JPWO2019184589A5 - - Google Patents

Description

The embodiments of the present disclosure relate to the technical field of biomimetic machines, particularly to exoskeleton rehabilitation support devices driven by pneumatic muscles.

Currently, when the caregiver transports the elderly and patients, we provide physical support to them, ensure the safety of both sides, greatly reduce the physical labor intensity of the caregiver, and make it easier and more efficient for the caregiver. There is a social demand for the development of exoskeleton support devices that can work. In addition, for elderly people with degenerated muscle function, exoskeleton support devices can contribute to the performance of self-service in daily life. In addition, for patients with arm injuries, exoskeleton support devices are essential to complete routine rehabilitation training on their own and to quickly restore physical function.

An exoskeleton rehabilitation support device is a typical man-machine integrated system that integrates technologies such as sensing, control, information acquisition, and mobile computing, and can perform certain functions and tasks under the control of the wearer. Is. Most of the conventional exoskeletons are driven by adopting conventional motors, hydraulic cylinders, pneumatic cylinders, etc., but such conventional drive methods have high cost, low power to mass ratio, and easy oil leakage. Due to defects such as poor adaptability , the weight of the entire exoskeleton product is heavy, it does not meet the requirements for convenience and flexibility, and it is expensive and not suitable for a wide range of uses.

The present disclosure has been made in view of the above problems, and an object of the present disclosure is to provide an exoskeleton rehabilitation support device having advantages such as a simple structure, high safety, and high adaptability .

In order to achieve the above-mentioned object, the outer skeleton rehabilitation support device according to the present disclosure includes a back structure including a back cross beam, a length-adjustable back support plate, and a shoulder pneumatic muscle member attached to the back support plate. The back support plate comprises an arm structure, a shoulder assembly that connects the arm structure to the upper end of the back structure, and a waist structure, the upper end of which is fixedly connected to the back cross beam and the lower end of the waist. Fixedly connected to the structure, the shoulder assembly comprises an arcuate shoulder connection plate, a shoulder traction ring, a shoulder traction wire, a first hinge mechanism, and a second hinge mechanism, said shoulder connection plate. One end of the shoulder joint is connected to the upper end of the arm structure by the first hinge mechanism to form a flexion-extension rotation pair of the shoulder joint, and the other end of the shoulder joint connection plate is the second hinge mechanism. Connected to the dorsal cross beam to form an abduction-adduction rotation pair and an internal rotation-external rotation rotation pair of the shoulder joint, and the shoulder traction ring is fixed to the upper end of the arm structure. One end of the shoulder traction wire is connected to the shoulder traction ring, and the other end is connected to the shoulder pneumatic muscle member.

In one embodiment of the present disclosure, further comprising two thigh structures and a hip assembly, the two thigh structures are each connected to the lumbar structure by the hip assembly, and the lumbar structure is: The hip joint assembly includes a lumbar lateral plate fixedly connected to the lower end of the back support plate and a lumbar pneumatic muscle member attached to the thigh structure, and the hip joint assembly is a lumbar connection plate fixedly connected to the lumbar lateral plate. , A hinge shaft, and a first guide ring fixed to the waist connection plate, a second guide ring fixed to the thigh structure, and a waist traction wire, wherein the hinge shaft attaches the waist connection plate. Connected to the thigh structure to form a hip flexion-extension rotation pair, the lumbar traction wire has one end extending through a second guide ring and a first guide ring to extend the lumbar connection plate. The other end is connected to the waist pneumatic muscle member.

In one embodiment of the present disclosure, the thigh structure has a thigh plate provided with a lumbar pneumatic muscle support frame for attaching the lumbar pneumatic muscle member and a belt connecting groove for connecting the thigh belt. Includes a thigh reinforcement frame provided.

In one embodiment of the present disclosure , there are two arm structures, each of which includes an upper arm assembly, an elbow joint member, a forearm assembly, a wrist joint member, and a wrist assembly. The upper end of the upper arm assembly is connected to the shoulder joint connection plate by the first hinge mechanism, and the lower end of the upper arm assembly is connected to the forearm assembly by the elbow joint member to flex the elbow joint. The extension rotation pair is formed, and the forearm assembly is connected to the wrist assembly by the wrist joint member to form a flexion-extension rotation pair of the wrist joint.

In one embodiment of the present disclosure, each said brachial assembly comprises an outer brachial plate, a medial brachial plate, and a brachial reinforcing frame that securely connects them to each other. The elbow assembly comprises a forearm plate and a forearm reinforcement frame for fixing them to each other, the hand assembly includes an inner support plate, an outer support plate, and a hand reinforcement frame for fixing them to each other, with the outer brachial plate. The medial brachial plate is provided with a first elbow pneumatic muscle support frame, and the lateral forearm plate and the medial forearm plate are both a second elbow pneumatic muscle support frame and a first wrist. A second wrist pneumatic muscle support frame is provided on both the inner support plate and the outer support plate, and the first elbow pneumatic muscle support frame and the second elbow support frame are provided. An elbow pneumatic muscle member for interlocking to pivot the elbow joint is attached to the elbow pneumatic muscle support frame, and the first wrist pneumatic muscle support frame and the second wrist pneumatic muscle pressure are attached. A wrist pneumatic muscle member for interlocking so as to pivot the wrist joint is attached to the muscle support frame.

