CN215994720U - Wearable lower limb rehabilitation exercise trainer - Google Patents
Wearable lower limb rehabilitation exercise trainer Download PDFInfo
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- CN215994720U CN215994720U CN202120347832.6U CN202120347832U CN215994720U CN 215994720 U CN215994720 U CN 215994720U CN 202120347832 U CN202120347832 U CN 202120347832U CN 215994720 U CN215994720 U CN 215994720U
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Abstract
The utility model discloses a wearable lower limb rehabilitation exercise trainer, which comprises: a foot pad assembly for contacting a user's sole to detect a pose of a user's plantar surface; the actuator is used for controlling the rotation damping of the thigh supporting piece and the knee adapter piece; a controller for controlling the actuator according to the sensed data of the foot pad assembly; the foot pad assembly comprises: a sole pad for supporting a patient's foot from a plantar surface of the patient's foot; the inertial sensor is used for detecting angle data of the plantar surface of the foot of a user and sending the angle data to the controller; a plurality of pressure sensors for detecting the pressure experienced by the plantar surface of the foot of the patient and sending pressure data of the plantar surface to the controller; the controller analyzes and processes the received angle data and pressure data to recognize the plantar surface posture of the patient. The wearable lower limb rehabilitation exercise trainer can accurately control the actuator according to gait information, and further improves the training effect of the wearable lower limb rehabilitation exercise trainer on patients.
Description
Technical Field
The utility model relates to a wearable lower limb rehabilitation exercise trainer.
Background
The existing lower limb rehabilitation exercise trainer still adopts a mode of a traditional motor, a reducer and a lead screw, so that the lower limb rehabilitation exercise trainer has the disadvantages of heavy weight, high power consumption and low cruising ability; and the cost is high, and the device is only suitable for the patient to use in a specific and professional rehabilitation department or institution.
Meanwhile, in the aspect of a control mode, the existing scheme is not accurate enough for the gait phase splitting of the patient. The gait of the patient often can not compare with the normal person, usually shows that the support time of the affected side is short, and the affected side is weak to support the whole weight of the patient, so the real-time gait phase of the patient is often difficult to accurately judge only according to the foot pressure signal identification of the gait of the patient. In contrast, the patent "a robust indoor pedestrian gait detection method based on IMU" describes a gait detection algorithm suitable for pedestrian navigation, which is intended to identify the static attitude and the swing attitude of a normal person in walking and running states, and is not very suitable for gait identification of patients with walking dysfunction.
SUMMERY OF THE UTILITY MODEL
The utility model provides a wearable lower limb rehabilitation exercise trainer, which adopts the following technical scheme:
a wearable lower limb rehabilitation exercise trainer, comprising: a shank support, a knee adapter and a thigh support plate; the lower leg support is connected to the lower end of the knee adapter; the thigh supporting plate is rotatably connected to the upper end of the knee adapter; wearable lower limbs rehabilitation exercise training device still includes: the device comprises a foot pad assembly, an actuator and a controller, wherein the foot pad assembly is used for contacting the sole of a foot of a user to detect the posture of the plantar surface of the foot of the user, the actuator is used for controlling the rotation damping of a thigh supporting plate and a knee adapter, and the controller is used for controlling the actuator according to the detection data of the foot pad assembly; one end of the actuator is rotatably connected to the knee adapter piece, and the other end of the actuator is fixedly connected to the thigh supporting plate; the controller is electrically connected to the actuator; the foot pad assembly comprises: a sole pad, an inertial sensor for detecting the posture of the plantar surface of the foot of a user, and a plurality of pressure sensors; the inertial sensor and the plurality of pressure sensors are distributed in the sole pad; the sole pad is connected to the lower end of the calf support; the inertial sensor and the plurality of pressure sensors are distributed in the sole pad; the inertial sensor and the pressure sensor are communicatively coupled to the controller.
