TW201632233A - Pneumatic drive rehabilitation of lower extremity gait training system - Google Patents

Abstract

The present invention provides a pneumatic drive rehabilitation of lower extremity gait training system; a support device reduces burden from a user's lower extremity for supporting the weight, so, when walking rehabilitation, the user adjust coordination of walking at a treadmill by an exoskeleton rehabilitation device; besides, when having high and low center of gravity changes caused by walking, the user can adjust it by a gravity center adjustment device; a remote monitoring device receives and captures a signal of angle displacement measurement of the joint mechanism in a walking cycle; so, the user could use the support device and the gravity center adjustment device support his/her own weight for reducing the weight withstood by the user's legs; the present invention's exoskeleton rehabilitation device significantly enhance the flexibility, the safety and lightweight of traveling; the exoskeleton rehabilitation device use fewer driving elements and is simple rather than complex organizations; the remote monitoring device analyzes the received signal and transfer to the treadmill in coordination with the speed of the user's walking rehabilitation so as to increase the effect of the walking rehabilitation.

Description

Pneumatically driven lower limb gait rehabilitation training system

The present invention provides a pneumatically driven lower limb gait rehabilitation training system, and more particularly to a rehabilitation of a lower limb by an exoskeleton rehabilitation device.

According to the advancement of science and technology and the improvement of living standards, many countries are entering an aging society, and various health problems accompanying aging are receiving increasing attention. In the elderly, there are a large number of patients with neurological diseases or cerebrovascular diseases. For example, brain central nervous system, spinal cord injury, impaired brain function and Parkin's disease cause damage to the central nervous system, which also leads to different degrees of motor dysfunction in the limbs of the patients. In severe cases, there may be full or partial hemiplegia. Symptoms, at the same time, due to traffic accidents, the number of injuries causing nerve or limb injuries is increasing. However, the lower limb walking function is an important indicator of mobility, and is also a necessary condition for ensuring normal and independent living. Patients with traffic accidents are affected by their daily lives and bring certain burdens and challenges to the family.

However, most patients with central nervous system damage can recover to the extent of independent walking after surgery or medication, but most patients will be accompanied by some sequelae, such as: reduced motor control, joint stiffness and walking steps. Symptoms of abnormal state lead to a decline in the balance function of patients, which in turn seriously affects mobility and quality of life. However, rehabilitation medical theory and clinical trials show that patients with correct scientific rehabilitation training for exercise in addition to early surgery and drug therapy The recovery and improvement of function has a very important function. The sooner the patient puts into rehabilitation training after the acute phase, the better the effect of functional recovery. Among them, the theoretical basis of exercise rehabilitation therapy is brain plasticity, and related medical research shows damage. Although nerve cells are not regenerative, nerve tissue can regain function through functional reorganization or compensation. That is, the brain has plastic characteristics. In animal and human experiments, it shows that the limbs are active or passive for specific functions. Repetitive training that stimulates the proprioceptor to make the central nervous system The change of the shot area promotes the plasticity of the brain function; however, most of the current rehabilitation treatments rely on manual methods to limit the efficiency and effectiveness of rehabilitation training, and the rehabilitation medical equipment is simple and cannot meet the patient's rehabilitation. Demand.

With the development of robot technology and the expansion of the rehabilitation medical market, rehabilitation training combined with robot technology to effectively solve the problems associated with the traditional rehabilitation training process, therefore, design safe, quantitative, effective and repeatable training. The limb function rehabilitation training system has become one of the urgent problems to be solved in modern rehabilitation medicine and treatment. Therefore, rehabilitation robots have emerged and provided important medical evidence. The rehabilitation robot is an important branch of medical robots, and its research integration Rehabilitation medicine, biomechanics, mechanical mechanics, material mechanics, mechanics, electronics, computer science and robotics. Rehabilitation robots differ from industrial robots in that they can act directly on the human body and are identical to patients. Working in the working space, the patient and the rehabilitation robot are coordinated and coordinated. The rehabilitation robot is controlled by a computer. The device has a corresponding sensor and safety system, which can automatically adjust the motion parameters according to the actual situation of the patient. Realize the best training, therefore, the rehabilitation robot improves the rehabilitation training effect The exercises closer to a healthy state, but will also reduce the heavy rehabilitation therapist's training mission, making it more energy into related research in rehabilitation.