In one embodiment of the present disclosure, the brachial belt, the forearm belt, and the hand belt are further provided, and the brachial plate and the brachial brachii plate are each provided with a brachial belt connecting groove for connecting the brachial belt. The outer forearm plate and the inner forearm plate are each provided with a forearm belt connecting groove for connecting the forearm belt, and the inner support plate and the outer support plate are connected to the hand belt, respectively. A hand belt connecting groove is provided for this purpose, and the inner support plate and the outer support plate are further provided with grooves suitable for suspending heavy objects.

In one embodiment of the present disclosure, connecting chute is provided at both ends of the back cross beam, the second hinge mechanism includes a hinge shaft and a hinge base, and the hinge base has a cylindrical end at one end. The other end is shaped so as to have a groove suitable for receiving the shoulder joint connection plate, and holes are provided on both side walls of the groove portion, and the shoulder joint connection plate is the hinge. The mating of the shaft and the perforation connects to the hinge base to form an abduction-adduction rotation pair of shoulder joints, the cylindrical end of the hinge base being rotatable into the connecting chute. It is retracted and positioned by a positioning bolt to prevent the hinge base from moving linearly within the connecting chute to form an internal-external rotation pair of shoulder joints.

In one embodiment of the present disclosure, the exoskeleton rehabilitation support device further comprises a shoulder traction wire guide tube for guiding the shoulder traction wire .
In one embodiment of the present disclosure, connecting chute is provided at both ends of the back cross beam, the second hinge mechanism includes a hinge shaft and a hinge base, and the hinge base has a cylindrical end at one end. The other end is shaped so as to have a groove suitable for receiving the shoulder joint connection plate, and holes are provided on both side walls of the groove portion, and the shoulder joint connection plate is the hinge. The fitting of the shaft and the perforation is connected to the hinge base to form an abduction-adduction rotation pair of the shoulder joint; the cylindrical end of the hinge base is rotatable into the connecting chute. It is retracted and positioned by a positioning bolt to prevent the hinge base from moving linearly within the connecting chute to form an internal-external rotation pair of shoulder joints and the lumbar connection plate. Is provided with a waist traction wire fixing member for fixing the waist traction wire.

Preferably, the back structure comprises two back support plates, each of which has a relatively slidable first section and a second section, the length of the back support plate. The position of the lumbar region can be adjusted, and the first section and the second section are provided with positioning slide grooves, respectively, and the first section and the second section are positioned. It can be fixed by fitting the slide groove and the lock bolt.

The present disclosure further provides an exoskeleton rehabilitation support system including a control system and the above-mentioned exoskeleton rehabilitation support device. The control system includes a gas generator, a controller, a pneumatic pressure reducing valve, a solenoid valve group connected to a shoulder pneumatic muscle member, a waist pneumatic muscle member, an elbow pneumatic muscle member, and a wrist pneumatic muscle member, respectively, and the above-mentioned solenoid valve group. A drive circuit board arranged between the controller and the solenoid valve group is included, and the controller controls the pneumatic pressure reducing valve so as to reduce the gas from the gas generator, and a signal input of the solenoid valve group. The ends are connected to the drive circuit board for receiving preset control commands from the controller.

The present disclosure further provides a control method used for the above-mentioned exoskeleton rehabilitation support device. The control method includes a step of controlling the pneumatic pressure reducing valve so as to depressurize the gas from the gas generator by the controller, and a shoulder pneumatic muscle member, a waist pneumatic muscle member, and an elbow pneumatic pressure based on a control command from the controller. By controlling the solenoid valve group connected to the muscle member and the wrist pneumatic muscle member, respectively, the air pressure to the shoulder pneumatic muscle member, the lumbar pneumatic muscle member, the elbow pneumatic muscle member and the wrist pneumatic muscle member is filled. And with a step to control the air release.

The external skeletal rehabilitation support device according to the present disclosure has a total of 12 degrees of freedom, and both of the shoulder joints have three degrees of freedom: flexion-extension, abduction-adduction, and internal rotation-external rotation, respectively. The elbow and wrist joints each have one degree of freedom of flexion-extension, the dorsal structure can slide up and down to adjust the lumbar position, and the lumbar structure has two identical structures. Since each of the hip joints has one degree of freedom of rotation, it is possible to realize an ectoskeletal rehabilitation support suit that follows the wearer's forward bending and upright movements. The present disclosure has advantages such as simple structure, high power density ratio, excellent safety, and high adaptability , and greatly improves the power of physical function when the wearer lifts a heavy object. It can be widely applied to fields such as rehabilitation medicine, home service, disaster relief, and material transportation.

