KR101656695B1 - Gait assistant robot - Google Patents

Abstract

A gait assistant robot and a walking assistant robot for assisting the rehabilitation of severely disabled persons are disclosed. To this end, according to the present invention, there is provided a wheelchair comprising: a foot exoskeletal fastening portion fixed to a fixed portion of a wheelchair and rotated and adjusted in distance from the fixed portion; A lower limb exoskeleton thigh located in the thigh of a severely handicapped person on a wheelchair and pivotally coupled to the limb fastening portion; A lower extremity exoskeletal shin portion which is located at the shin of the severely disabled person and which is coupled and rotated in the thigh portion of the lower extremity skeleton; And a foot exoskeletal foot located at the foot of the severely disabled person and pivotally coupled to the foot exoskeletal shin portion.
Accordingly, the present invention can reduce the boarding time and reduce the physical burden and the incidence of pain on the occupant (the severely disabled person) and the assistant on boarding.

Description

{GAIT ASSISTANT ROBOT}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot for supporting a lower limb, and more particularly, to a robot for supporting a lower limb that can assist rehabilitation of a severely disabled person.

Generally, a walking assistant robot is used to help rehabilitate or assist the behavior of patients who are difficult to independently walk, severely handicapped, or the elderly. As a typical gait-assistant robot, a robot for walking assistance for wheelchair of Korean Patent No. 1043207 registered on June 15, 2011 and a robot for gait training of Korean registered patent No. 0976180 registered on August 10, 2010 and its operation ≪ / RTI >

However, most of the above-mentioned patents are fixed type in which the moving part or the main frame can not be separated from the exoskeleton, so that a user who rides the wheelchair approaches the rear of the system and connects the user with the harness to the system. And the shape of the exoskeleton and the legs of the passenger were attached using velcro or the like.

Therefore, the conventional system can only train in a simple environment such as a treadmill which is different from the actual walking environment, and thus can not provide training on the actual ground.

Thus, there is an attempt to develop a wheelchair type walking assist robot capable of gait training on the actual ground, but there is a problem that the user does not have access to the back of the system because the rear surface of the system is not opened.

Especially, it is necessary to wear the exoskeleton after connecting with the system in a state where the user wearing the harness is standing up with the assistance of another assistant approaching the front side. The wear and alignment time delay of the exoskeleton in the line state may increase the painful time that the user who uses it may receive a lot of load in the vertical downward direction and be accompanied by the pressure concentrated on the narrow face when worn.

Therefore, there is a need to develop a walking assist robot that can separate the exoskeleton part, reduce the time taken to hang the system in the vertical direction, and assure quick wearing and alignment.

1. Korean Registered Patent No. 1043207, filed on Jun. 15, 2011, Title of the invention: Wheelchair type walking aid robot. 2. Korean Registered Patent No. 0976180, filed on Aug. 10, 2010, entitled: Walking Training Robot and its Operation Method.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a leg-resting assist robot which is capable of being separated and combined so as to increase the robot accessibility of a severely disabled person, .

It is another object of the present invention to provide a leg-resting walking robot capable of attaching / detaching between a fixed part and an exoskeleton so as to be able to be safely worn and moved in various postures including a lying position.

The features of the present invention for achieving the objects of the present invention as described above and performing the characteristic functions of the present invention described below are as follows.

According to one aspect of the present invention, there is provided a lower limb-assisted robot comprising a moving part and an exoskeletal robot, wherein the moving part and the exoskeletal robot are separated from each other.

Herein, the base art exoskeleton robot according to one aspect of the present invention includes: a foot exoskeletal fastening part fixed to a fixed part of a wheelchair and adjusted in rotation and distance from the fixed part; And a lower limb exoskeletal part located on the outside of the lower limb of the severely disabled person aboard the wheelchair and pivotally coupled to the limb exoskeleton and the fastening part.

According to an aspect of the present invention, the foot exoskeleton portion includes: a lower limb exoskeletal thigh portion which is located on the thigh of a severely disabled person aboard a wheelchair and is coupled to the limb exoskeleton fastening portion; A lower extremity exoskeletal shin portion which is located at the shin of the severely disabled person and which is coupled and rotated in the thigh portion of the lower extremity skeleton; And a lower limb exoskeletal foot located at the foot of the severely disabled person and coupled to the lower limb exoskeletal shin portion.

According to an aspect of the present invention, the foot exoskeleton fastening portion includes: a fastening coupling portion that is inserted into and engaged with a protruding portion protruding from the thighs of the bottom external skeleton; And a vertical fastening part coupled to the fastening and engaging part and rotated to adjust the horizontal direction and a vertical fastening part fastened in a vertical direction in the horizontal fastening part to rotate the horizontal fastening part and vertically adjust the horizontal fastening part. have.