At present, the gait rehabilitation robots studied at home and abroad mostly use a servo motor with a ball screw to convert the rotary motion of the motor into a linear motion, thereby driving the linkage mechanism of the exoskeleton booster leg to complete the joint motion. The control precision is high and easy to control; however, the shortcoming is that most of the energy is consumed in the motor and the deceleration system, so the energy efficiency ratio is low, and the rigidity of the motor drive system is large, which is easy for the patient to have a larger The impact, and if the system has a sudden change in displacement, it is easy to cause damage to the patient's leg or other tissues. Therefore, the motor-driven rehabilitation training system has poor flexibility and safety. In addition, the structure of the motor drive system is complicated. Therefore, when the degree of freedom of the exoskeleton booster leg is increased, the mechanism will be larger and less likely to be lightweight.

In view of this, our inventors are concentrating on further research on lower limb gait rehabilitation machines, and proceeding with research and development and improvement, with a better design to solve the above problems, and after continuous trial and modification, the present invention It came out.

Therefore, the object of the present invention is to solve the problem that the conventional gait rehabilitation robot has a large rigidity due to the motor drive system, and is likely to cause a large impact on the patient, causing damage to the patient's leg or other tissues, and further, due to the structure of the motor drive system. It is more complicated, so when the degree of freedom of the exoskeleton is increased, the mechanism will be larger and less lightweight.

In order to achieve the above object, the inventors provide a pneumatically driven lower limb gait rehabilitation training system, comprising: an exoskeleton rehabilitation device having a first hip joint mechanism, the first hip joint mechanism having one end a first hip joint outer cylinder block and a second hip joint outer cylinder block are arranged, and the first hip joint outer cylinder block and the second hip joint outer cylinder frame are assembled with a first pneumatic device. And the first hip joint mechanism group is provided with a second hip joint mechanism, the second hip joint mechanism is configured with a hip joint cylinder frame, and the hip joint cylinder frame is pivotally provided with a first cylinder device, the first cylinder The device is coupled to a processing unit, the first hip joint mechanism is pivoted with a thigh frame body, the thigh rack system is provided with a knee joint mechanism, and the thigh frame body and the knee joint mechanism are pivotally provided with a first actuation The knee joint mechanism pivots a calf frame body, the calf frame system pivots a second actuator, the second actuator is coupled to the processing unit, and the knee joint mechanism and the calf frame system Placing a third actuator, the third actuator Connected to the processing unit, the first actuator and the second actuator are pivotally provided with a second cylinder device, the calf frame system is provided with an ankle joint mechanism, the ankle joint mechanism and the third actuator system A second pneumatic device is set up, and the ankle joint mechanism is provided with a pedal device.

According to the above-mentioned pneumatic driving lower limb gait rehabilitation training system, wherein the first hip joint mechanism is pivotally provided with a first contactless angle sensor, and the knee joint mechanism is pivoted to a second contactless angle a third non-contact angle sensor, the first contactless angle sensor, the second contactless angle sensor and the third contactless angle sensor Taking the signal of the angular displacement of the first hip joint mechanism, the knee joint mechanism and the ankle joint mechanism during the walking cycle, the signal is transmitted to the processing unit by using the exoskeleton rehabilitation device The processing unit controls the exoskeleton rehabilitation device of the first actuator, the second actuator, and the third actuator.

According to the pneumatic driving lower limb gait rehabilitation training system described above, the thigh frame body is further provided with a thigh length adjusting mechanism, and the calf frame body is further provided with a calf length adjusting mechanism for adjusting the length thereof.

According to the pneumatic driving lower limb gait rehabilitation training system described above, the exoskeleton rehabilitation device is further provided with at least one fixing component.

According to the above-described pneumatically driven lower limb gait rehabilitation training system, the processing unit is further coupled to a remote monitoring device, the remote monitoring device receiving the first contactless angle sensor, the second The non-contact angle sensor and the third non-contact angle sensor extract the signal of the angular displacement of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism during the walking period.

According to the above-mentioned pneumatic driving lower limb gait rehabilitation training system, further comprising a supporting device corresponding to one end of the exoskeleton rehabilitation device, the supporting device is provided with at least one pulley, the pulley system is symmetrical to each other The pulleys are respectively connected by a transmission unit, and one end of the transmission unit is respectively provided with a cylinder mechanism and a pressure reducing valve, and the cylinder mechanism is respectively provided with the pressure reducing valve, and One end of the cylinder mechanism is disposed at one end of the transmission unit by a cylinder fixing plate, and the other end of the cylinder mechanism is fixed to one end of the supporting device, and the other end of the transmission unit is connected to a balance bar, and the One end of the balance bar is provided with a suspension device, and the suspension device is provided with a set of joints.