Hereinafter, examples of the present disclosure will be described with reference to the drawings.

It is a figure which shows the whole structure of the exoskeleton rehabilitation support apparatus which concerns on one Example of this disclosure. It is a figure which shows the superstructure of the exoskeleton rehabilitation support device of FIG. It is a figure which shows the back structure of the exoskeleton rehabilitation support device of FIG. It is a figure which shows the waist structure and the thigh structure of the exoskeleton rehabilitation support device of FIG. It is a figure which shows the thigh structure of the exoskeleton rehabilitation support device of FIG. It is a figure which shows the partial structure of the outer upper arm of the exoskeleton rehabilitation support device of FIG. It is a figure which shows the structure of the back cross beam of the exoskeleton rehabilitation support device of FIG. It is a figure which shows the structure of the back cross beam of the exoskeleton rehabilitation support device of FIG. It is a figure which shows the structure of the hinge base of the shoulder joint assembly of this disclosure. It is a figure which shows the structure of the shoulder traction ring of the shoulder joint assembly of this disclosure. It is a figure which shows the structure of a pneumatic muscle member. It is a principle diagram of the pneumatic muscle control system of this disclosure.

Hereinafter, exemplary embodiments of the present disclosure will be described in detail. The exemplary embodiments described below and shown in the drawings teach the principles of the present disclosure to allow one of ordinary skill in the art to implement and apply the present disclosure in slightly different environments and in slightly different applications. Is intended.

Before explaining the present disclosure, the technical principle of the pneumatic muscle member will be described. FIG. 10 shows a schematic structural diagram of the pneumatic muscle member used in the present disclosure. The pneumatic muscle member is a new type actuator mainly composed of a rubber tube D, and a braided mesh C made of PET is covered on the outside of the rubber tube. Both ends of the rubber tube D are sewn into the embolisms located at both ends thereof, and the embolus F at one end is not provided with a ventilation hole, and the rubber tube is completely closed to prevent gas leakage. Inside the embolus E at the end, a ventilation hole H for inflating or releasing the inside of the pneumatic muscle member is provided. Further, it is mainly intended that the adhesive tape is wrapped around the inner recesses of the embolus E and F at both ends for 2 to 3 turns, and the rubber tube and the braided mesh are tightly adhered to each other in the inner recess of the embolus. To prevent the braided mesh C from coming off under high pressure, wrap the copper wire A around the edges of the inner recesses of the embolus at both ends for one turn, then fold the braided mesh C and fold the copper wire around the ends of the braided mesh C. The folded braided mesh extends to the position of the tail of the embolus, and the hoop B firmly tightens the inner recesses of the embolisms E and F to prevent gas leakage from the pneumatic muscle members, while under high pressure inside. Prevents the collapse of pneumatic muscle members. The design of the embolus E and F is very flexible, and different connection types can be appropriately adopted depending on the need of the connection method.

The rubber tube D is required to have a certain degree of toughness and elasticity, toughness and elasticity to the extent that it can expand and contract in an air-filled / degassed state, and is required to have excellent fatigue resistance. It has high non-ductility and is excellent in strength and toughness, but it is required that there is no tensile deformation. The material of the embeddings E and F may be a hard non-metal material having a very high density, or a high-strength and low-density metal material, and the hoop B is made of a commonly used stainless steel. It may be a hoop material of the above, or it may be a high-strength aluminum alloy member designed by itself.

The pneumatic muscle member is a new type actuator that can imitate the contraction of biomimetics, and has advantages such as high flexibility, light weight, ease of use, fast response speed, and low cost, so it can drive various biomimetic machines. Widely applied in the field.

Compared to rigid actuators such as conventional motors, hydraulic cylinders, and pneumatic cylinders, pneumatic muscle members have advantages such as high power to mass ratio, excellent adaptability and safety, weight reduction, flexibility, and materials. It is easy to obtain, easy to manufacture, and low cost. Therefore, when the exoskeleton rehabilitation support device is driven by a pneumatic muscle member, it is suitable for a wide range of uses because it guarantees a relatively large driving force, has good convenience, adaptability , and safety, and can significantly reduce costs. ..

Since the pneumatic muscle member expands in the radial direction and contracts in the axial direction in the process of filling the inside, the external load can be driven by the axial driving force generated by the axial contraction. Further, the rigidity of the pneumatic muscle member increases as the internal pressure increases, and decreases as the internal pressure decreases. Due to the characteristics of such pneumatic muscle members, it can be used as a new type of linear actuator. It is much lighter than conventional actuators such as hydraulic cylinders, pneumatic cylinders, and motors, and the length of the pneumatic muscle member should be designed according to the contraction rate of the pneumatic muscle member itself according to the need for the drive stroke. As a result, the danger of overstroke can be avoided, the cost is much cheaper, and most importantly, the pneumatic muscle member has excellent adaptability and safety, and is widely applied in the rehabilitation medical field. be able to.

