CN215689565U

CN215689565U - Wearable lower limb exoskeleton rehabilitation robot

Info

Publication number: CN215689565U
Application number: CN202120674179.4U
Authority: CN
Inventors: 张萍; 孙旭芳; 张悦蛟
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-04-01
Filing date: 2021-04-01
Publication date: 2022-02-01
Anticipated expiration: 2031-04-01

Abstract

The utility model relates to a wearable lower limb exoskeleton rehabilitation robot, which at least comprises: at least one leg bar; at least one connecting strap arranged on the leg rod piece; at least one sensor, it assembles on connecting the bandage, connecting the bandage and including first subband and second subband, the stiff end that two branches correspond respectively all fixes the first position department that sets up on the shank member, wherein, the free end that two branches correspond respectively can distribute in the second and the third position department of first position both sides on the shank member according to the mode that two branches cross each other and set up respectively swing joint.

Description

Wearable lower limb exoskeleton rehabilitation robot

Technical Field

The utility model relates to the technical field of medical rehabilitation instruments, in particular to a wearable lower limb exoskeleton rehabilitation robot.

Background

The wearable exoskeleton robot is mainly applied to the fields of medical rehabilitation, aerospace, military and the like at the present stage. In the field of medical rehabilitation, wearable lower limb exoskeleton robots are of the type using more exoskeleton robots, and the structural design of ankle joints, hip joints and knee joints is very important for lower limb exoskeleton mechanisms. An exoskeleton robot proposed in the prior art as in patent document No. CN210525083U includes an exoskeleton robot body and a sensor; the exoskeleton robot body comprises an upper supporting structure, a hip rod piece, a thigh rod piece, a shank rod piece, a foot component, a hip joint, a knee joint and an ankle joint; the sensor comprises a thin film strain gauge sensor for detecting the pressure of the sole of a foot, an encoder for detecting the angle of a joint, a force sensor for detecting the force/moment at the joint, an attitude sensor for detecting the movement speed/acceleration, a capacitive sensor for detecting the tension of muscles, and a connecting bandage, wherein the connecting bandage is fixedly connected with the capacitive sensor which is not in contact with the skin of a human body, and the capacitive sensor comprises at least one electrode patch; the sensors arranged on the exoskeleton robot body can accurately acquire various parameters of the human body during movement.

However, in the exoskeleton robot proposed in the above patent document, the connecting strap cannot sufficiently contact with the leg of the user in actual use, and the adjustability is poor, which results in a large error in the measurement result of the capacitive sensor.

Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.

SUMMERY OF THE UTILITY MODEL

When the exoskeleton robot that provides to prior art exists in the in-service use, connect the bandage and can't fully contact to user's shank, the adjustability is poor, will lead to the great problem of capacitive sensor's measurement error, this application improves and then provides a wearable low limbs exoskeleton rehabilitation robot that can effectively promote measured data's accuracy through the structure to the exoskeleton robot that prior art provided, when using, utilize the good adjustability of the connection bandage that this application adopted, accompanying person can conveniently and fast stably dress the robot on user's body, and keep connecting the abundant contact between bandage and the user shank, with this measurement accuracy who promotes the sensor.

The robot at least comprises: at least one leg bar; at least one connection bandage, it is located on the shank member, its characterized in that, connection bandage includes first branch area and second branch area, and the stiff end that two branches respectively correspond all fixes the first position department of setting on the shank member, and wherein, the free end that two branches respectively correspond can distribute in second and third position department on first position both sides on the shank member according to the mode that two branches crossed each other and set up respectively swing joint to the shank member. The prior art generally uses a single attachment strap that serves only the sole purpose of securing the user's leg to the leg bar, and fails to adequately contact the attachment strap to the user's leg. To this, this application has proposed the novel connection bandage suitable for ectoskeleton rehabilitation robot, through two criss-cross belts, can be so that connect the bandage and fully contact to user's shank, has just also guaranteed the measuring accuracy of sensor on the bandage simultaneously.