According to an aspect of the present invention, the leg-walking-assistance robot includes at least one of air pressure, a spring, and an elastic steel frame between the lower limb exoskeleton and the lower limb exoskeletal shin, and between the lower limb exoskeletal shin and the lower limb exoskeletal And a length adjuster for adjusting the length of the link.

According to one aspect of the present invention, when a chair mounted on the moving part or a wheelchair separates and protrudes, the occupant can approach the system as close as possible to a sitting or lying state, It is possible to have a structure capable of being moved.

According to one aspect of the present invention, the leg-assistance robot may have a structure in which only one leg is connected to the exoskeletal part without connecting both legs of the passenger.

According to another aspect of the present invention, there is provided a leg-gait-assistant robot comprising a moving part, a foot exoskeleton robot, and a weight supporting part for ground walking, wherein the moving part and the exoskeleton robot can be separated.

Hereinafter, the base art exoskeleton robot according to another aspect of the present invention includes: a base exoskeleton part located on the outside of the lower limb of a severely disabled person aboard a wheelchair and pivotally coupled to the limb exoskeleton and the fastening part; A weight bearing portion coupled to an upper portion of the weight supporting portion to connect a harness fixing the upper body of the severely disabled person to adjust the weight supporting degree; And a control unit for controlling the weight supporting unit and the weight bearing unit.

According to another aspect of the present invention, the foot exoskeleton includes: a leg exoskeleton thigh which is detachably coupled to a fixed portion of the weight supporting portion by being positioned on a thigh of a severely disabled person; A lower extremity exoskeletal shin portion which is located at the shin of the severely disabled person and which is coupled and rotated in the thigh portion of the lower extremity skeleton; And a lower limb exoskeletal foot located at the foot of the severely disabled person and coupled to the lower limb exoskeletal shin portion.

As described above, according to the present invention, first, an existing method in which an occupant whose lower or upper part has a lower function of the upper or lower part moves from the forward part to the moving part (wheelchair part) based on the moving part is a passenger who is moved or an assistant Or the physical burden on the therapist was increased.

Particularly, it is possible to cause pain in a specific body part due to the position adjustment of the occupant and the exoskeleton and the length correction time after wearing the exoskeleton while the occupant is standing up. In order to overcome this problem, the present invention firstly allows the exoskeleton to be attached to the moving part after being worn at a separate place when separated from the exoskeleton part and the moving part, so that the time for boarding can be reduced, There is an effect that the physical burden and the incidence of pain can be reduced.

Second, in the case of a lightweight and miniaturized exoskeleton, it is easier for the occupant (severely disabled) to wear the exoskeleton part and move to the system in various positions such as a lying position or a sitting position at another place.

Thirdly, the present invention can reduce the system weight by allowing the occupant to wear the exoskeleton part only by connecting one exoskeleton part system for the treatment of the hemiplegic patient and for the rehabilitation of the disabled person, and the exoskeleton part is not worn The legs can be moved more smoothly without connection with the apparatus, and additionally, the time for wearing can be reduced.

FIG. 1 is a view illustrating a structure of a leg-walking-assistance robot 100 according to a first embodiment of the present invention.
FIG. 2 is a detailed view showing the structure of the exoskeletal locking part 110 of the underarm walking assist robot 100 according to the first embodiment of the present invention.
FIG. 3 and FIG. 4 are diagrams illustrating an operation of the severely disabled person on the wheelchair unit using the assisted walking robot 100 according to the first embodiment of the present invention.
FIG. 5 is a diagram illustrating a structure of a still further walking robot 200 according to a second embodiment of the present invention.

 Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily carry out the present invention. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

First Embodiment

FIG. 1 is a view illustrating the structure of a lower limb-assisted robot 100 according to a first embodiment of the present invention. FIG. And more specifically shows the structure of the fastening part 110. FIG.

The legged walking support robot 100 according to the first embodiment of the present invention includes the moving part 101a and the exoskeletal robots 110 to 140 and the moving part 101a and the lower limb exoskeletal robot 110 to 140) can be separated.

At this time, the lower extremity exoskeletal robots 110 ~ 140 are fixed to the fixed part of the wheelchair and are located outside the lower limbs of the disabled limb skeleton coupling part 110 and the wheelchair, And a lower limb exoskeleton 120-140 coupled to the lower limb and the fastener.

The lower limb exoskeleton 120-140 includes the lower limb exoskeletal thigh 120, the lower limb exoskeletal shin 130, and the lower limb exoskeletal 140.

