CZ309189B6 - Robot locomotor system for re-education of bipedal locomotion - Google Patents

Abstract

Robot movement device for bipedal locomotion re-education, comprising a left positioning arm (1) pivoted on its right side at its proximal end, and a right positioning arm (2) pivoted on its right side (4) at its proximal end. There is a tread (11) at the distal end of each positioning arm (1, 2). Each positioning arm (1, 2) pivots at its proximal end on a support plate (8) connected to a pin (34) housed in a hole in the left or right sidewall (3, 4). Each positioning arm (1, 2) also has a first drive (36) for oscillating the positioning arm (1, 2), comprising a first servomotor (22) and a first bevel gear (23), and a second drive (10) for vertical movement (11) comprising a second servomotor (26) and a second bevel gear (27). There is a vertical linear guide (9) on the support plate (8) of each positioning arm (1, 2), comprising a stationary part (37) and a pull-out part (25), which is firmly connected to the support plate (28) of the tread (11). The tread (11) further comprises a contact plate (18) for fixing the foot (33), movably connected to the middle plate (16), which is further fixed to the base plate (14) by a hinge (15). Each tread (11) has a third drive (13) for oscillating the tread (11), comprising an electric cylinder (38) with a fixed and a movable part. There is three horizontal strain gauges (17) between the base plate (14) and the middle plate (16), and a holder (32) with a vertical strain gauge (20) is on the front side of the base plate (14).

Description

The locomotor system of the robot for the re-education of bipedal locomotion

Field of technology

This invention relates to the locomotor system of a robot for the re-education of bipedal locomotion.

Current state of the art

Currently, several solutions are known that enable robotic gait rehabilitation. In principle, it is always a device that tries to re-educate physiological bipedal locomotion with the help of feedback from extero- and interoreceptors. The basis for exteroreceptor feedback (biofeedback) is visual information, representing for the patient a requirement to perform the relevant phase of the movement of the lower limb or a movement task associated with walking. This visual information can be conveyed on a computer monitor, possibly through means of virtual reality. In doing so, the patient is verticalized and his limbs are fixed in the robot's effectors. The patient tries to perform the respective desired movement of the lower limb, while the motor result of his free effort is sensed using force sensors, respectively position or movement. The robot cooperatively moves the limb along an optimal trajectory corresponding to the stereotype of physiological walking, while evaluating the difference between the desired movement realized by the robot and the movement that would be the result of the patient's free effort. The patient gets the feeling of moving the affected lower limbs in accordance with the physiological bipedal locomotion according to the visually transmitted information. At the same time, information about properly performed walking movements of the lower limbs is spread afferently from the interoreceptors in the muscles and tendons of the lower limbs. Biofeedback from the exteroreceptor (sight) and interoreceptors together with ideomotoric free effort represent stimuli that enable the creation of new neural connections (engrams) in the central nervous system, thereby restoring impaired bipedal locomotion. However, this manifestation of neuronal plasticity can only occur under conditions of a large number of exact repetitions of the required movements, which can only be optimally ensured by a sophisticated machine. However, if a machine implementing forced bipedal locomotion does not have feedback from sensors, it is not a robot, but a manipulator. These robots and manipulators also differ in whether they move the lower limb in each of the main joints (exoskeleton type) or whether they only move the limb by grasping its distal part (end-effector type).

An example of a robot for bipedal locomotion of the exoskeleton type is the product of the Swiss company HOCOMA AG known under the name LOKOMAT, which is described in the American patent application US 2017165145 AI. The movement system of the robot is solved in such a way that active movement along a circular trajectory is ensured for each main joint of the lower limb. By combining these movements, a step movement cycle is created. A robot for bipedal locomotion of the exoskeleton type is solved in a similar way, which is described in the international patent application WO 2014202767 AI of the same applicant. Said robot for training the user's automated walking, e.g. on an endless belt, includes a pelvis attachment, and optionally a suspension unit and leg attachment using cuffs in the area of the hip and knee, or ankle joint.

The international patent application WO 2017081647 AI deals with the locomotor system of an exoskeleton-type robot by means of robotic arms, which use adjustable cuffs to hold the lower limbs in the thigh and calf area. In these solutions, walking simulation is provided using a running sidewalk.