Further, the actuator includes: the device comprises a shell, a first shaft, a second shaft, a steering engine for providing rotating force, a driving gear, a driven gear, a damping adjusting valve and a damping actuator; one end of the shell is rotatably connected to the knee adapter through a first shaft, and the other end of the shell is rotatably connected to the thigh supporting plate through a second shaft; the steering engine is arranged in the shell; the driving gear is fixedly connected to the output end of the steering engine; the driven gear is fixedly connected to the input end of the damping adjusting valve and meshed with the driving gear; the output end of the damping regulating valve is connected to one end of the damping actuator; the other end of the damping actuator is rotatably sleeved on the periphery of the second shaft.
Further, the controller further comprises: a status light for displaying the power of the controller; the status light is electrically connected to the battery of the controller.
Further, wearing formula lower limbs rehabilitation exercise training ware still includes: the encoder is used for detecting a rotation angle between the thigh supporting plate and the knee adapter; the encoder is secured to the knee adapter and is communicatively connected to the controller.
Further, the foot pad assembly comprises: 4 pressure sensors for detecting pressure at each of the plantar surfaces of the foot of the user, respectively; the 4 pressure sensors are respectively distributed on the sole part of the sole pad corresponding to the sole of the patient; the inertial sensor is arranged at the arch part of the sole pad corresponding to the arch of the foot of the patient.
Furthermore, the wearable lower limb rehabilitation exercise trainer is also provided with a moving end which records the training data of the user in real time so as to know the training condition of the user; the mobile terminal is connected to the controller in a communication way.
Furthermore, the mobile terminal is connected to the controller through Bluetooth communication.
Further, a first adjustment strap for restraining the calf support to the calf is detachably connected to the calf support; the thigh supporting plate is detachably connected with a second adjusting belt used for binding the thigh supporting plate to the thigh.
Further, the periphery of the second adjusting belt is also sleeved with a sleeve gasket for improving the use comfort.
Further, the controller is detachably connected to the thigh supporting plate through a third adjusting belt; the controller is detachably mounted to the third regulation belt.
The wearable lower limb rehabilitation exercise trainer has the advantages that the wearable lower limb rehabilitation exercise trainer assists a patient to train through the actuator, is light in use and long in endurance time, and is suitable for being used at ordinary times. The wearable lower limb rehabilitation exercise trainer can accurately identify gait information of the plantar surface of a patient through the foot pad assembly, so that the actuator can be accurately controlled according to the gait information, and the training effect of the wearable lower limb rehabilitation exercise trainer on the patient is improved.
Drawings
FIG. 1 is a schematic view of a wearable lower limb rehabilitation exercise trainer of the present invention;
FIG. 2 is a schematic view of another angle of the wearable lower limb rehabilitation exercise trainer of FIG. 1;
FIG. 3 is a schematic view of the internal structure of the actuator of the wearable lower limb rehabilitation exercise training device in FIG. 1;
fig. 4 is a schematic structural view of a footpad assembly of the wearable lower limb rehabilitation exercise training device of fig. 1.
The wearable lower limb rehabilitation exercise training device 10 comprises a lower leg support part 11, a knee adapter 12, a thigh support plate 13, a foot pad assembly 14, a foot pad 141, an inertial sensor 142, a pressure sensor 143, an actuator 15, a shell 151, a first shaft 152, a second shaft 153, a steering engine 154, a driving gear 155, a driven gear 156, a damping adjusting valve 157, a damping actuator 158, a controller 16, an encoder 17, a first adjusting belt 18, a second adjusting belt 19, a third adjusting belt 20 and a sleeve pad 21.
Detailed Description
The utility model is described in detail below with reference to the figures and the embodiments.
As shown in fig. 1 to 3, a wearable lower limb rehabilitation exercise training device 10 according to the present invention includes: a calf support 11, a knee adapter 12 and a thigh support plate 13. The calf support 11 is connected to the lower end of the knee adapter 12. The thigh support plate 13 is pivotally connected to the upper end of the knee adapter 12. After the patient wears the wearable lower limb rehabilitation exercise training device 10, the thigh support plate 13 rotates relative to the knee adapter 12 according to the leg movement of the patient when the patient walks, so that the patient is assisted in walking training.