Hereinafter, the present disclosure will be mainly described in accordance with the exoskeleton rehabilitation support device according to the embodiment of the present disclosure.

As shown in FIG. 1, in one embodiment, the exoskeleton rehabilitation support device comprises, for example, two arm structures 1, a back structure 2, a lumbar structure 3, and two same thigh structures 4. Each arm structure 1 is connected to the back structure 2 by a shoulder joint assembly and has an elbow joint and a wrist joint. Each arm structure 1 has five degrees of freedom. Each shoulder assembly has three degrees of freedom: flexion-extension, abduction-adduction, and internal rotation-external rotation. The elbow and wrist joints each have one degree of freedom in flexion-extension. Each thigh structure 4 is then connected to the lumbar structure 3 by a hip assembly and has one degree of freedom from flexion-extension. Therefore, the exoskeleton rehabilitation support device has 12 degrees of freedom as a whole.

2 and 3 are diagrams showing the superstructure and the back structure of the exoskeleton rehabilitation support device of the above-described embodiment, respectively. As can be seen from FIG. 2 , each arm structure 1 includes an upper arm assembly 11, an elbow joint member 12, a forearm assembly 13, a wrist joint member 14, and a hand assembly 15. The back structure 2 includes a back cross beam 21 and two back support plates 22. The back cross beam 21 is provided with two first shoulder pneumatic muscle support frames 211. One end of each back support plate 22 is fixedly connected to the back cross beam 21, and one second shoulder pneumatic muscle support frame 220 is provided at the other end. One end of each back support plate 22 is fixedly connected to the first shoulder pneumatic muscle support frame 211, and the other end is fixedly connected to the second shoulder pneumatic muscle support frame 220 to pivot the shoulder joint. One shoulder pneumatic muscle member 5 for interlocking is attached. Those skilled in the art will appreciate that the number of back support plates and shoulder pneumatic muscle members here is merely exemplary. Other suitable numbers can be set as needed.

Preferably, the length of the back support plate 22 is adjustable to adjust the position of the lumbar structure. More specifically, as shown in FIG. 3, each back support plate 22 has a relatively slidable first section 221 and a second section 222. For example, the first section is slidably housed within the second section, and both the first section 221 and the second section 222 are provided with positioning slide grooves. The first section and the second section may be locked by fitting the positioning slide groove and the lock bolt to prevent relative sliding. When it is necessary to adjust the position of the lumbar structure, the lock bolt can be released and the first section and the second section can be slid relatively to the desired positions to adjust the length of the back support plate. can.

7a and 7b are views showing the structure of the back cross beam as viewed from different angles, respectively. As can be seen from the figure, the back cross beam 21 is further provided with a back belt connecting groove 212, a back support plate positioning hole 213, a connecting chute 214, and a positioning groove 215. The back belt connecting groove 212 is used for connecting to a back belt (not shown) for connecting to the wearer's back.

Further, more specifically, as shown in FIG. 6, taking the right arm as an example, each brachial assembly 11 has a lateral brachial plate 111, a medial brachial plate 112, and an upper arm reinforcement for fixing them to each other. The outer brachial plate 111 and the inner brachial plate 112 are provided with a brachial belt connecting groove 114 for connecting the brachial belt (not shown) and connecting to the upper arm of the wearer's body, including the frame 113. There is. Further, both the lateral brachial plate 111 and the medial brachial plate 112 are provided with a first elbow pneumatic muscle support frame 115.

Further, each forearm assembly 13 includes a lateral forearm plate 131, a medial forearm plate 132, and a forearm reinforcing frame 133 for fixing them to each other, and the lateral forearm plate 131 and the medial forearm plate 132 include a forearm. A forearm belt connecting groove 134 is provided for connecting to a belt (not shown) and connecting to the forearm of the wearer's human body. Further, the outer forearm plate 131 and the inner forearm plate 132 are both provided with a second elbow pneumatic muscle support frame 135 and a first wrist pneumatic muscle support frame 136.

Further, each hand assembly 15 includes an outer support plate 151, an inner support plate 152, and a wrist reinforcement frame 153 for fixing them to each other, and the outer support plate 151 and the inner support plate 152 include a wrist. A wrist belt connecting groove 154 is provided for connecting to a portion belt (not shown) and connecting to the wrist portion of the wearer's human body. Further, both the inner support plate and the outer support plate are provided with a second wrist pneumatic muscle support frame 155 and a groove 156 suitable for suspending a heavy object.

Here, the elbow pneumatic muscle member 6 is for interlocking so as to pivot the elbow joint, one end is fixedly connected to the first elbow pneumatic muscle support frame 115, and the other end is the second. It is fixedly connected to the elbow pneumatic muscle support frame 135. The wrist pneumatic muscle member 7 is for interlocking so as to pivot the wrist joint, one end is fixedly connected to the first wrist pneumatic muscle support frame 136, and the other end is the second wrist pneumatic pressure. It is fixedly connected to the muscle support frame 155.