This method of solution is also chosen by a number of manipulators for gait rehabilitation, described for example in the European patent application EP 3449981 AI or in the American patent US 9981157 B2, which are typical representatives of the end-effector robot type. The treadmill (treadmill) provides motion energy for the ankle brace attachment to gradually lift the heel, toes, and forward motion of the foot, simulating the gait cycle.

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In the American patent application US 2014100491 AI, a full-fledged cooperative rehabilitation robot of the end-effector type is described, ensuring the movement of the lower limbs fixed behind their feet on the pedals of the robot while relieving the whole body and respecting the movement of the pelvis during walking. It is a rehabilitation robot, basically of the end-effector type, which ensures walking training, not only by active coordinated movement of the lower limbs, but also by controlled movement of natural tilting and rotation of the pelvis. These movements of the pelvis, corresponding to the individual phases of walking, are derived from the proximal femoral parts of the limbs moving in the rhythm of physiological walking and are transmitted to the pelvic effector of the robot mechanically by a lever subsystem. From the point of view of this patent solution, the combination of stimulated active movements of the pelvis with the pedal system of the "drive" of the distal parts of the lower limbs, supported by the pedal system of attachment "by the shoe" of the patient, is unique. The robot therefore does not need a moving walkway, while its effectors ensure a total of eight degrees of freedom. The pedal system for support and guidance of the lower limbs is equipped with pressure sensors, as well as the pelvic effector and the patient's sling, which relieves the weight of the patient's body and ensures verticalization of the patient. Through pressure sensors, feedback is provided to control the movement of the robot for effective gait re-education.

The essence of the invention

The aim of the invention is to propose a new construction of the locomotor system of the robot, which enables bipedal locomotion with variable patient input parameters, i.e. patient height, length of the lower limb, without any adjustment before therapy. At the same time, the patient's lower limb is attached to the foot in the structure of the robot's locomotor system, and the device still allows for a perfect imitation of walking.

This goal is achieved by means of a bipedal locomotion re-education robot locomotion comprising a left positioning arm at its proximal end pivoted on the left sidewall, and a right positioning arm at its proximal end pivoted on the right sidewall, wherein at the distal end of each positioning arm is arranged tread

In this arrangement, each positioning arm is pivoted at its proximal end on a support plate connected to a pin located in a hole formed in the left or right sidewall. The left and right sides are arranged vertically and at a distance from each other and are fixed in the base frame.

Each positioning arm is further provided with a first drive for swinging the positioning arm, including a first servo motor and a first bevel gear, which are mechanically connected to the pin.

On the support plate of each positioning arm, a vertical linear guide including a stationary part and a retractable part arranged at the distal end of each positioning arm is arranged. The positioning arm is equipped with a second drive for the vertical movement of the tread, including a second servo motor and a second angle gear, which are mechanically connected to the support plate.

At the same time, the extendable part of the vertical linear guide is firmly connected to the support plate of the step. The insole further includes a contact plate for fixing the foot, movably connected to the middle plate, which is further attached to the base plate by means of a joint. The base plate is oscillatingly fixed to the support plate of the step by means of a bearing sleeve, while a horizontal linear guide is arranged on the middle plate in the horizontal plane, on which the contact plate is movably arranged.

Each step is further equipped with a third drive for swinging the step, including an electric cylinder with a fixed and a moving part. Its fixed part is anchored on a holder firmly connected to the extendable part, and its movable part is connected by means of an articulated joint to the base plate of the step.

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In addition, three horizontal strain gauges are arranged between the base plate and the middle plate, and a vertical strain gauge holder is arranged on the front side of the base plate. The contact plate is in contact with the vertical strain gauge in the direction of the horizontal linear guide.

In an advantageous embodiment of the invention, the left and right side panels are attached to the base frame, while both side panels are adjustable relative to each other in the direction of their mutual distance by means of a trapezoidal screw and a linear drive.

In another advantageous embodiment of the invention, the pin is placed in a hole created in the left or right sidewall using a pair of tapered bearings.

In another advantageous embodiment of the invention, the first drive is mechanically connected to the pin via a pair of gears and a belt transmission. One gear is arranged on the pin, the other gear is arranged on the shaft of the first servo motor, and the belt transmission is arranged between said gears (or toothed pulleys).

In another preferred embodiment of the invention, three horizontal tensiometers are arranged on the base plate at standard points corresponding to the three points of contact between the sole and the mat, especially under the heel, big toe and little edge of the foot.