According to the pneumatic driving lower limb gait rehabilitation training system described above, the suspension device further comprises a tension sensor for sensing gravity to stabilize the center of gravity of the supporting device.

The pneumatically driven lower limb gait rehabilitation training system according to the above, wherein the bottom end of the support device is further provided with at least one mobile device and at least one fixing device, and the support device can be horizontally moved by the mobile device. The support device can also be positioned by the fixing device.

According to the above-mentioned pneumatic driving lower limb gait rehabilitation training system, wherein the supporting device further comprises a center of gravity adjusting device, wherein the center of gravity adjusting device is assembled to the supporting device by a first adjusting plate body, The first adjusting plate body is provided with a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the first connecting rod and the first adjusting plate system pivot a first gas body a second unit and the first adjustment plate system pivoting a second gas body unit, and the first adjustment plate system is configured by the first link, the second link, and the third The connecting rod and the fourth connecting rod set a second adjusting plate body, and the second adjusting plate system is disposed on the second hip joint mechanism.

According to the above-described pneumatically driven lower limb gait rehabilitation training system, the processing unit is further coupled to a running device, and the running device is further provided with a speed sensor.

In summary, with the above arrangement, compared with the prior art, it is apparent that the present invention mainly has the following several advantages and effects, which are detailed as follows:

1. The user can support the weight by means of the suspension device and the center of gravity adjustment device, so as to reduce the bearing capacity of the user's legs and reduce the burden of supporting the weight of the lower limbs, thereby achieving the best training effect.

2. Compared with the conventional gait rehabilitation training system, the present invention is provided with an exoskeleton rehabilitation device, which is composed of a first cylinder device and a second cylinder device and a first pneumatic device and a second pneumatic device. Single-leg exoskeleton rehabilitation device, including: cylinder device and pneumatic device hybrid drive exogenous bone rehabilitation device, degree of freedom configuration, kinematics and dynamics simulation analysis, pneumatic and electrical control circuit design, sensor and mechanism material selection The processing of the corresponding mechanical components greatly improves the flexibility, safety and lightness, and requires fewer driving components, and the mechanism is simple rather than complicated.

3. Control the coordination between the present invention and the user by taking information on the state of each joint and the feet in the user's walking cycle, so as to obtain the best rehabilitation training for the user, thereby achieving the improvement of rehabilitation walking. effect.

4. The bottom end of the supporting device of the present invention is provided with a moving device and a fixing device. Therefore, the user can move the supporting device by the mobile device before and after the rehabilitation, so that the user can smoothly enter and exit the running device; In the state of the device, the support device can be fixed by the fixing device to make it difficult to move, so as to improve the safety of the user for rehabilitation.

The invention will be described in detail below with reference to the drawings.

Please refer to FIG. 1 to FIG. 3 first. The present invention is a pneumatically driven lower limb gait rehabilitation training system, which comprises:

An exoskeleton rehabilitation device 1 is provided with a first hip joint mechanism 11a. The first hip joint mechanism 11a is pivotally provided with a first contactless angle sensor 12a, and the first hip joint mechanism 11a is mounted at one end. a first hip joint outer cylinder frame 13a and a second hip joint outer cylinder block 13b, the first hip joint outer cylinder block 13a and the second hip joint outer cylinder block 13b are assembled with a first pneumatic The device 14a, and the first hip joint mechanism 11a is provided with a second hip joint mechanism 11b. The second hip joint mechanism 11b is provided with a hip joint cylinder frame 111, and the hip joint cylinder frame 111 is pivoted. a first cylinder device 15a is coupled to a processing unit 2, and the first hip joint mechanism 11a is pivotally disposed with a thigh frame body 16, and the thigh frame body 16 is further provided with a thigh length adjusting mechanism 161. To adjust the length thereof, the thigh frame body 16 is provided with a knee joint mechanism 17, which is pivotally provided with a second contactless angle sensor 12b, and the thigh frame body 16 and the knee joint mechanism 17 are A first actuator 3a is pivoted, and the knee joint mechanism 17 pivots a calf frame body 18, The calf frame body 18 is further provided with a calf length adjusting mechanism 181 for adjusting the length thereof. The calf frame body 18 is pivotally provided with a second actuator 3b, and the second actuator 3b is coupled to the processing unit 2, The third joint actuator 3c is coupled to the processing unit 2, the first actuator 3a and the second end. The actuator 3b is pivotally provided with a second cylinder device 15b. The calf frame body 18 is provided with an ankle joint mechanism 19, and the ankle joint mechanism 19 is pivotally provided with a third contactless angle sensor 12c. 19 and the third actuator 3c are provided with a second pneumatic device 14b, the ankle joint mechanism 19 is provided with a pedal device 4, and the first contactless angle sensor 12a, the second contactless angle The sensor 12b and the third non-contact angle sensor 12c capture signals of the angular displacement of the hip joint mechanism, the knee joint mechanism 17, and the ankle joint mechanism 19 during the walking cycle, thereby transmitting the signals to the Processing unit 2, and controlling the first actuator 3a, the second actuator 3b and the third actuator 3 by the processing unit 2 c of the exoskeleton rehabilitation device 1;

