SU759099A1

SU759099A1 - Apparatus for coordinating motions of exoskeleton limbs

Info

Publication number: SU759099A1
Application number: SU782580714A
Authority: SU
Inventors: Виктор Григорьевич Остапчук; Валентин Анатольевич Богданов; Виктор Семенович Гурфинкель
Original assignee: Институт Проблем Передачи Информации Ан Ссср
Priority date: 1978-02-17
Filing date: 1978-02-17
Publication date: 1980-08-30

Description

Изобретение относится к медицинской технике, а именно к экзоскелетонам, обеспечивающим передвижение больных, потерявших естественную способность перемещения.The invention relates to medical equipment, namely to exoskeleton, providing movement of patients who have lost their natural ability to move.

Известно устройство координации движений конечностей экзоскелетона, содержащее блоки управления движением конечностей, блок синхронизации, датчики рецепции опоры [1].A device for coordinating the movements of limbs of exoskeleton containing control units for limb movement, synchronization unit, support reception sensors [1].

Известны две категории больных: первые используют при передвижении почти одновре- ₎₀менный перенос’ конечностей, а вторые — поочередный. Причем и те и другие больные должны иметь возможность самостоятельно, а не по заданной программе, задавать момент отрыва конечностей и переход их в фазу переноса. _J5 There are two categories of patients: the first is used when traveling at the same _{almost) 0} menny transfer 'extremities, and the second - alternate. Moreover, those and other patients should be able to independently, and not according to a given program, set the moment of separation of the limbs and their transition to the phase of transfer. _J5

Такое условие выполнимо, если обеспечить больному возможность, перестраивать координацию движений конечностей за счет перевода конечностей в фазу переноса по сигналу датчи- jq ка рецепции опоры, после того как вес тела больного переносится на другую конечность. Кроме того, необходимо обеспечить возможность перестроения режима при переходе от поочеред2 ной походки к походке с одновременным переносом конечностей.This condition is feasible if the patient is given the opportunity to rearrange the coordination of limb movements by transferring the limbs to the phase of transfer by the signal of the support reception sensor jq after the patient’s body weight is transferred to another limb. In addition, it is necessary to ensure the possibility of rebuilding the regime during the transition from a alternate gait to a gait with simultaneous transfer of limbs.

Однако известное устройство обеспечивает координацию движений конечностей за счет жесткой, неперестраиваемой программы, осущест вляемой блоком синхронизации. Оно не позволяет больному непосредственно вмешиваться в процесс движения и перестраивать координацию движений конечностей.However, the known device provides coordination of limb movements due to the rigid, non-tunable program implemented by the synchronization unit. It does not allow the patient to directly intervene in the process of movement and to rearrange the coordination of movements of the limbs.

Цель изобретения — обеспечение возможности перестроения координации движения конечностей.The purpose of the invention is the ability to rebuild coordination of limb movement.

Указанная цель достигается тем, что устройство содержит переключатель режима походки, а блок синхронизации выполнен в виде двух схем, каждая из которых содержит логическую схему НЕ, триггер и логическую схему И, причем выход одного из датчиков рецепций опоры соединен со входом ”0” триггера и входом логической схемы НЕ, выход которой соединен как с одним из двух входов переключателя режима походки, так и со входом ^м1«того же триггера, выход которого соединен с одним из входов логической схемы И, вто рой вход которой соединен с одним из выходов переключателя режима походки, а выход с соответствующим блоком управления движе нием конечности.This goal is achieved by the fact that the device contains a gait mode switch, and the synchronization unit is made in the form of two circuits, each of which contains a logic circuit NOT, a trigger and logic circuit AND, the output of one of the sensors of the reception receptacles connected to the input “trigger” 0 and the input of the logic circuit NOT, the output of which is connected both to one of the two inputs of the gait mode switch, and to the input ^m 1 ″ of the same trigger, the output of which is connected to one of the inputs of the logic circuit And, the second input of which is connected to one of the output o gait mode switch, and the output with the corresponding control unit for limb movement.