First, the exoskeleton fastening portion 110 according to the present invention is fixed to the fixed portion 101a of the wheelchair 101 and its rotation and distance are adjusted from the fixed portion 101a. The lower extremity exoskeleton fastening unit 110 according to the present invention includes a fastening fastening portion 111 which is inserted into and fastened to a protruding portion 121 protruding from a lower extremity 120 of the exoskeletal thigh 120, A horizontal coupling part 112 coupled to the horizontal coupling part 112 to be rotated in a horizontal direction and a vertical coupling part 112 coupled to the horizontal coupling part 112 to rotate the horizontal coupling part 112, And a vertical fastening portion 113 for fastening the fastening portion.

Particularly, since the horizontal fastening part 112 according to the present invention permits rotational movement in the horizontal direction like a hinge, when the user attempts to connect to the wheelchair of the exoskeleton part and the walking-assist robot system, Can be provided. This makes it possible to adjust the position of the joint of the hip joint according to the occupant.

In addition, since the horizontal coupling part 112 according to the present invention has the vertical coupling part 113, the length of the horizontal coupling part 112 can be adjusted in the horizontal direction so that the horizontal coupling part 112 and the coupling part 111, The exoskeleton portions can be attached from the moving portion along the width.

Such a structure is a mechanical coupling structure, and electrical coupling may be made differently. That is, electrical coupling between the exoskeleton portions and the rigid portion of the wheelchair may be coupled through an electrical signal connector (not shown) for controlling / acquiring motion information to power the exoskeleton and motion information to the exoskeleton.

Next, the lower extremity exoskeletal thigh 120 according to the present invention is positioned on the thigh of the severely disabled person who is aboard the wheelchair 101 and is coupled to the fastening coupling portion 111 of the exoskeletal fastener 110 described above. At this time, the lower limb exoskeletal thigh 120 according to the present invention is rotated from the coupling portion 111 of the lower extremity exoskeletal fastener 110.

Next, the lower limb exoskeletal shin portion 130 according to the present invention is positioned in the shin of the severely disabled person and is coupled to the lower limb exoskeletal thigh 120. The lower limb exoskeletal shin portion 130 may also have a structure that is rotated from the lower limb exoskeletal thigh portion 120.

Finally, the foot exoskeletal foot 140 according to the present invention is located at the foot of the severely disabled person and has a structure that is coupled to the foot exoskeletal shin part 130 and is rotated from the foot exoskeletal shin part 130.

As described above, since the joint structure of the exoskeletal fastener 110, the exoskeletal thigh 120, the exoskeletal shin part 130 and the exoskeletal part 140 of the foot is coupled to each other, You can move.

In addition, the leg-walking-assistance robot 100 according to the present invention may further include a length adjuster 150. The length adjuster 150 is formed between the lower limb exoskeletal thigh 120 and the lower limb exoskeletal shin 130 and between the lower limb exoskeletal shin 130 and the lower limb skeletal foot 140, The spring, and the elastic steel frame, so that the length between the links (each component) is adjusted.

Accordingly, when the exoskeleton is aligned with the knee axis and the upper portion of the exoskeleton is pulled, the exoskeletal thigh 120 can be stretched to change the length of the exoskeleton itself. Accordingly, the present embodiment provides an advantage of being able to cope with various body size differences of the occupant.

FIG. 3 and FIG. 4 are diagrams showing an operation of a seriously disabled person on a wheelchair using the assisted walking robot 100 according to the first embodiment of the present invention.

First, as shown in FIG. 3, the leg exoskeletons 110 to 150 of the lower limb-walking robot 100 are worn while the severely disabled person sitting on the common chair 103 is seated. And then engages with the trunk fixing band 101a of the wheelchair 101 mounted on the wheelchair chair 104 and the exoskeletons 110 to 150. Then, the user is boarded on the wheelchair 101. As described above, by using the lower limb-assisted robot 100 described with reference to Figs. 2 and 3, it becomes possible to move on the side.

4, the limb exoskeletons 110 to 150 of the lower limb-supporting robot 100 on the bed 105 and the folded chair (folded wheel chair chair) 106, which are severely handicapped lying on the bed, Wear. When the severely disabled person is completely seated in the front, the backrest portion 107 folded back is fixed so as not to shake. The body of the user is supported by the trunk fixing straps on the backrest portion 107 and then joined with the fixed portion 101a of the wheelchair 101 and the exoskeletons 110 to 150. Then, the user is boarded on the wheelchair 101. As described above, by using the underarms walking assistant robot 100 described with reference to FIGS. 2 and 3, it is possible to move the robot 1 in the frontal direction.