In this embodiment, the shoulder joint assembly includes an arcuate shoulder joint connection plate 8, a shoulder traction ring 9, a shoulder traction wire 10, a first hinge mechanism and a second hinge mechanism. Here, the first hinge mechanism is the hinge shaft 81, and the second hinge mechanism is the hinge base 83 rotatably housed in the hinge shaft 82 and the connecting chute 214 of the back cross beam 21 (see FIG. 8). The hinge base is configured to have a cylindrical end at one end and a groove 84 suitable for receiving the shoulder joint connection plate 8 at the other end, and open on both side walls of the groove. A hole 85 is provided. One end of the shoulder joint connecting plate 8 is pivotally connected to the hinge base 83 by fitting the hinge shaft 82 and the opening 85 to form an abduction-adduction rotation pair of the shoulder joint, and the shoulder joint is formed. The other end of the connecting plate 8 is pivotally connected to the outer humer plate 111 of the humer assembly 11 by a hinge shaft 81 to form a flexion-extension rotation pair of the shoulder joint.

Preferably, the connecting chute 214 is provided on the back cross beam 21, and the width of the shoulder portion can be adjusted by moving the position of the hinge base 83 left and right in the connecting chute, if necessary. When it is necessary to fix the position of the hinge base, the hinge base 83 is positioned in the connecting chute 214 so that it can rotate but cannot move linearly by fitting the positioning bolt and the positioning groove 215, and the width of the shoulder is fixed. do. Further, since the hinge base 83 can rotate in the connection chute 214 but cannot move linearly along the connection chute 214, it forms an internal rotation-external rotation rotation pair of the shoulder joint.

As shown in FIG. 9, the shoulder traction ring 9 has a connection shaft 90 integrally at the center, and a fixing hole 91 is provided on the outer peripheral surface of the shoulder traction ring 9. The shoulder traction ring 9 is fixed to the outer brachii plate by fitting the connection shaft 90 and the connection hole of the outer brachii plate 111, and the shoulder traction wire 10 has one end of the shoulder portion by the fixing hole 91. It is connected to the traction wheel 9 and the other end is connected to the shoulder pneumatic muscle member 5. As shown in FIG. 3, it is preferable that a shoulder traction wire guide tube 101 for guiding the shoulder traction wire 10 is further provided, and even if a part of the shoulder traction wire 10 is wound around the shoulder traction ring. good. In this embodiment, the shoulder tow wire guide tube 101 is similar to the sleeve of a bicycle brake wire, has a certain rigidity and a certain flexibility, and can not only guide well but also move the shoulder joint. Does not interfere with. When the human arm naturally hangs down, the shoulder pneumatic muscle member 5 is kept in a tension-free state, and when the shoulder pneumatic muscle member 5 is filled and contracted, the shoulder traction wire 10 causes the shoulder traction ring 9 to hang. It is interlocked and rotated so as to pivot the upper arm 11.

As shown in FIGS. 4 and 5, the lumbar structure 3 includes a lumbar lateral plate 31 fixedly connected to the lower end of the back support plate 22 and a lumbar pneumatic muscle member 32. The thigh structure 4 is connected to a thigh plate 41 provided with a lumbar pneumatic muscle support frame 43 for attaching a lumbar pneumatic muscle member 32, and a thigh belt (not shown) to be connected to the wearer's thigh. Includes a thigh reinforcement frame 42 provided with a belt connecting groove 44 for the purpose. The hip joint assembly includes a lumbar connection plate 38 fixedly connected to the lumbar lateral plate 31, a hinge shaft 34, a first guide ring 35 fixed to the lumbar connection plate 38 , and a second thigh structure 4. The hinge shaft 34 includes a guide ring 36 and a lumbar traction wire 37, and the lumbar connecting plate 38 is pivotally connected to the thigh plate 41 to form a flexion-extension rotation pair of the hip joint. The lumbar connection plate 38 is further provided with a lumbar traction wire fixing member 39, and the lumbar traction wire 37 extends so that one end extends over the second guide ring 36 and the first guide ring 35. It is fixed to the lumbar traction wire fixing member 39 of the lumbar connection plate 38, and the other end is connected to the lumbar pneumatic muscle member 32.

The two hip joints of the same structure each have one degree of freedom of rotation, allowing the exoskeleton rehabilitation aid suit to follow the wearer's forward bending and upright movements. When the wearer's waist is upright, the waist pneumatic muscle member 32 contracts to the shortest position, and the waist traction wire 37 is attached with pretension. During the process of bending the lumbar region of the wearer, the lumbar pneumatic muscle member 32 is released, and the hip joint is rotated together with the lumbar region of the human body to realize the bending motion. It is filled with air and the hip joints are rotated and interlocked to complete the support for the lumbar region of the human body.