The essence of the solution according to this invention consists in the connection of the active swinging movement of the left and right positioning arms, which rotate on pins arranged in holes created in the tops of the sides. This active swinging movement is further combined with an active extension movement of the linear guide and active tilting of the step, intended for fixing the distal part of the lower limb, or the sole of the leg placed on the step.

Such an arrangement of the structure will provide the possibility that the patient's leg performs exactly the movement corresponding to physiological walking (bipedal locomotion), under all conditions (height of the patient, length of the lower limb) and without the need to adjust anything on the robot's locomotory system before starting the therapy. The patient's leg is attached to the robot's movement system only by the foot. It is therefore an end-effector robot construction that holds the legs by its very end part, i.e. the sole of the leg, while the leg is fixed, for example, in an ankle brace or another strengthening shoe, but allowing movement in the talocrural joint (ankle).

With this construction of the robot's locomotor system, walking can be perfectly imitated in the following sequence: the step starts to rise at the back, which raises the heel of the foot, the linear guide starts to retract and the whole leg starts to rise vertically. Then the rocker arm swings forward, causing the foot to kick forward and subsequently the front of the foot to move upward, resulting in an upward movement of the toe. Then the rocker positioning arm returns, and at the same time the linear guide is extended. In this movement, the leg comes back and rests on the mat.

With the different ranges of the mentioned movements and their combinations, it is possible to create a physiological movement of the lower limb for a person of basically any physical constitution, height, for different walking speeds, forwards, backwards, while running, etc.

Clarification of drawings

The essence of the invention is further explained by examples of its implementation, which are described using the attached drawings, where:

Fig. 1 shows the assembly of the robot's movement mechanism, Fig. 2 shows the assembly of the positioning arm together with the step, the second drive for the vertical movement of the step and the third drive for the swinging movement of the step.

-3 CZ 309189 B6 Fig. 3 shows the structure of the step with the third drive of the swinging movement of the step, Fig. 4 shows the first drive of the swinging movement of the positioning arm, Fig. 5 shows the placement of the positioning arms in the side panels, Fig. 6 shows a side view of the arrangement of strain gauges in the step and Fig. 7 shows a perspective view of the arrangement of the strain gauges on the tread base plate.

Examples of implementation of the invention

The mentioned implementations show exemplary variants of the invention, which, however, have no limiting effect in terms of the scope of protection.

The construction of the robot's locomotion mechanism, as shown in Fig. 1, includes a right swingable positioning arm 2 arranged on the right sidewall 4 and a left swingable positioning arm 1 arranged on the left sidewall 3. The left sidewall 3 and the right sidewall 4 are arranged vertically and at a distance from each other, and are adjustable in the basic frame 5 of the movement mechanism. The pitch of both the right sidewall 4 and the left sidewall 3 can be changed by turning the trapezoidal screw 7 connecting the right sidewall 4 and the left sidewall 3, which move towards each other or away from each other in the frame 5 as needed using a linear drive 6. The left positioning arm 1 and the right positioning arm the arm 2 is pivoted on its support plate 8 by means of a pair of conical bearings 21 arranged on a pin 34, which is placed in holes created both in the left side panel 3 and in the right side panel 4, as can be seen from Fig. 5.

The active rocking movement of the left and right positioning arms 1, 2 is realized by the first drive 36, as can be seen in Fig. 4. The first drive 36 in this embodiment includes the first servo motor 22 equipped with the first angular gear 23. The transmission between the shaft of the first servo motor 22 with the first angular gear by the gearbox 23 and the pin 34 at the other end connected to the support plate 8 of the left and right positioning arms 1, 2 is realized via gears 35 using a belt transmission 24. The swinging movement of the left and right positioning arms 1, 2 is ensured by means of the support plate 8, on by which the rotational movement is transmitted from the first servomotor 22.

A stationary part 37 of the vertical linear guide 9 equipped with a retractable part 25 is arranged on the support plates 8 of the left and right positioning arms 1, 2. The retractable part 25 of the vertical linear guide 9 is driven by a separate, second drive 10 including a second servo motor 26 and a second angular gearbox 27.