According to a preferred embodiment, the robot further comprises at least one sensor, each branch belt is sleeved with at least one annular belt along the length direction of the belt body, and the sensor is fixedly arranged on the annular belt. The positions of a plurality of capacitive sensors adopted by the exoskeleton robot in the prior art are relatively fixed and are arranged at equal intervals along the connecting binding band, and the adjustability is poor, so that the problem that the contraction condition of target muscles cannot be acquired easily occurs in the actual use process of the exoskeleton robot. To this end, this application has proposed the novel connection bandage suitable for ectoskeleton rehabilitation robot, and the sensor passes through the indirect setting of endless belt on the bandage for the position of sensor on the bandage is adjustable, can remove the sensor to the position that target muscle corresponds.

According to a preferred embodiment, the first branch belt is provided with at least one through hole, and the second branch belt is arranged crosswise with the first branch belt in such a way that the free end of the second branch belt penetrates through the through hole. The first branch belt and the second branch belt can not be folded due to crossing.

According to a preferred embodiment, the sensor further comprises at least one elastic rope and at least one tension sensor, the elastic rope and the at least one tension sensor are arranged on the annular belt, two ends of the elastic rope are respectively fixed on the annular belt through fixing blocks, and the tension sensor is used for detecting tension borne by the elastic rope. The robot can acquire the tension data of the corresponding limb muscles.

According to a preferred embodiment, the direction of extension of the body of the at least one elastic cord is parallel and/or perpendicular to the direction of extension of the body of the support strip. The robot can acquire tension data of limb muscles in the transverse direction and the longitudinal direction respectively.

According to a preferred embodiment, the sensor further comprises at least one pressure sensor and/or capacitive sensor provided on the endless belt. The robot can acquire the strength data of limb muscles.

According to a preferred embodiment, a communication module is further provided in the robot. The data collected by the robot can be transmitted to other equipment for processing or viewing.

According to a preferred embodiment, the robot further comprises a foot member in which at least one optical fiber or at least one thin film strain gauge sensor is arranged. The robot can acquire the sole pressure data of a user when using the robot through the foot component.

According to a preferred embodiment, the optical fiber is provided with at least one fiber grating pressure sensor and/or at least one fiber grating temperature sensor.

According to a preferred embodiment, at least one of the connecting straps is provided with a heating device and/or a vibration device. The robot may heat or vibrate the leg to relieve leg cramps.

Drawings

Fig. 1 is a simplified overall structure schematic diagram of a wearable lower extremity exoskeleton rehabilitation robot proposed in the present application;

FIG. 2 is a simplified cross-sectional structural view of a leg link as set forth in the present application at a location corresponding to a connecting strap;

fig. 3 is a simplified schematic diagram of an end surface provided with a sensor on an endless belt according to the present application.

List of reference numerals

1: leg bar 2: the sensor 3: first branch belt

4: second branch band 5: fixing end 6: free end

7: the endless belt 8: human limb 9: first elastic rope

10: the tension sensor 11: second elastic cord 12: pressure sensor

15: upper support structure 16: thigh link 17: hip rod piece

18: shank rod 19: foot member 20: hip joint

21: the knee joint 22: ankle joint

Detailed Description

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

As shown in fig. 1, the present application proposes a wearable lower extremity exoskeleton rehabilitation robot whose basic frame structure is the same as that of existing exoskeleton robots, namely mainly comprising an upper support structure 15, a hip bar 17, a thigh bar 16, a lower leg bar 18, a foot member 19, a hip joint 20 connecting the hip bar 17 and the thigh bar 16, a knee joint 21 connecting the thigh bar 16 and the lower leg bar 18, and an ankle joint 22 connecting the lower leg bar 18 and the foot member 19.

Encoders are respectively arranged at the left hip knee joint and the right hip knee joint and are used for detecting the joint angles at the left hip knee joint and the right hip knee joint. Force sensors are respectively installed at the left hip knee joint and the right hip knee joint and used for detecting force/moment at the left hip knee joint and the right hip knee joint. Attitude sensors for detecting the movement velocity/acceleration are mounted on the left and right shank members, the left and right thigh members, and the back frame of the upper support structure 15, respectively.

The robot further comprises a driving device, and the driving device comprises a knee joint motor driver and a hip joint motor driver. The knee joint motor driver is connected with a motor installed at the knee joint 21. The hip motor driver is connected to a motor mounted at the hip joint 20. One or more of the encoder, the attitude sensor, the communication module 13, the driving device, the tension sensor 10, the pressure sensor 12 and the optical fiber 14 are respectively connected with the robot body.