As shown in FIG. 1, the exoskeleton rehabilitation support device of the present disclosure has a symmetrical structure designed based on the principle of bionics, and for convenience, the exoskeleton rehabilitation support device is currently used by taking the right half as an example. The pneumatic muscle member control system applied to the above will be described.

As shown in FIG. 11, the pneumatic muscle control system includes a gas generator 1a, a controller 1b, a pneumatic pressure reducing valve 1c, a left half branch path L, a right half branch path R, and a drive circuit board 1e. The gas generator 1a is connected to the left half branch path L and the right half branch path R, respectively, via the pneumatic pressure reducing valve 1c, and the controller 1b is connected to the pneumatic pressure reducing valve 1c and the drive circuit board 1e, respectively, and the drive circuit board 1e. Is also connected to the left half branch road L and the right half branch road R, respectively. Here, since the left half branch road and the right half branch road have the same structure, only the right half branch road will be described. The right half branch path includes a solenoid valve group 1d, a shoulder pneumatic muscle member 5, a lumbar pneumatic muscle member 32, an elbow pneumatic muscle member 6, and a wrist pneumatic muscle member 7, respectively, which are connected to the solenoid valve group. The drive circuit board 1e is arranged between the controller and the solenoid valve group, the controller controls the pneumatic pressure reducing valve so as to reduce the gas from the gas generator, and the signal input end of the solenoid valve group is , Connected to the drive circuit board for receiving preset control commands from the controller.

The gas generator 1a can generate a sufficient amount of gas to be stored in a gas cylinder. The gas generator can set the maximum pressure value of gas and automatically start / stop to replenish the gas. The gas is supplied from the gas generator, and the maximum air pressure entering the pneumatic muscle member is controlled by the pneumatic pressure reducing valve 1c. Normally, the pressure value of the gas from the gas generator is higher than the operating pressure value, so it is necessary to perform decompression processing by a pneumatic pressure reducing valve. The depressurized gas flows out of the pneumatic pressure reducing valve 1c and flows into the solenoid valve group 1d, and the gas from the solenoid valve group is connected to the air joint in the corresponding pneumatic muscle member via the gas pipe. Inside the solenoid valve group, each corresponding pneumatic muscle member controls the three states of filling, releasing and holding of the pneumatic muscle member by the cooperation of the sub-solenoid valve which is two two-position two-way valves. Alternatively, a sub-solenoid valve, which is one three-position three-way valve, may independently control the three states of air pressure, air release, and retention of the pneumatic muscle member. In the right half branch road, there are a wrist pneumatic muscle member 7, an elbow pneumatic muscle member 6, a shoulder pneumatic muscle member 5, and a lumbar pneumatic muscle member 32. For the wrist pneumatic muscle member 7 , after the controller sends an air filling command, the air supply port of the branch path corresponding to the wrist pneumatic muscle member of the solenoid valve group is opened, and the gas is supplied to the wrist via the gas pipe. It flows into the inside of the pneumatic muscle member. Then, after the wrist reaches a predetermined bending angle value, the controller issues a power cutoff command. At this time, all the branch paths corresponding to the wrist pneumatic muscle members of the solenoid valve group are blocked, and the gas inside the wrist pneumatic muscle members is trapped inside the wrist pneumatic muscle members and remains in the original position. When the controller sends an air release command, the exhaust port corresponding to the wrist pneumatic muscle member 7 of the solenoid valve group is opened, the gas inside the wrist pneumatic muscle member 7 is released, and the pneumatic muscle member is in the initial state. return. Since the operating principles of the elbow pneumatic muscle member, the shoulder pneumatic muscle member, and the lumbar pneumatic muscle member are the same, and the principle of the left half is the same as that of the right half, the description thereof is omitted here.