На чертеже изображена структурная схема устройства координации движений конечностей экзоскелетона.The drawing shows a structural diagram of a device for coordinating exoskeleton limb movements.

Устройство содержит два датчика 1 и 2 рецепции опоры, выход датчика 1 соединен со входом логической схемы 3 НЕ и входом ”0” триггера 4. Выход датчика 2 соединен со входом логической схемы 5 НЕ и входом ”0” триггера 6. Выход схемы 3 соединен со входом”1’’триггера 4 и со входом ”а” переключателя 7 режима походки, а выход схемы 5 соединен со входом ”1” триггера 6 и со входом ”б” переключателя 7. Первый вход логической схемы 8 И соединен с выходом ”0” триггера 4, второй вход - с выходом ”в” переключателя 7, а выход - с блоком 9 управления первой конечностью. Первый вход логической схемы 10 И соединен с выходом ”0” триггера 6, второй вход - с выходом ”г” переключателя 7, а выход - с блоком 11 управления второй конечностью.The device contains two sensors 1 and 2 of the reception of the support, the output of sensor 1 is connected to the input of the logic circuit 3 NOT and the input ”0” of the trigger 4. The output of the sensor 2 is connected to the input of the logic circuit 5 NOT and the input ”0” of the trigger 6. The output of circuit 3 is connected with the input ”1” of the trigger 4 and the input ”a” of the switch 7 of the gait mode, and the output of circuit 5 is connected to the input ”1” of the trigger 6 and the input ”b” of the switch 7. The first input of the logic circuit 8 is connected to the output ” 0 ”trigger 4, the second input with the output” in ”of the switch 7, and the output with the control unit 9 of the first limb Strongly. The first input of the logic circuit 10 AND is connected to the output “0” of trigger 6, the second input is connected to the output “g” of switch 7, and the output is connected to the second limb control unit 11.

Причем две схемы, каждая из которых содержит логическую схему НЕ, триггер и логическую схему И, составляют блок синхронизации.Moreover, two circuits, each of which contains a logical circuit NOT, a trigger and a logical circuit AND, make up the synchronization block.

Устройство работает следующим образом.The device operates as follows.

Блок управления каждой конечностью обеспечивает движение в двух фазах: переноса и опоры. При движении в фазе опоры больной, опираясь на костыли, наклоняет туловище вперед, перемещая свой центр тяжести. При этом по сигналам блока 9 (11) коленный шарнир конечности экзоскелетона запирается, что обеспечивает опороспособность, а шарнир стопы отпирается. При движении в фазе переноса, которую больной сам не в состоянии обеспечить, сигнал с блока 9 (И) подается на тазобедренный шарнир экзоскелетона, обеспечивая сгибание бедра, и на шарнир стопы, поднимая ее передний край. При этом также происходит сгибание в коленном шарнире за счет сил инерции. Таким образом экзоскелетон осуществляет фазу переноса соединенной с ним ноги больного.The control unit of each limb provides movement in two phases: transfer and support. When moving in the phase of support, the patient, leaning on crutches, tilts the body forward, moving its center of gravity. In this case, according to the signals of block 9 (11), the knee joint of the exoskeleton limb is locked, which ensures supportability, and the foot joint is unlocked. When moving in the transfer phase, which the patient himself is not able to provide, the signal from block 9 (I) is fed to the hip joint of exoskeleton, providing hip flexion, and to the foot hinge, raising its front edge. In this case, bending in the knee joint also occurs due to inertia forces. Thus, exoskeleton carries out the phase of transfer of the patient’s legs connected to it.

Блоки управления движениями конечностей могут быть реализованы и на других принципах, но так, чтобы для больного была обеспечена возможность управлять переходом от фазы опоры к фазе переноса. Причем сигнал ”0” на входах этих блоков означает движение в фазе переноса, а сигнал ”1” — в опоре.The limb motion control blocks can be implemented on other principles, but in such a way that the patient is provided with the opportunity to control the transition from the support phase to the transfer phase. Moreover, the signal “0” at the inputs of these blocks means movement in the transfer phase, and the signal “1” - in the support.

