechanism and two groups of lower limb drive mechanisms, two groups of lower limb drive mechanisms are symmetrically arranged on both sides of the waist support mechanism, and the waist supports The mechanism is fixed on the waist of the hemiplegic patient, and two sets of lower extremity driving mechanisms are located symmetrically on the outside of the legs of the hemiplegic patient. The lower limb driving mechanism includes a hip joint driving mechanism, a thigh supporting mechanism, a knee joint driving mechanism, a calf supporting mechanism, foot mechanism. 2. The lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients according to claim 1, characterized in that: the lumbar support mechanism comprises a lumbar supporter (1) and two lumbar rigid support rods (2); The waist rigid support rod (2) is symmetrically fixed on both sides of the waist supporter (1), and a hip joint drive mechanism (3) is arranged on the waist rigid support rod (2). 3. The lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients according to claim 2, characterized in that: the hip joint drive mechanism (3) comprises a first limit end cover (12), a first flexible wheel Flange (13), first coupling (14), first rigid wheel flange (15), first harmonic reducer (16), first motor flange (17) and first motor (18) ;The first limit end cover (12), the first flexible wheel flange (13), the first rigid wheel flange (15), the first harmonic reducer (16), the first motor flange (17) and the first motor (18) are arranged in sequence; the first motor (18) is connected with the first motor flange (17); the motor shaft of the first motor (18) is connected with the wave generator of the first harmonic reducer (16) Connected through the first coupling (14); the first motor flange (17) and the first rigid wheel flange (15) are respectively connected and fixed with the rigid wheel of the first harmonic reducer (16); the first flexible wheel The flange (13) is connected with the flexible wheel of the first harmonic reducer (16), the first limit end cover (12) is connected with the first rigid wheel flange (15); the bottom end of the waist rigid support rod (2) It is connected with the top end of the first rigid wheel flange (15) to realize the connection between the waist support mechanism and the hip joint drive mechanism (3); the bottom end of the first flexible wheel flange (13) is connected with the thigh support mechanism. 4. The lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients according to claim 3, characterized in that: the thigh support mechanism comprises a thigh chute support rod (4), a thigh protector (5) and a thigh rigidity The support rod (6); the top end of the thigh chute support rod (4) is fixedly connected with the first flexible wheel flange (13) to realize the connection between the hip joint drive mechanism (3) and the thigh support mechanism; the thigh chute support rod (4) ) The bottom end is fixedly connected with the thigh rigid support rod (6); the thigh supporter (5) is arranged on the inner side of the thigh rigid support rod (6), and the two are fixedly connected; the bottom end of the thigh rigid support rod (6) is fixed with the knee joint Drive mechanism (7). 5. The lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients according to claim 4, characterized in that: the knee joint drive mechanism (7) comprises a second limit end cover (19), a second flexible wheel Flange (20), second coupling (21), second rigid wheel flange (22), second harmonic reducer (23), second motor flange (24) and second motor (25) ; Among them, the second limit end cover (19), the second flexible wheel flange (20), the second rigid wheel flange (22), the second harmonic reducer (23), the second motor flange (24) and the second motor (25) are arranged in sequence; the second motor (25) is connected with the second motor flange (24); the motor shaft of the second motor (25) is connected with the wave generator of the second harmonic reducer (23). Connected by the second coupling (21); the second motor flange (24) and the second rigid wheel flange (22) are respectively connected and fixed with the rigid wheel of the second harmonic reducer (23); the second flexible wheel The flange (20) is connected with the flexible wheel of the second harmonic reducer (23), the second limit end cover (19) is connected with the second rigid wheel flange (22); the bottom end of the thigh rigid support rod (6) It is connected with the top end of the second rigid wheel flange (22) to realize the connection between the thigh support mechanism and the knee joint drive mechanism (7); the bottom end of the second flexible wheel flange (20) is connected with the calf support mechanism. 6. The lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients according to claim 5, characterized in that: the calf support mechanism comprises a calf chute support rod (8), a calf protector (9) and a calf rigidity The support rod (10); the top end of the calf chute support rod (8) is fixedly connected with the second flexible wheel flange (20) to realize the connection between the knee joint drive mechanism (7) and the calf support mechanism; the calf chute support rod (8) ) The bottom end is fixedly connected with the calf rigid support rod (10), the calf supporter (9) is located inside the calf rigid support rod (10), and the two are fixedly connected; the bottom end of the calf rigid support rod (10) is fixed with the sole mechanism even. 7. The lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients according to claim 5, characterized in that: the sole mechanism comprises shoes (11) and at least three pressure sensors, all of which are located in the human body One of the contact surfaces of the sole of the foot and the shoe (11) is located at the heel position, and the other is located at the forefoot position. 8. The lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients according to claim 2, 4 or 6, characterized in that: the outer wall of the waist supporter (1) and the position on the back of the human body are provided with Inertial measurement unit; an inertial measurement unit is provided on the outer side wall of the thigh protector (5) and located on the back side of the human thigh; 9. The lightweight wearable lower limb rehabilitation walking aid exoskeleton for hemiplegic patients according to claim 3 or 5, characterized in that the first motor (18) and the second motor (25) are respectively provided with encoders.

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