The attachment of the step 11 to the end of the extendable part 25 of the vertical linear guide 9 is shown in Fig. 2. This step is intended for the placement of the plants on the side of the lower limb. Its attachment to the extendable part 25 is also carried out as a swing, by means of a bearing housing 12 fixed to the support plate 28 of the step 11, which is firmly connected to the extendable part 25 of the vertical linear guide 9. The vertical linear guide 9 together with the extendable part 25 through the second of the drive 10 thus enables the movement of the step 11 up and down, while the bearing housing 12 through the third drive 13 (see below) enables the swinging movement of the step 11 relative to the extendable part 25.

The active rotational movement of the tread 11 is ensured by means of a third drive 13 comprising an electric cylinder 38, the fixed part of which is anchored on the holder 29 of the electric cylinder 38, the holder 29 being firmly connected to the extendable part 25, and the movable part 30 being connected by the joint coupling 31 to the base plate 14 of the tread 11. as can be seen from Fig. 3. This connection enables the active swinging movement of the tread 11. The tread 11 itself includes the base plate 14 of the tread, the joint 15, the middle plate 16 of the tread and the contact plate 18 of the tread. The connection of the base plate 14 and the middle plate 16 is

-4CZ 309189 B6 carried out through the joint 15. where such a connection allows the movement of the base plate 14 and the middle plate 16 with respect to each other, and thus the transfer of forces between the middle plate 16 and the base plate 14.

Between the base plate 14 and the middle plate 16, three horizontal strain gauges 17 are arranged at the standard points corresponding to the three points of contact of the foot with the mat, as can be seen from Fig. 6. These three horizontal strain gauges 17 detect mainly the vertical forces acting between the lower limb and the footplate 11 of the movement robot apparatus during robotically assisted bipedal locomotion. The middle plate 16 itself is movably arranged in the horizontal plane in the forward-backward direction on the horizontal linear guide 19, in which the contact plate 18 also moves, with which the plantar side of the patient's foot 33 is in direct contact (for example, through the sole of the ankle orthosis freely movable in the talocrural joint), as can be seen in Fig. 7. The forward-backward movement of the distal part of the lower limb is associated with the force developed during the step cycle in the horizontal direction, and in the movement device according to the present invention, these forces are measured by a vertical strain gauge 20, which is arranged on a holder 32 which is connected to the middle plate 16.

As stated above, the Uje tread consists of a contact plate 18, on which the sole of a shoe, e.g. an ankle brace, is firmly attached, and thus the lower limb is "chained" to the robot's locomotory system by the foot 33. This contact plate 18 can move slightly forwards and backwards along the built-in horizontal linear guide 19. This is important because a vertical strain gauge 20 is built into the head of the horizontal linear guide 19 for measuring horizontal forces, which measures whether the paralyzed patient has any strength at all when trying take a step forward put a foot forward. The horizontal linear guide 19 is anchored in such a way that a middle plate 16 is arranged under the moving contact plate 18, but it is not stepped on, because it only supports the anchored horizontal linear guide 19 of the contact plate 18. This described assembly of the contact plate 18 together with the middle plate 16 is connected to the foot 33 of the patient, and attached to the base plate 14 of the tread 11 via the joint 15. Since the connection is hinged, it is possible to tilt the contact plate 18 together with the middle plate 16 in a small range to all sides. And between the base plate 14 and the middle plate 16, three horizontal strain gauges 17 are arranged, which are located precisely at the points of contact of the foot 33 with the contact plate 18. So we know whether the patient is "standing" rather on the toe, or on the "heel", or the foot does it deviate (as is the case, for example, with spastic paresis) or does it put its foot down physiologically.

During physiological walking, these forces are known, which are verified both by three horizontal strain gauges 17 and by a vertical strain gauge 20 for measuring horizontal forces. These strain gauges are built into each tread 11. And since the measured forces in a sick, limping or paralyzed patient differ from the physiological ones, these deviations are measured and from the sum of their sizes, the degree of walking impairment can be inferred, as well as whether the robotic gait re-education this it gradually reduces the momentum deficit, and thus cures it, i.e. whether it re-educates walking. However, since the movement mechanism is controlled and set in motion by a cooperative robot (all drives are therefore self-contained), the horizontal strain gauges 17 and vertical strain gauges 20 for measuring horizontal forces are constantly (e.g. 100 times per second) measured with the help of the built-in horizontal strain gauges 17 and in which direction the patient tries to move the leg. For this purpose, the desired type and style of walking is projected onto the patient's monitor or virtual reality glasses, and he can virtually see himself walking in real time. So the brain tries to send out nerve signals inducing the desired gait. If the foot tries to move in the right direction and with the right force for the given moment, the control system controls the servomotors 22, 26 of the first drive 36 and the second drive 10, as well as the electric cylinder 38 of the third drive 13 so that exactly this movement is performed by the foot 11 and the patient has the impression that he easily moves the robot's locomotor system himself. However, if the measured forces are not optimal for the given moment, the locomotor system of the robot still moves in the correct direction corresponding to the physiological gait, and at the same time records the deviation, then sums up all such deviations and thereby quantifies the difference between the desired and the actual state. During treatment, i.e. successful robotic rehabilitation, this sum of deviations should gradually decrease to the desired normal state, i.e. the restoration of physiological walking.