Координация движений конечностей экзоскелетона заключается в следующем. Предположим, что больной выбирает поочередный режим работы конечностей. Для этого переключатель 7 ставится в положение, при котором его вход ”а” соединен с выходом ”г”, а вход ”б” - с выходом ”в”. Пусть в на чальный момент времени происходит движение на двух опорных конечностях так, что одна расположена впереди, а другая сзади. При этом датчики 1 и 2 рецепции опоры включены, и с них сигналы ”0” поступают на входы схем 3 и 5, с выхода которых сигналы ”1” поступают на единичные входы триггеров 4 и 6, с выходов которых сигналы ”1” поступают на первые входы логических схем 8 и 10. На вторые входы этих схем поступают также сигналы ”1” с выходов ”в” и ”г” переключателя 7, связанных соответственно с входами ”б” и ”а”. Поэтому на выходах схем 8 и 10 появляются сигналы ”1”, и блоки 9, 11 управления конечностями обеспечивают движение в фазе опоры.The coordination of exoskeleton limb movements is as follows. Suppose that the patient chooses the alternate mode of operation of the limbs. To do this, switch 7 is placed in a position in which its input “a” is connected to the output “g”, and the input “b” is connected to the output “c”. Suppose that at the initial moment of time there is movement on two supporting limbs so that one is located in front and the other behind. In this case, the sensors 1 and 2 of the reception of the support are turned on, and from them the signals “0” are fed to the inputs of circuits 3 and 5, from the output of which the signals “1” are fed to the single inputs of the triggers 4 and 6, from the outputs of which the signals “1” are fed to the first inputs of logic circuits 8 and 10. The second inputs of these circuits also receive signals “1” from the outputs “c” and “g” of switch 7, connected respectively to inputs “b” and “a”. Therefore, the signals “1” appear at the outputs of circuits 8 and 10, and the limb control units 9, 11 provide movement in the support phase.

В процессе движения в этой фазе больной переносит вес на переднюю ногу, освобождая заднюю. При этом, например, датчик 1 задней конечности не включен, и с него поступает сигнал ”1” на нулевой вход триггера 4 и далее сигнал ”0” - на первый вход схемы 8. Так как датчик другой конечности включен, то с выхода схемы 5 поступает сигнал ”1” на второй вход схемы 8. Таким образом, на выходе схемы 8 формируется сигнал ”0” и'блок управления этой конечности переводит ее в фазу переноса. В конце переноса конечность становится на опору и ее датчик включается, обеспечивая ее переход в фазу опоры. В дальнейшем больной переносит вес на эту ногу и цикл повторяется.In the process of movement in this phase, the patient transfers weight to the front leg, freeing the back. In this case, for example, the sensor 1 of the hind limb is not turned on, and the signal “1” is sent to the zero input of trigger 4 and then the signal “0” is sent to the first input of circuit 8. Since the sensor of the other limb is turned on, from the output of circuit 5 the signal "1" is supplied to the second input of circuit 8. Thus, the signal "0" is formed at the output of circuit 8 and the control unit of this limb transfers it to the transfer phase. At the end of the transfer, the limb becomes on the support and its sensor is turned on, ensuring its transition to the phase of the support. In the future, the patient transfers weight to this leg and the cycle repeats.

Если же больной в результате ошибки или под воздействием возмущения отрывает заднюю ногу от поверхности до того, как переносимая достигает опоры, то с выхода своей схемы И сигнал все равно остается равным единице и конечность не переходит в фазу переноса до тех.пор, пока переносимая конечность ие достиг нет опоры.If the patient, as a result of an error or under the influence of indignation, tears off the hind leg from the surface before the transferable reaches support, then from the output of its AND circuit the signal still remains equal to unity and the limb does not go into the transfer phase until the technical limb, until the transferred limb he reached no support.