As a further aspect, the wearable lower limb rehabilitation exercise training device 10 further includes: a foot pad assembly 14, an actuator 15, and a controller 16. One end of the actuator 15 is rotatably connected to the knee adapter 12 and the other end is fixedly connected to the thigh support plate 13. When mounted, one side of the thigh support plate 13 is pivotally connected to the upper end of the knee adapter 12, one end of the actuator 15 is pivotally connected to the upper end of the knee adapter 12 and the other end is fixed to the thigh support plate 13, so that the thigh support plate 13 can be rotated relative to the knee adapter 12. The foot pad assembly 14 is used to contact the sole of a user's foot to detect the stance of the plantar surface of the user's foot. The actuator 15 is used to control the rotational damping of the thigh support plate and the knee adapter 12, thereby adjusting the amount of rotational damping between the thigh support plate and the knee adapter 12 in accordance with the walking gait of the patient. For example, when the patient stands, the actuator 15 controls the rotation damping of the thigh supporting plate and the knee adapter 12 to increase, so that the thigh supporting plate and the knee adapter 12 are difficult to rotate, the patient can stand more stably, and the safety is higher; when a patient walks, the angles of the lower leg and the thigh need to be changed, namely the leg needs to be bent, at the moment, the actuator 15 controls the rotation damping of the thigh supporting plate and the knee adapter 12 to be reduced, so that the thigh supporting plate and the knee adapter 12 can easily rotate, and the leg of the patient can be bent freely. In this way, the rehabilitation training of the patient can be effectively assisted. The controller 16 is used for controlling the actuator 15 to adjust the rotation damping according to the detection data of the foot pad assembly 14, so that the rehabilitation training for the patient is more accurate and effective. The controller 16 is electrically connected to the actuator 15 through a wire.
Specifically, the foot pad assembly 14 includes: a sole pad 141, an inertial sensor 142, and a plurality of pressure sensors 143. The sole pad 141 is connected to the lower end of the calf support 11. An inertial sensor 142 and a plurality of pressure sensors 143 are distributed within the sole pad 141. The inertial sensor 142 is used to detect angular data of the plantar surface of the user's foot and transmit the angular data to the controller 16. The plurality of pressure sensors 143 are configured to sense the pressure experienced by the patient at various locations on the plantar surface of the foot and to transmit pressure data from the plantar surface to the controller 16. Specifically, the accelerometer and gyroscope sensors provided in the inertial sensor 142 can accurately detect the angle of the plantar surface of the user with respect to the ground, i.e., the posture of the plantar surface. The inertial sensor 142 and the pressure sensor 143 are communicatively coupled to the controller 16 to transmit data of the detected plantar surface attitude to the controller 16. The controller 16 analyzes the received angle data and pressure data to identify the plantar surface pose of the patient. The controller 16 is electrically connected to the actuator 15, so as to control the actuator 15 to adjust the amount of rotational damping between the thigh support plate 13 and the knee adapter 12 according to the recognized posture information of the plantar surface of the foot of the user.
Further, a first adjustment strap 18 is removably attached to the calf support 11. The first adjustment strap 18 is used to tether the calf support 11 to the calf. A second adjustment strap 19 is detachably connected to the thigh support plate 13. The second adjustment strap 19 is used to tether the thigh support plate 13 to the thigh. The second adjusting belt 19 is also sleeved with a sleeve gasket 21. The sleeve pad 21 is used to improve the comfort of the patient. In this arrangement, the calf support 11 is restrained to the calf by two first adjustment straps 18, and the thigh support plate 13 is restrained to the thigh by two second adjustment straps 19.
Further, the controller 16 is detachably connected to the thigh support plate 13 via a third adjustment strap 20; the controller 16 is detachably mounted to the third adjusting belt 20. The third adjustment strap 20 may be strapped to the waist of the patient.