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Industrial applicability

The above-described locomotor system of the robot for re-education of bipedal locomotion can also be used for 5 purposes of effective robotic gait rehabilitation or fitness or sports training, while the locomotion system according to this invention can be produced by common industrial production technologies.

Claims (5)

PATENT CLAIMS A robot movement device for bipedal locomotion reeducation, comprising a left positioning arm (1) at its proximal end pivoted on the left side (3), and a right positioning arm (2) at its proximal end pivoted on the right side (4), wherein a tread (11) is arranged at the distal end of each positioning arm (1, 2), characterized in that each positioning arm (1, 2) is pivotably mounted at its proximal end on a support plate (8) connected to the pin (34). ) housed in an opening formed in the left or right side panel (3, 4), the left and right side panels (3, 4) being arranged vertically and spaced apart from each other and mounted in the base frame (5), each positioning arm (1, 2) is provided with a first drive (36) for oscillating movement of the positioning arm (1, 2), comprising a first servomotor (22) and a first bevel gear (23), which are mechanically connected to the pin (34), on the support plate (8) a vertical linear guide (9) comprising a station is arranged for each positioning arm (1, 2) a pull-out part (37) and a pull-out part (25) arranged at the distal end of each positioning arm (1, 2), the positioning arm (1, 2) being provided with a second drive (10) for vertical movement of the tread (11) comprising a second servomotor (26) and a second bevel gear (27) which are mechanically connected to the support plate (8), the extension part (25) of the vertical linear guide (9) is fixedly connected to the support plate (28) of the tread (11), the tread ( 11) further comprises a contact plate (18) for fixing the foot (33), movably connected to the middle plate (16), which is further fixed to the base plate (14) by means of a hinge (15), the base plate (14) being pivotally fixed to the support plate (28) of the tread (11) by means of a bearing housing (12), wherein a horizontal linear guide (19) is arranged in a horizontal plane on the middle plate (16), on which a contact plate (18) is movably arranged, each tread ( 11) is provided with a third drive (13) for the oscillating movement of the tread (11), comprising m an electric cylinder (38) with a fixed and a movable part, its fixed part being anchored on a holder (29) fixedly connected to the pull-out part (25) and its movable part (30) being connected by a hinged coupling (31) to the base plate ( 14) tread (11), three horizontal strain gauges (17) are arranged between the base plate (14) and the middle plate (16) and a holder (32) with a vertical strain gauge (20) is arranged in front of the base plate (14), the contact plate (18) is in contact with the vertical strain gauge (20) in the direction of the horizontal linear guide (19). Bipedal locomotion reeducation robot movement device according to claim 1, characterized in that the left and right sidewalls (3,4) mounted in the base frame (5) are adjustable at their mutual distances by means of a trapezoidal screw (7) and a linear travel (6). Bipedal locomotion reeducation robot movement device according to claim 1, characterized in that the pin (34) is accommodated in a hole formed in the left or right sidewall (3, 4) by means of a pair of tapered roller bearings (21). Bipedal locomotion reeducation robot movement device according to claim 1, characterized in that the first drive (36) is mechanically connected to the pin (34) via a pair of gears (35) and a belt drive (24), one gear wheel (24). 35) is arranged on the pin (34), the second gear (35) is arranged on the shaft of the first servomotor (22) and the belt transmission (24) is arranged between said gears (35). Bipedal locomotion reeducation robot movement device according to claim 1, characterized in that three horizontal strain gauges (17) are arranged on the base plate (14) at standard points -7 CZ 309189 AI corresponding to the three points of contact of the sole of the foot (33) with the pad, in particular under the heel, toe and toe of the foot (33).