Если больной выбирает режим одновременного переноса конечностей, то переключатель 7 ставится в положение, при котором входы и выходы переключателя разрываются и режим работы каждой конечности становится зависимым лишь от сигналов своего датчика рецепции опоры. Тогда, перенося вес на костыли, больной с помощью аппарата одновременно переносит обе конечности.If the patient chooses the mode of simultaneous limb transfer, then switch 7 is placed in a position in which the inputs and outputs of the switch are broken and the operation mode of each limb becomes dependent only on the signals of its support reception sensor. Then, transferring weight to crutches, the patient with the help of the apparatus simultaneously transfers both limbs.

Таким образом, устройство позволяет в первом режиме в любой момент времени осуществлять перенос конечности при условии, что другая находится в фазе опоры, а во втором режиме переносить обе конечности одновременно и в любой момент времени. Это позволяет больному оперативно вмешиваться в процесс управления движением экзоскелетона и пере5 страивать координацию движений конечностей потребным ему образом.Thus, the device allows in the first mode at any time to carry out the limb transfer, provided that the other is in the support phase, and in the second mode to transfer both limbs simultaneously and at any time. This allows the patient to quickly intervene in the process of controlling the movement of exoskeleton and to re-coordinate the movements of the limbs in the way he needs.

Claims

The invention relates to medical technology, namely, exoskeleton, which provides for the movement of patients who have lost their ability to move. A device for coordinating the movements of the exoskeleton limbs is known, which contains the limb movement control units, the synchronization unit, and support 1 reception sensors. Two categories of patients are known: the first use almost simultaneous limb transport while moving, and the second are alternate. Moreover, both patients and other patients should be able to independently, and not according to a given -npoqiaMMe, set the moment of limb detachment and their transition into the transfer phase. Such a condition is feasible if the patient is given the opportunity to rebuild the coordination of the movements of the extremities by transferring the extremities to the transfer phase according to the signal from the support reception sensor, after the patient's body weight is transferred to the other extremity. In addition, it is necessary to provide the possibility of changing the mode during the transition from alternate gait to gait with simultaneous transfer of limbs. However, the known device provides coordination of limb movements due to a rigid, non-tunable program carried out by a synchronization unit. It does not allow the patient to directly intervene in the process of movement and to rearrange the coordination of movements of the limbs. The purpose of the invention is to provide the possibility of rebuilding the coordination of movement of the limbs. This goal is achieved in that the device contains a gait mode switch, and the synchronization unit is made in the form of two circuits, each of which contains a logical NOT circuit, a trigger and an AND logic circuit, and the output of one of the support receptor sensors is connected to the trigger input O and the logic input NOT circuit, the output of which is connected to one of the two gait mode switch inputs, and to the same trigger input, the output of which is connected to one of the inputs of the logic circuit AND, the second input of which is connected to one of the switching outputs You will find the gait mode and the exit with the appropriate limb movement control unit. The drawing shows a structural diagram of a device for coordinating the movements of limbs of an exoskeleton. The device contains two sensors 1 and 2 of the reception of the support, the output of sensor 1 is connected to the input of logic circuit 3 NOT and the input O of trigger 4. The output of sensor 2 is connected to the input of logic circuit 5 NOT and the input O of trigger 6. The output of circuit 3 is connected to input 1 of trigger 4 and with the input a of the gait mode switch 7, and the output of the circuit 5 is connected to the input 1 of the trigger 6 and to the input b of the switch 7. The first input of the logic circuit 8 is connected to the output O of the trigger 4 the second input - with the output to the switch 7 and the output - with the first limb control unit 9. The first input of the logic circuit 10 I is connected to the output O of the trigger 6, the second input is connected to the output g of the switch 7, and the output is connected to the control unit 11 for the second limb. Moreover, two schemes, each of which contains a logical NOT circuit, a trigger and an AND logic circuit, constitute a synchronization block. The device operates as follows. Each limb control unit provides movement in two phases: the transfer and