A main drive pack is disposed in the upper support structure 15, and at least one of a main control board, a motor drive board, and a main power module may be included in the main drive pack. The main power module is used for providing power for the robot to detect the motion state of the wearer, the equipment energy and the like. Each motor drive may include a motor drive plate and a power distribution source. The power supply arranged in the robot provided by the application can be configured as a multi-point power supply, and the batteries can be mutually compensated through power supply management.

The left and right thigh bar members and the left and right shank bar members are provided with connecting straps, respectively, for maintaining a relatively fixed relationship between at least one leg bar member 1 and the corresponding limb 8 of the human body. At least one sensor 2 is fitted to the connecting strap, which sensor 2 is adapted to detect muscle related data at the limb 8 of the person corresponding thereto.

Unlike the exoskeleton robot that has been proposed, in the robot proposed in the present application, as shown in fig. 2, the connection strap includes a first brace 3 and a second brace 4, and the respective fixed ends 5 of the two braces are fixedly disposed at a first position on the leg link 1. The first position may refer to an intermediate portion area on the leg bar 1. I.e. the fixed ends 5 of the two straps are adjacent to each other or both are fixed at the same position. The leg lever 1 referred to in this application may refer to a thigh lever 16 and/or a shank lever 18.

The first strap 3 is provided with at least one through hole. The second branch 4 is arranged crosswise to the first branch 3 in such a way that its free end 6 penetrates the through hole.

Under the crossed arrangement, the free ends 6 corresponding to the two belts can be movably connected to the second and third positions on the leg rod member 1 and distributed on the two sides of the first position respectively.

The second and third positions are respectively provided with a connecting piece which is matched with the free end 6 of the branch belt. The connection between the free end 6 of the stay and the second and third positions may be in the form of or similar to an active connection between a seat belt socket and a buckle on a vehicle. Or may be adapted or similar to the flexible connection between the network cable plug and the jack. The first, second and third positions may be different positions adjacent to each other on the same region of the leg bar 1, or different positions spaced apart from each other on different regions of the leg bar 1.

Each branch belt is sleeved with at least one annular belt 7 along the length direction of the belt body. The sensor 2 is fixedly arranged on one end face of the annular belt 7 close to the limb 8 of the human body. Preferably, the annular bands 7 are all located on the body of the brace near the fixed end 5 of the brace.

The belt body on each branch belt close to the free end 6 is provided with an adjusting structure for adjusting the length of the branch belt. The adjusting structure can adopt or be similar to the adjusting buckle structure of the schoolbag braces. Or a drawstring fastener structure commonly used for clothes can be adopted.

Preferably, the upper support structure 15 may be worn on the user by being provided with a harness on one side.

As shown in fig. 3, the sensor 2 may include at least one elastic cord and at least one tension sensor 10 disposed on the endless belt 7. Two ends of the elastic rope are respectively fixed on the annular belt 7 through fixing blocks. The tension sensor 10 is used for detecting the tension applied to the elastic rope.

Preferably, the sensor 2 may include a first elastic string 9 and first fixing blocks disposed at both ends of the first elastic string 9. The first fixed block is fixedly connected to the endless belt 7. The annular belt 7 is also provided with a first tension detection block matched with the first fixed block. The first tension detecting block is provided with a tension sensor 10 for detecting tension of the first elastic rope 9. The transverse change data of the limb muscles are measured according to the values on the tension sensor 10 and the deformation quantity of the first elastic rope 9.

Preferably, the sensor 2 may include a second elastic string 11 and second fixing blocks disposed at both ends of the second elastic string 11. The second fixed block is fixedly connected to the endless belt 7. The annular belt 7 is also provided with a second tension detection block matched with the second fixed block. The second tension detecting block is provided with a tension sensor 10 for detecting tension of a second elastic rope 11. The longitudinal change data of the limb muscles are measured according to the values on the tension sensor 10 and the deformation quantity of the second elastic rope 11.

Preferably, the sensor 2 may comprise at least one pressure sensor 12 provided on the annular band 7 for acquiring intensity data corresponding to a local area of the limb muscles.

Preferably, the sensor 2 may comprise at least one capacitive sensor provided on the endless belt 7, as used by the exoskeleton robots that have been proposed.