When the wearer wears the ectoskeletal rehabilitation support device according to the present disclosure, a flexible back belt is attached to the shoulder of the human body to flexibly connect the back structure and the wearer's back, and the upper arm assembly. 11, the forearm assembly 13, and the hand assembly 15 are flexibly connected to the wearer's arm by their respective corresponding belts, the human arm is placed in the ectoskeletal rehabilitation support device, and the thigh structure 4 Is flexibly connected to both legs of the wearer by the thigh reinforcement frame 42 and the thigh belt. When the wearer lifts a heavy object, the wrist pneumatic muscle member 7, the elbow pneumatic muscle member 6, and the shoulder pneumatic muscle member 5 are filled, and each pneumatic muscle member is filled and contracted. As a result, the wrist pneumatic muscle member 7 interlocks and rotates the wrist joint, the elbow pneumatic muscle member 6 interlocks and rotates the elbow joint, and the shoulder pneumatic muscle member 5 is the shoulder traction wire wound around the shoulder traction ring. The upper arm assembly 11 is interlocked and rotated via the above. At this time, the forearm reinforcing frame is in close contact with the wearer's forearm, and the upper arm reinforcement frame is in close contact with the wearer's upper arm, and the arm is moved upward in an interlocking manner to complete the process of lifting a heavy object. When the wearer needs to unload a heavy object, each pneumatic muscle member is degassed and the arms assisted by the exoskeleton rehabilitation support device move downward under the action of the heavy object's gravity, and the weight. Complete the process of unloading things. In this way, in the movement process, the moving speed of the arm is changed by adjusting the speed of filling and releasing. When the lumbar region bends during the process of lifting a heavy object by the wearer, the lumbar pneumatic muscle member 32 is released, and the hip joint of the exoskeleton rehabilitation support suit is rotated following the bending of the human body lumbar region. Then, when the waist of the wearer stands upright, the lumbar pneumatic muscle member 32 is filled with air, and the hip joint of the exoskeleton rehabilitation support suit is interlocked to rotate to move the back of the human body to support the wearer's lumbar region. To realize. During the movement process, the emphasis of the exoskeleton rehabilitation support device is concentrated on both shoulders and legs of the wearer, so that the human skeleton bears the force that the arm muscles and waist muscles of the human body bear. Convert to.

The present disclosure not only assists people with muscle injuries or elderly people with weakened muscle capacity, but also contributes to the performance of routine rehabilitation training for patients with arm or lower back injuries. Function can be restored quickly.

It should be noted that the above description is merely exemplary, and those skilled in the art can make various changes and modifications to the embodiments of the present disclosure based on the above description, but these changes and modifications can be made. Is within the scope of protection of this disclosure.

This application claims priority based on the Chinese patent application filed on March 29, 2018 with an application number of 201810272761.0, the entire contents of which are incorporated herein by reference.

Claims (12)