Specifically, after the training device is worn by the patient in the sitting position during use, the comfort level is adjusted in the standing position, that is, the first adjustment strap 18 and the second adjustment strap 19 are adjusted, so that the wearable lower limb rehabilitation exercise training device 10 is worn by the patient in a comfortable position. Then, the wearable lower limb rehabilitation exercise training device 10 is started, and at this time, the wearable lower limb rehabilitation exercise training device 10 immediately executes a self-checking program, so as to ensure that the accelerometer, the gyroscope sensor and the actuator 15 in the foot pad assembly 14 can normally work.
When the patient starts walking exercise, the wearable lower limb rehabilitation exercise training device 10 detects gait information of the plantar surface of the foot of the patient through the accelerometer and gyroscope sensors in the inertial sensor 142 and the plurality of pressure sensors 143 in the foot pad assembly 14 and feeds back the detected gait information to the controller 16 in real time. The wearable lower limb rehabilitation exercise trainer 10 can divide the plantar postures into four postures: 1. the toe is upwarped and the sole surface rotates downwards around the heel; 2. the plantar surface is horizontal and static; 3. the sole surface rotates upwards around the toe to raise the heel; 4. the plantar surface moves rapidly and without a close or adjacent center of rotation. The four gait phases divided by the four postures corresponding to the lower limb walking process respectively are as follows: initial support phase (heel strike), full support phase (sole strike), final support phase (toe-joint strike), and swing phase. The foot pad assembly 14 sends the detected plantar surface gait information to the controller 16. The controller 16 controls the actuator 15 to adjust the rotational damping between the thigh support plate 13 and the knee adapter 12 to a corresponding magnitude according to the received plantar gait information, so that the patient can train safely and efficiently. The executing actions of the actuator 15 corresponding to the four gait phases are respectively: when the initial phase is supported, the rotational damping is increased, the falling posture of the patient during walking is judged, and the increase of the rotational damping is beneficial to the standing stability of the patient; when the patient stands in the full-support phase, the patient is judged to be in a standing posture, and the patient stands stably by adjusting the rotary damping to be full damping; when the support is in the final phase, the rotational damping is reduced, the starting posture of the patient in walking is judged, and the reduction of the rotational damping is beneficial to the patient to bend the leg to walk; when the patient is in the swing phase, the patient is judged to be in the walking posture when walking, namely the feet are completely lifted off, and the legs of the patient need to be capable of freely bending, so that the rotation damping is adjusted to be undamped.
Further, the actuator 15 includes: the device comprises a shell 151, a first shaft 152, a second shaft 153, a steering engine 154 for providing rotating force, a driving gear 155, a driven gear 156, a damping adjusting valve 157 and a damping actuator 158; one end of the housing 151 is rotatably connected to the knee adapter 12 by a first shaft 152 and the other end is rotatably connected to the thigh support plate 13 by a second shaft 153; the steering engine 154 is mounted in the housing 151; the driving gear 155 is fixedly connected to the output end of the steering gear 154; the driven gear 156 is fixedly connected to the input end of the damping adjusting valve 157 and meshed with the driving gear 155; the output end of the damping adjusting valve 157 is connected to one end of a damping actuator 158; the other end of the damping actuator 158 is rotatably sleeved on the outer circumference of the second shaft 153. In use, the controller 16 controls the steering engine 154 to rotate according to the received gait information of the plantar surface of the foot. The steering gear 154 drives the driven gear 156 to rotate through the driving gear 155, so that the damping adjusting valve 157 is adjusted through the input end of the damping adjusting valve 157, and the damping of the damping actuator 158 is adjusted. Because the other end of the damping actuator 158 is rotatably sleeved on the periphery of the second shaft 153: when the damping of the damping actuator 158 increases, the damping actuator 158 pushes the thigh support plate 13 through the second shaft 153, so that the second shaft 153 is kept away from the first shaft 152, and the thigh support plate 13 and the knee adapter 12 are difficult to rotate; when the damping of the damping actuator 158 is reduced, the thrust of the damping actuator 158 pushing the thigh support plate 13 through the second shaft 153 is reduced, and at this time, the thigh support plate 13 and the knee adapter 12 can rotate correspondingly according to the magnitude of the rotational damping. The rotational damping between the thigh support plate 13 and the knee adapter 12 decreases in a linear increase.