the support. When moving in the phase of support, the patient, leaning on crutches, tilts his torso forward, moving his center of gravity. At the same time, according to the signals of block 9 (11), the knee hinge of the limb of the exoskeleton is locked, which ensures the support capacity, and the hinge of the foot is unlocked. When moving in the phase of transfer, which the patient is not able to provide, the signal from block 9 (11) is fed to the hip joint of the exoskeleton, ensuring bending of the hip, and to the hinge of the foot, lifting its front edge. At the same time, bending in the knee joint due to inertial forces also occurs. Thus, the exoskeleton performs the transfer phase of the patient's foot connected to it. The limb movement control units can be implemented on other principles, but in such a way that it is possible for the patient to control the transition from the support phase to the transfer phase. Moreover, the signal O at the inputs of these blocks means the movement in the transfer phase, and the signal 1 - in the support. The coordination of the movements of the limbs of the exoske of Leton is as follows. Suppose the patient chooses the alternate mode of operation of the limbs. For this, switch 7 is set to the position at which its input a is connected to output r, and input b to output c. Suppose that at the initial moment of time there occurs a movement on: two supporting limbs so that one is located in front, and the other behind. At the same time, sensors 1 and 2 of the reception of the support are turned on, and from them signals O are fed to the inputs of circuits 3 and 5, from the output of which signals 1 are fed to the single inputs of triggers 4 and 6, from the outputs of which 1X signals 1 are fed to the first inputs of logic circuits 8 and 10. Signals 1 from outputs c and d of switch 7, connected respectively to inputs b and a, also arrive at the second inputs of these circuits. Therefore, at the outputs of circuits 8 and 10, signals 1 appear, and blocks 9, AND control of limbs provide movement in the support phase. In the process of movement in this phase, the patient transfers the weight to the front leg, freeing the back leg. In this case, for example, the hind limb sensor 1 is not turned on, and it receives sigal 1 at the zero input of the trigger 4 and then the signal O is at the first input of the circuit 8. Since the sensor of the other limb is turned on, then the output of the circuit 5 receives the signal 1 at the second input of the circuit 8. Thus, at the output of the circuit B, a signal O is formed and the control unit of this limb translates it into the transfer phase. At the end of the transfer, the limb is placed on the support and its sensor is turned on, ensuring its transition to the support phase. Subsequently, the patient transfers weight to this leg and the cycle repeats. If the patient, as a result of an error or under the influence of a disturbance, separates the hind leg from the surface before it reaches the support, then from the output of its scheme, the signal still remains equal to one and the limb does not go into the phase of transfer to those. will not reach the support. If the patient chooses the simultaneous transfer of limbs, the switch 7 is placed in a position where the inputs and outputs of the switch are broken and the mode of operation of each limb becomes dependent only on the signals of its support sensor. Then, transferring weight to crutches, the patient with the help of the apparatus simultaneously carries both limbs. Thus, the device allows in the first mode at any time to carry out the transfer of a limb, provided that the friend is in the support phase, and in the second mode to carry both limbs simultaneously and at any time. This allows the patient to promptly intervene in the process of controlling the movement of the exoskeleton and reorganize the coordination of the movements of the extremities in the manner he needs. The invention of the Exoskeleton limb movement coordination device containing limb movement control units, synchronization unit and support reception receivers, is so important that, in order to enable the coordination of limb movement to be reconstructed, it contains a walking mode switch , and the synchronization unit is made in the form of two circuits, each of which contains a logic circuit, NOT, a trigger and a logic circuit AND, with the output of one of the sensors of the support of the support connected to the input O of the trigger and input a logical NOT circuit, the output of which is connected to one of the two gait mode switch inputs, and to the same trigger input 1, the output of which is connected to one of the inputs of the AND logic circuit, the second input of which is connected to one of the gait mode switch outputs, and exit - with a corresponding limb movement control unit. Sources of information received by the doctor at examination 1. M. Vukobratovl. Walking robots and ntropomorphic mechanisms. M., Mir, 1976.