A back structure that includes a back cross beam, an adjustable back support plate, and a shoulder pneumatic muscle member attached to the back support plate.
Arm structure and
A shoulder joint assembly that connects the arm structure to the upper end of the back structure,
An exoskeleton rehabilitation support device with a lumbar structure,
The back support plate has an upper end fixedly connected to the back cross beam and a lower end fixedly connected to the lumbar structure, and the shoulder joint assembly has an arcuate shoulder joint connection plate, a shoulder traction ring, and a shoulder traction wire. A first hinge mechanism and a second hinge mechanism are included, one end of the shoulder joint connecting plate is connected to the upper end of the arm structure by the first hinge mechanism, and a flexion-extension rotation pair of the shoulder joint is provided. The other end of the shoulder joint connecting plate is connected to the back transverse beam by the second hinge mechanism to form an abduction-adduction rotation pair and an internal rotation-external rotation rotation pair of the shoulder joint. Further, the shoulder traction ring is fixed to the upper end of the arm structure, and one end of the shoulder traction wire is connected to the shoulder traction ring and the other end is connected to the shoulder pneumatic muscle member. External skeletal rehabilitation support device. Further, it comprises two thigh structures and a hip assembly, each of which is connected to the lumbar structure by the hip assembly.
The lumbar structure includes a lumbar lateral plate fixedly connected to the lower end of the back support plate, and a lumbar pneumatic muscle member attached to the thigh structure.
The hip joint assembly includes a waist connection plate fixedly connected to the waist lateral plate, a hinge shaft, a first guide ring fixed to the waist connection plate, and a second guide ring fixed to the thigh structure. , And the lumbar traction wire, the hinge shaft connecting the lumbar connecting plate to the thigh structure to form a flexion-extension rotation pair of the hip joint, the lumbar traction wire having a second guide at one end. The external skeleton rehabilitation support device according to claim 1, wherein the outer skeleton rehabilitation support device extends so as to extend over a ring and a first guide ring, is fixed to the waist connecting plate, and the other end is connected to the waist pneumatic muscle member. The thigh structure includes a thigh plate provided with a lumbar pneumatic muscle support frame for attaching the lumbar pneumatic muscle member and a thigh reinforcing frame provided with a belt connecting groove for connecting the thigh belt. The external skeleton rehabilitation support device according to claim 2, which includes. There are two arm structures, each of which includes an upper arm assembly, an elbow joint member, a forearm assembly, a wrist joint member, and a hand assembly, the upper end of the upper arm assembly. The first hinge mechanism is connected to the shoulder joint connection plate, and the lower end of the upper arm assembly is connected to the forearm assembly by the elbow joint member to form a flexion-extension rotation pair of the elbow joint. The external skeleton rehabilitation support device according to claim 1, wherein the forearm assembly is connected to the wrist assembly by the wrist joint member to form a flexion-extension rotation pair of the wrist joint. Each said humerus assembly includes a lateral humerus plate, a medial humerus plate, and a humerus reinforcement frame that securely connects them to each other, and each said limb assembly comprises a lateral limb plate, a medial limb plate, and fixing them to each other. The arm assembly includes an inner support plate, an outer support plate, and a hand reinforcement frame for fixing them to each other, and the outer upper arm plate and the inner upper arm plate are to be included. Also, a first elbow pneumatic muscle support frame is provided, and the outer forearm plate and the inner forearm plate are both provided with a second elbow pneumatic muscle support frame and a first wrist pneumatic muscle support frame. The inner support plate and the outer support plate are both provided with a second wrist pneumatic muscle support frame, and the first elbow pneumatic muscle support frame and the second elbow pneumatic muscle support frame are provided with the second elbow pneumatic muscle support frame. An elbow pneumatic muscle member for interlocking to pivot the elbow joint is attached, and the wrist joint is attached to the first wrist pneumatic muscle support frame and the second wrist pneumatic muscle support frame. The ectoskeletal rehabilitation support device according to claim 4, to which a wrist pneumatic muscle member for interlocking so as to pivot is attached. In addition, it is equipped with an upper arm belt, a forearm belt, and a hand belt.
The lateral brachial plate and the medial brachial plate are each provided with a brachial belt connecting groove for connecting the brachial belt, and the lateral forearm plate and the medial forearm plate are respectively for connecting the forearm belt. A forearm belt connecting groove is provided, the inner support plate and the outer support plate are each provided with a hand belt connecting groove for connecting the hand belt, and the inner support plate and the outer support plate are provided with a hand belt connecting groove. The outer skeleton rehabilitation support device according to claim 5, each of which is provided with a groove suitable for suspending a heavy object. Connection chutes are provided at both ends of the back cross beam.
The second hinge mechanism includes a hinge shaft and a hinge base, the hinge base being configured such that one end is cylindrical and the other end has a groove suitable for receiving the shoulder joint connection plate. Opening is provided on both side walls of the groove, and the shoulder joint connecting plate is connected to the hinge base by fitting the hinge shaft and the opening, and the abduction-inside of the shoulder joint. A rolling pair is formed, the cylindrical end of the hinge base is rotatably housed in the connecting chute, and a positioning bolt prevents the hinge base from moving linearly within the connecting chute . The external skeletal rehabilitation support device according to any one of claims 1 to 6, which is positioned in the above to form an internal rotation-external rotation rotation pair of a shoulder joint. The exoskeleton rehabilitation support device according to claim 7, further comprising a shoulder traction wire guide tube for guiding the shoulder traction wire. Connection chutes are provided at both ends of the back cross beam.
The second hinge mechanism includes a hinge shaft and a hinge base, the hinge base being configured such that one end is cylindrical and the other end has a groove suitable for receiving the shoulder joint connection plate. Opening is provided on both side walls of the groove, and the shoulder joint connecting plate is connected to the hinge base by fitting the hinge shaft and the opening, and the abduction-inside of the shoulder joint. A rolling pair is formed, the cylindrical end of the hinge base is rotatably housed in the connecting chute, and a positioning bolt prevents the hinge base from moving linearly within the connecting chute. Positioned to form an internal-external rotation pair of shoulder joints,
The exoskeleton rehabilitation support device according to claim 2 or 3, wherein the waist connection plate is provided with a waist traction wire fixing member for fixing the waist traction wire. The back structure includes two back support plates, each of which has a relatively slidable first section and a second section, the length of the back support plate, and thus the back support plate. The position of the waist can be adjusted, and the first section and the second section are each provided with a positioning slide groove, and the first section and the second section are the positioning slide groove. The exoskeleton rehabilitation support device according to claim 1, which can be fixed by fitting with a lock bolt. An exoskeleton rehabilitation support system including the control system and the exoskeleton rehabilitation support device according to any one of claims 1-10 .
The control system includes a gas generator, a controller, a pneumatic pressure reducing valve, a solenoid valve group connected to a shoulder pneumatic muscle member, a waist pneumatic muscle member, an elbow pneumatic muscle member, and a wrist pneumatic muscle member, respectively, and the above-mentioned solenoid valve group. A drive circuit board arranged between the controller and the solenoid valve group is included, and the controller controls the pneumatic pressure reducing valve so as to reduce the gas from the gas generator, and a signal input of the solenoid valve group. The end is an outer skeleton rehabilitation support system connected to the drive circuit board for receiving a preset control command from the controller. The control method used for the exoskeleton rehabilitation support device according to any one of claims 1 to 10 .
The step of controlling the pneumatic pressure reducing valve to depressurize the gas from the gas generator by the controller,
Based on the control command from the controller, the solenoid valve group connected to the shoulder pneumatic muscle member, the lumbar pneumatic muscle member, the elbow pneumatic muscle member and the wrist pneumatic muscle member is controlled to control the shoulder pneumatic muscle member. , A step of controlling the filling and degassing of the lumbar pneumatic muscle member, the elbow pneumatic muscle member, and the wrist pneumatic muscle member, and a control method.

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