ES1250405U - ROBOTIC PORTABLE SYSTEM FOR ASSISTED FUNCTIONAL REHABILITATION OF JOINTS (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Portable robotic system for the assisted functional rehabilitation of joints, with a degree of freedom consisting of: a) an actuator (1) aiding the corresponding joint of the limb to be rehabilitated; b) an orthosis (2) is used to hold the equipment to the patient, the orthosis (2) has a central turning disc (25) with individual structure bars, upper (21a) and lower (21b) mounted with the possibility of turning about the axis of rotation (e1); and two flanges (22a), (22b), each associated with the respective structure bar (21a), (21b). c) sensors (3) capable of measuring the parameters; d) a control electronics (4), Characterized because: the actuator (1) is composed of: c) a motor (12) from which a rod (v) concentric with the axis of rotation (e2) of the motor (12) protrudes, said rod (v) joining the upper bar (21a). d) a pulley (113) concentrically connected to the central turning disk (25), a cable (111) wound on the pulley (113) at one of its ends, said cable (111) joining at its other end to the stem (v) of the motor (12) with the diameter of the pulley (d2) being much greater than the diameter of the stem (d1). (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

Portable robotic system for assisted functional joint rehabilitation

Object of the invention

The object of the invention refers to a portable robotic system for assisted functional rehabilitation of joints, with a degree of freedom.

More particularly, the object of the invention relates to a portable robotic system, with a degree of freedom used for the rehabilitation of knee injuries, which can be used to assist movement during the natural gait of the patient.

Background of the invention

In the current state of the art, the so-called "Robotic Assisted Rehabilitation systems" (RAR) used in the clinical rehabilitation of patients with different types of injuries are already known, whether they are the result of accidents or acquired brain damage.

RAR systems are mechatronic equipment, which integrate drives, mechanical transmission, electronics, sensors and control algorithms. A key element in robotic rehabilitation systems is the gearbox for mechanical transmission.

Technical problem to solve

The main problem posed by known technical solutions lies in reduction systems, which is the difficulty of operating them in the opposite direction (hence the so-called reversibility quality). This is due to the great friction between the parts that make up the system. In addition to this quality of reversibility there are other requirements:

• They must be easily scalable between different patients. The adjustment to the leg or arm of the equipment will be made using Velcro-type straps (orthosis), which are easily used for different patient heights. In this way, a single design will accommodate any type of patient, regardless of weight and height.

• It must allow a variable level of assistance: being higher at the beginning of rehabilitation, and decreasing as the patient recovers his capacities.

Description of the invention

The object of the invention is a portable robotic system for assisted functional rehabilitation of joints, with a degree of freedom.

The system object of the invention assists the patient only when and where they need it; intelligently through proper control.

The robotic system object of the invention is characterized in that it consists of:

• An electric actuator (brushless motor)

• A mechanical cable transmission system

• Orthosis for holding the patient to the device

• Control electronics

• Sensors

• Battery

• Control software

• Protections

Therefore, the robotic rehabilitation system is a portable system, applicable to a joint, with an electric drive, a mechanical transmission by cable, the appropriate orthoses to hold different patients, and electronic systems and control algorithms. necessary to provide a variable level of assistance, as needed by the patient.

In order to meet the requirements, cable transmission has been introduced as an actuation mechanism. A cable drive can be understood as a combination of belt and belt drive. A cable wound on a pulley transmits movement by friction. With this transmission, the range of movement is limited, but considerably greater than with the band. The choice of transmissions that use tension elements such as cables, belts or bands are particularly suitable when high performance is needed, particularly those that use cables or metallic bands. When properly designed, these types of transmissions can communicate a high effort, being very rigid and light. They are also characterized by having no play and no or very low friction. Furthermore, they generally do not leak, do not need lubrication and can be guided over long distances and through complex geometries.

Compared to these systems, cable transmission has a number of advantages:

• No play.

• Low friction.

• High accuracy.

• Smooth operation.

• High rigidity.

• Low cost.

• High performance.

• Virtually maintenance free.

• Performance invariant with use.

• They do not require lubrication.

• Suitable for low and high loads.

• Silent.

• They can work under water.

• Clean enough for use in demanding environments: medical, pharmaceutical, food, microelectronics.

Mainly their smooth operation, low inertia, high rigidity, low friction and high bandwidth make them one of the best options for designing high performance mechanical systems with a high degree of reversibility.

This type of transmission allows very large ratios to be obtained without losing reversibility. This quality is very important, since the device aims to assist the patient in a percentage, that is, as the individual is rehabilitated, the assistance will progressively decline from 100% to 0%. This implies that the mechanism introduced in the device must be "transparent" for the patient, or what is the same, reversible. The counterpart to this property is that the system grows as the reduction increases, so a compromise must be found between the necessary reduction and the dimension of the drive, within a compact model.

Other configurations and advantages of the invention can be deduced from the following description, and from the dependent claims.

Description of the drawings

To better understand the object of the invention, a preferred form of embodiment is shown in the attached figures, susceptible to accessory changes that do not alter its foundation. In this case:

Figure 1 represents a general diagram of the robotic system for assisted functional rehabilitation of joints object of the invention, with its basic integral components.

Figure 2 represents a closer view of the actuator (1) and its different basic components.

Figure 3 represents a lateral section of the actuator and its different components where they can be seen how they fit together and the position relationship between both axes of rotation.

Detailed description of a preferred embodiment

An example of a practical, non-limiting embodiment of the present invention is described below. Other modes of implementation in which ancillary changes are introduced that do not alter its foundation are not ruled out at all.