In summary, the wearable lower limb rehabilitation exercise training device 10 assists the patient to train through the actuator 15, is light in use, long in endurance time, and suitable for being used at ordinary times. The wearable lower limb rehabilitation exercise training device 10 can accurately identify the gait information of the plantar surface of the foot of the patient through the foot pad assembly 14, so that the actuator 15 can be accurately controlled according to the gait information, and the training effect of the wearable lower limb rehabilitation exercise training device 10 on the patient is further improved.
Further, the controller 16 further includes: a status light. The status light is used to display the power level of the controller 16. The status light is electrically connected to the battery of the controller 16. The status light alerts the patient to charge when the battery of the controller 16 is not sufficiently charged.
As a specific embodiment, the wearable lower limb rehabilitation exercise training device 10 further includes: and an encoder 17. The encoder 17 is used for detecting the rotation angle between the thigh supporting plate and the knee adapter 12, so as to obtain the swing angle of the knee joint. An encoder 17 is secured to the knee adapter 12 and is communicatively connected to the controller 16. When the thigh supporting plate and the knee adapter 12 rotate relatively, the encoder 17 records the rotation angle between the thigh supporting plate and the knee adapter in real time.
Further, the wearable lower limb rehabilitation exercise training device 10 is also provided with a moving end. The mobile terminal is used for recording the training data of the user in real time so as to know the training condition of the user. The mobile end is communicatively coupled to the controller 16.
The controller 16 may send the received detection data to the mobile terminal in real time and send status data in real time while the patient is exercising. The status data includes: plantar surface attitude data, pressure sensor 143 data in the foot pad assembly 14, and data of the encoder 17 at the knee adapter 12. And the mobile terminal is provided with data monitoring software APP. And after the data monitoring software APP receives the detection data in real time, analyzing the detection data and drawing a plantar surface motion simulation animation, a plantar pressure change cloud picture and a knee joint rotation angle curve. The data monitoring software APP has a data storage function, and can calculate the average value, the maximum value and the minimum value of the duration of the gait phases of the two lower limbs of the patient and the average value, the maximum value and the minimum value of the swing angles of the knee joints of the two lower limbs. By the mode, doctors and patients can conveniently check the detailed information of the patients who train by using the wearable lower limb rehabilitation exercise training device 10 at any time, so that doctors and patients can be helped to diagnose and treat.
Further, the mobile terminal can be connected to the controller 16 through bluetooth communication. That is, the controller 16 may transmit the relevant data to the mobile terminal in real time through bluetooth.
As a specific embodiment, the foot pad assembly 14 includes: 4 pressure sensors 143 for detecting pressures at respective parts of the plantar surface of the foot of the user; the 4 pressure sensors 143 are respectively distributed on the sole part of the sole pad 141 corresponding to the sole of the patient; the inertial sensor 142 is disposed on the arch portion of the sole pad 141 corresponding to the arch of the foot of the patient, i.e., the concave portion of the middle portion of the sole. Specifically, two of the 4 pressure sensors 143 are located at positions of the ball portion of the sole pad 141 corresponding to the forefoot of the patient; one of the 4 pressure sensors 143 is located at a position of the ball portion of the sole pad 141 corresponding to the middle of the ball of the patient; the last of the 4 pressure sensors 143 is located at the sole portion of the sole pad 141 at a position corresponding to the heel of the patient. By such an arrangement, the posture of the plantar surface of the patient can be accurately detected.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.