Preferably, the foot member 19 may be a flexible strap for supporting the user's foot. With this arrangement, the user can use the robot with his shoes. The caregiver may secure the user's shoe body relative to the foot member 19 by means of the flexible straps. At least one optical fiber 14 may be laid in the flexible strap. At least one thin film strain gage sensor may be disposed in the flexible strap. Data on the sole pressure of the user when using the robot can be acquired through the foot member 19.

Preferably, the foot member 19 may be a shoe for supporting a user's foot. With this arrangement, the user can directly penetrate the foot into the shoe body. At least one optical fiber 14 may be laid within the shoe body. At least one thin film strain gauge sensor may be laid within the shoe body.

At least two different connecting straps can be arranged side by side on the thigh link 16 and/or the shank link 18. The first attachment strap may be an attachment strap as described above for maintaining a relatively fixed relationship between the at least one leg member 1 and the human limb 8 corresponding thereto. The second attachment strap may be for heating or vibrating the leg.

The second connecting strap is provided with at least a heating device and/or a vibration device. The heating means may comprise a temperature sensor and a heating wire. The vibration device may include a vibrator and a battery. The technical scheme provided by the application only makes corresponding improvement to the structure and the connection relation of the existing exoskeleton robot, data processing and data analysis are not involved in the application, and the encoder, the attitude sensor, the capacitive sensor, the communication module, the driving device, the tension sensor, the pressure sensor, the optical fiber, the heating device, the vibration device and the like adopted in the application are the prior art.

When the wearable lower limb exoskeleton rehabilitation robot provided by the application is actually used: the patient's foot is placed in the foot member 19 and the knee motor drive and hip motor drive are adjusted. The upper support structure 15, hip bar 17, thigh bar 16, lower leg bar 18 and foot member 19 are each secured to the lower limb of the patient. Wherein the thigh link 16 and the shank link 18 are fixed by: the free end 6 of the second branch belt 4 penetrates through a through hole of the first branch belt 3, and the first branch belt and the second branch belt are arranged in a crossed mode; the free ends 6 of the first and second straps are each movably connected to the leg bar 1. The position of the annular belt 7 is adjusted along the belt body direction of the branch belt, so that the sensor 2 corresponds to the target muscle.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the utility model. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the utility model is defined by the claims and their equivalents.

Claims

1. A wearable lower extremity exoskeleton rehabilitation robot comprising at least:

at least one leg bar (1);

at least one connecting bandage arranged on the leg rod piece (1),

it is characterized in that the connecting bandage comprises a first branch belt (3) and a second branch belt (4), the fixed ends (5) corresponding to the two branch belts are fixedly arranged at the first position on the leg rod piece (1),

the free ends (6) corresponding to the two branch belts can be respectively and movably connected to the second position and the third position distributed on two sides of the first position on the leg rod piece (1) in a mode that the two branch belts are mutually crossed.

2. The robot according to claim 1, characterized in that the robot further comprises at least one sensor (2), each branch belt is sleeved with at least one annular belt (7) along the length direction of the belt body, and the sensor (2) is fixedly arranged on the annular belt (7).

3. The robot according to claim 2, characterized in that the first branch belt (3) is provided with at least one through hole, and the second branch belt (4) is arranged crosswise to the first branch belt (3) in such a way that the free end (6) thereof penetrates through the through hole.

4. The robot according to claim 3, wherein the sensor (2) further comprises at least one elastic rope and at least one tension sensor (10) which are arranged on the annular belt (7), two ends of the elastic rope are respectively fixed on the annular belt (7) through fixing blocks, and the tension sensor (10) is used for detecting tension applied to the elastic rope.

5. The robot as claimed in claim 4, wherein the string body of at least one elastic string extends in a direction parallel and/or perpendicular to the band body of the branch band.

6. Robot according to claim 5, characterized in that the sensor (2) further comprises at least one pressure sensor (12) and/or capacitive sensor provided on the endless belt (7).

7. A robot according to claim 6, characterized in that a communication module (13) is also arranged in the robot.

8. A robot according to claim 7, characterized in that the robot further comprises a foot member (19), at least one optical fiber (14) or at least one thin film strain gauge sensor being arranged in the foot member (19).

9. Robot according to claim 8, characterized in that the optical fiber (14) is provided with at least one fiber grating pressure sensor and/or at least one fiber grating temperature sensor.

10. A robot according to claim 9, characterized in that at least one of the connecting straps is provided with heating means and/or vibrating means.