Second Embodiment

FIG. 5 is a diagram illustrating a structure of a still further walking robot 200 according to a second embodiment of the present invention.

5, the leg-walking-assistance robot 200 according to the second embodiment of the present invention includes a moving part 201a, an exoskeletal robot 210-250, and a weight supporting part 201 And has a structure in which the moving part 201a and the exoskeletal robots 210 to 250 can be separated from each other.

The lower limb exoskeletal robot 210-250 is located outside the lower limbs of the disabled person on the wheelchair and is connected to the lower limb exoskeleton and the fastening part and rotated by the lower limbs 210-230 and the weight supporting part 201 And a control unit 250 for controlling a weight supporting unit 201 (also referred to as a 'weight bearing unit') that can adjust the weight supporting degree by connecting a harness fixing the upper body of the severely disabled person.

Particularly, the underarm exoskeleton units 210 to 230 according to the present invention include an inferior limb exoskeleton thigh 210 which is positioned on the thigh of a severely disabled person and is detachably coupled to the moving unit 201a of the weight supporting unit 201, A lower limb exoskeletal shin portion 220 which is coupled and rotated by the lower limb exoskeletal thigh 210 and a lower limb exoskeletal portion 220 which is located at the foot portion of the severely disabled person and is coupled to the lower limb exoskeletal shin portion, 230).

Between the lower limb exoskeleton thigh 210 according to the present invention and the moving part 201a of the weight supporting part 201, the lower limb exoskeleton fastening part described with reference to FIGS. 1 to 4 is fastened to the lower limb exoskeleton fastening part 260 .

Since the lower extremity exoskeleton coupling unit 260 has been described with reference to FIGS. 1 to 4, the description thereof will be omitted. However, it is needless to say that the present invention can be similarly applied to this embodiment.

In addition, the separating coupling 270 may be formed between the lower limb exoskeletal thigh 210 and the lower limb exoskeletal shin 220 and between the lower limb exoskeletal shin 220 and the lower limb skeletal foot 230. As described above, in this embodiment, the weight supporting portion 201 can be safely worn and moved in various postures.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the exemplary embodiments or constructions. You can understand that you can do it. The embodiments described above are therefore to be considered in all respects as illustrative and not restrictive.

100: not-yet-walking robot 110: exoskeletal fastening part
120: Exoskeletal thigh portion 130: Exoskeletal shin portion
140: exoskeleton foot part 150: length adjusting part
200: a not-yet-walking robot 210: an exoskeletal thigh
220: Exoskeletal shin portion 230: Exoskeletal foot portion
240: weight bearing part 250:
260: fastening portion

Claims (12)

delete A moving part and a base exoskeleton robot, and the moving part and the base exoskeleton robot can be separated from each other,
The exoskeletal robot,
A foot exoskeletal fastening part fixed to the fixed part of the wheel chair which is the moving part and adjusted in rotation and distance from the fixed part; And
And a lower limb exoskeleton which is located outside the lower limb of the severely disabled person aboard the wheelchair and is coupled to the limb exoskeleton and the fastening portion,
The exoskeleton portion includes:
A lower limb exoskeleton thigh located in the thigh of a severely handicapped person on a wheelchair and pivotally coupled to the limb fastening portion;
A lower extremity exoskeletal shin portion which is located at the shin of the severely disabled person and which is coupled and rotated in the thigh portion of the lower extremity skeleton; And
And a foot exoskeletal foot located at the foot of the severely disabled person and pivotally coupled to the foot exoskeletal shin portion,
The exoskeletal fastening portion
A fastening coupling portion which is inserted into and engaged with a protruding portion protruding from the lower extremity skeletal thigh;
A horizontal coupling part coupled to the coupling part and rotated to adjust the horizontal direction,
A vertical fastening part fastened vertically in the horizontal fastening part to rotate the horizontal fastening part and vertically adjust the horizontal fastening part;
Wherein the robot comprises: delete delete 3. The method of claim 2,
A length adjuster which is formed of at least one of air pressure, a spring, and an elastic steel bar between the lower limb exoskeleton and the lower limb exoskeletal shin, and between the lower limb exoskeletal shin and the lower limb skeletal foot to adjust the lengths of the links;
Wherein the robot further comprises: 3. The method of claim 2,
And a structure in which the lower extremity skeleton robot can be moved as close as possible to the side of the occupant when the chair mounted on the wheelchair is separated and protruded, Not a walking robot. 3. The method of claim 2,
A walking-assistance robot having a structure for connecting the exoskeleton part to the legs without connecting both legs of the occupant. delete delete delete delete delete

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