Claims (10)
1. A wearable lower limb rehabilitation exercise trainer, comprising: a shank support, a knee adapter and a thigh support plate; the lower leg support is connected to the lower end of the knee adapter; the thigh supporting plate is rotatably connected to the upper end of the knee adapter; its characterized in that, wearing formula low limbs rehabilitation exercise training ware still includes: the foot pad assembly is used for contacting the sole of a foot of a user to detect the posture of the plantar surface of the foot of the user, the actuator is used for controlling the rotation damping of the thigh supporting plate and the knee adapter, and the controller is used for controlling the actuator according to the detection data of the foot pad assembly; one end of the actuator is rotatably connected to the knee adapter piece, and the other end of the actuator is fixedly connected to the thigh supporting plate; the controller is electrically connected to the actuator; the foot pad assembly comprising: a sole pad, an inertial sensor for detecting the posture of the plantar surface of the foot of a user, and a plurality of pressure sensors; the sole pad is connected to the lower end of the calf support; the inertial sensor and the plurality of pressure sensors are distributed within the sole pad; the inertial sensor and the pressure sensor are communicatively coupled to the controller.
2. The wearable lower limb rehabilitation exercise trainer according to claim 1,
the actuator includes: the device comprises a shell, a first shaft, a second shaft, a steering engine for providing rotating force, a driving gear, a driven gear, a damping adjusting valve and a damping actuator; one end of the shell is rotatably connected to the knee adapter through the first shaft, and the other end of the shell is rotatably connected to the thigh supporting plate through the second shaft; the steering engine is arranged in the shell; the driving gear is fixedly connected to the output end of the steering engine; the driven gear is fixedly connected to the input end of the damping adjusting valve and meshed with the driving gear; the output end of the damping adjusting valve is connected to one end of the damping actuator; the other end of the damping actuator is rotatably sleeved on the periphery of the second shaft.
3. The wearable lower limb rehabilitation exercise trainer according to claim 2,
the controller further includes: a status light for displaying the power of the controller; the status light is electrically connected to a battery of the controller.
4. The wearable lower limb rehabilitation exercise trainer according to claim 1,
wearable lower limbs rehabilitation exercise training ware still includes: an encoder for detecting a rotation angle between the thigh support plate and the knee adapter; the encoder is secured to the knee adapter and communicatively connected to the controller.
5. The wearable lower limb rehabilitation exercise trainer according to claim 4,
the foot pad assembly comprising: 4 pressure sensors for detecting pressure at each of the plantar surfaces of the foot of the user, respectively;
the 4 pressure sensors are respectively distributed on the sole part of the sole pad corresponding to the sole of the patient; the inertial sensor is arranged at the arch part of the sole pad corresponding to the arch of the foot of the patient.
6. The wearable lower limb rehabilitation exercise trainer according to claim 5,
the wearable lower limb rehabilitation exercise trainer is also provided with a moving end which records training data of a user in real time so as to know the training condition of the user; the mobile terminal is in communication connection with the controller.
7. The wearable lower limb rehabilitation exercise trainer according to claim 6,
the mobile terminal is connected to the controller through Bluetooth communication.
8. The wearable lower limb rehabilitation exercise trainer according to claim 1,
the calf support is detachably connected with a first adjusting belt used for binding the calf support to a calf; the thigh support plate is detachably connected with a second adjusting belt used for binding the thigh support plate to a thigh.
9. The wearable lower limb rehabilitation exercise trainer according to claim 8,
the periphery of second regulation area is still overlapped and is equipped with the cover pad that is used for improving use comfort.
10. The wearable lower limb rehabilitation exercise trainer according to claim 1,
the controller is detachably connected to the thigh supporting plate through a third adjusting belt; the controller is detachably mounted to the third adjusting belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120347832.6U CN215994720U (en) | 2021-02-07 | 2021-02-07 | Wearable lower limb rehabilitation exercise trainer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120347832.6U CN215994720U (en) | 2021-02-07 | 2021-02-07 | Wearable lower limb rehabilitation exercise trainer |
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| Publication Number | Publication Date |
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| CN215994720U true CN215994720U (en) | 2022-03-11 |
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| CN202120347832.6U Active CN215994720U (en) | 2021-02-07 | 2021-02-07 | Wearable lower limb rehabilitation exercise trainer |
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- 2021-02-07 CN CN202120347832.6U patent/CN215994720U/en active Active
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