In accordance with the invention, the robotic system for assisted functional joint rehabilitation consists, as a minimum, of:

- an actuator (1);

- an orthosis (2);

- sensors (3);

- control electronics (4);

- control algorithm (5); and

- a power supply (6).

The orthosis (2) is used to hold the equipment to the patient. In an exemplary embodiment represented, it includes, at least, respective structure bars (21a), (21b) mounted with the possibility of turning around the actuator (1); and respective flanges (22a), (22b), each associated with the respective structure bar (21a), (21b).

The device has a central pivot point where the actuator goes, with two flat bars of aluminum or other material that emerge from the central disk (25). In this way, it is intended to transmit the torque generated in the drive to the greatest possible distance in order to reduce the force exerted on the points where the system is anchored.

The system is designed to be adjusted in its lower part, in such a way that it is only necessary to make an adjustment to adapt the prosthesis to different people. This adjustment is made by loosening two hand screws (24) (the use of any type of tool is not necessary), sliding the lower part and retightening the two screws. The sliding of both parts is achieved by adjusting the screw (24) in the groove of the lower part and adjusting the length of the bar that is attached to the pivot point.

Regarding the tie, two pieces have been designed that make a clamp effect to embrace both the front and the back of the joint. Together with these pieces, it is proposed to hold the patient with velcro strips that keep the pieces together. This is due to the fact that the velcro straps allow a range and flexibility to be able to adjust to any type of leg, while the plastic clips allow to exert force on the patient and distribute all that force throughout the area of the clip.

At the turning point, the upper bar (21a), which would hold the thigh, is joined in a solid way to the central disk (25), which would act as a reference for the turn. The lower bar (21b), on the other hand, would be supported by two radial bearings that would allow it to rotate with respect to the central disk (25). To limit uncontrolled movement of the lower rod, the lower rod is preloaded with two lock washers (16), creating a packing. In this way, the movement of the bar is only turning. Finally, it can be seen that the casing itself serves as a mechanical stop to limit the maximum and minimum rotation, thus avoiding purely dependence on the control of the drive.

The actuator (1) is composed of:

a) a motor (12) from which a rod (v) protrudes concentric with the axis of rotation (e2) of the motor (12), said rod (v) being attached to the upper bar (21a)

b) a pulley (113) connected concentrically to the central turning disk (25), a cable (111) wound on the pulley (113) at one of its ends, said cable (111) being attached at its other end to the stem (v ) of the motor (12), the diameter of the pulley (d2) being much larger than the diameter of the rod (d1).

The diameter ratio between the pulley (113) and the stem (v) of the motor (12) is 8: 1, or similar.

The motor (12) is clamped on the upper bar (21a) by means of a connecting piece (123) that has an empty center so that the stem (v) and one of the open sides can join so that the cable (111) can be joined to the stem (v).

Likewise, the actuator (1) acts as an adjunct to the corresponding joint of the limb to be rehabilitated. In an exemplary embodiment, the actuator (1) includes, for example, a 260W Maxon EC-90flat motor (11), without brushes.

The sensors (3) are capable of measuring the angular position, speed, force and interaction torque between the actuator (1) and the member to be rehabilitated. They control both speed and position as well as force.

In an embodiment, an absolute encoder, three Hall effect sensors and four force gauges can be used to measure parameters where Hall effect sensors are used for motor control, the absolute magnetic encoder for motor control. position and strain gauges to measure the force of interaction between patient and device.

The control electronics (4) is capable of collecting the measurement from the sensors (3) and specifically performing the control in real time. For this reason, it is necessary a main control board, a joint control board and another to collect the measurement from the sensors, specifically designed for real-time control of the system.

The control algorithm (5) for walking assistance takes into account the interaction torque between the patient and the actuator (1) in order to produce an adaptive reference for the walking assistance.

The materials, dimensions, proportions and, in general, those other accessory or secondary details that do not alter, change or modify the proposed essentiality may be variable.

The terms in which this report is written are true and a faithful reflection of the object described, and should be taken in its broadest sense and never in a limiting way.

Claims (3)

1 Portable robotic system for assisted functional rehabilitation of joints, with a degree of freedom consisting of: a) an adjuvant actuator (1) of the corresponding joint of the limb to be rehabilitated; b) An orthosis (2) is used to hold the equipment to the patient, the orthosis (2) has a central turning disk (25) with two structure bars, upper (21a) and lower (21b) mounted with the possibility of turning around the axis of rotation (e1); and respective flanges (22a), (22b), each associated with the respective structure bar (21a), (21b). c) sensors (3) capable of measuring the parameters; d) a control electronics (4), Characterized in that: the actuator (1) is composed of: c) a motor (12) from which a rod (v) protrudes concentric with the axis of rotation (e2) of the motor (12), said rod (v) being attached to the upper bar (21a) d) a pulley (113) connected concentrically to the central turning disk (25), a cable (111) wound on the pulley (113) at one of its ends, said cable (111) being attached at its other end to the stem (v ) of the motor (12), the diameter of the pulley (d2) being much larger than the diameter of the rod (d1). 2. - Robotic system according to claim 1, characterized in that the diameter ratio between the pulley (113) and the stem (v) of the motor (12) can be 8: 1 or similar. 3. - Robotic system, according to claim 1, characterized in that the motor (12) is held on the upper bar (21a) by means of a connecting piece (123) that has an empty center so that between the stem (v) and one of the sides open so that the cable (111) can be attached to the stem (v).