At least one fixing member 5 is attached to the exoskeleton rehabilitation device 1, and the fixing member 5 is for fixing a lower limb of a user;

A remote monitoring device 6 is coupled to the processing unit 2, and the remote monitoring device 6 receives the first contactless angle sensor 12a, the second contactless angle sensor 12b, and the third The contact angle sensor 12c captures the signal of the angular displacement of the first hip joint mechanism 11a, the knee joint mechanism 17 and the ankle joint mechanism 19 during a walking cycle of the exoskeleton rehabilitation device 1;

A support device 7 corresponding to one end of the exoskeleton rehabilitation device 1 is provided. The support device 7 is provided with at least one pulley 71. The pulleys 71 are symmetrically disposed at one end of the support device 7, and the pulleys 71 are respectively borrowed. A transmission unit 72 is coupled to each other. One end of the transmission unit 72 is provided with a cylinder mechanism 73 and a pressure reducing valve 731. The cylinder mechanism 73 is provided with the pressure reducing valve 731, and the cylinder mechanism 73 is provided at one end. A cylinder fixing plate 74 is disposed at one end of the transmission unit 72, and the other end of the cylinder mechanism 73 is fixed to one end of the supporting device 7, and the other end of the transmission unit 72 is connected to a balance bar 75, and the One end of the balance bar 75 is provided with a suspension device 76. The suspension device 76 is further provided with a tension sensor 761 for sensing gravity to stabilize the center of gravity of the support device 7, and the suspension device 76 is provided with a set of connections. The bottom portion of the supporting device 7 is further provided with at least one moving device 78 and at least one fixing device 79, and the supporting device 7 can be horizontally moved by the moving device 78, or by the fixing device 79, the support device 7 is positioned;

A center of gravity adjustment device 8 is disposed on the support device 7. The center of gravity adjustment device 8 is assembled to the support device 7 by a first adjustment plate body 81a. The first adjustment plate body 81a is pivoted. a first connecting rod 82a, a second connecting rod 82b, a third connecting rod 82c and a fourth connecting rod 82d. The first connecting rod 82a and the first adjusting plate body 81a are pivotally connected with a first gas body unit. 83a, and the second connecting rod body 82b and the first adjusting plate body 81a are pivotally disposed with a second gas body unit 83b, and the first adjusting plate body 81a is supported by the first connecting rod 82a and the second a second adjusting plate body 81b is disposed in the connecting rod 82b, the third connecting rod 82c and the fourth connecting rod 82d, and the second adjusting plate body 81b is assembled to the second hip joint mechanism 11b;

A running device 9 is coupled to the processing unit 2, and the running device 9 is further provided with a speed sensor (not shown).

Therefore, as shown in FIGS. 1 and 2, the user can move the support device 7 by the mobile device 78 before and after rehabilitation, so that the user can smoothly enter and exit the running device 9; In the state, the supporting device 7 can be fixed by the fixing device 79, so that the supporting device 7 is not easy to move; after the user fits into the socket portion 77, the suspension device 76 utilizes the pulley 71 and the transmission unit 72 to make the cylinder mechanism 73. The direction of the force is changed to perform displacement, and the cylinder mechanism 73 is fixed to the supporting device 7 by the cylinder fixing plate 74, so that it is not easy to be moved by the user during rehabilitation, and the lower limb can be used according to the user during the rehabilitation process. In the specific situation of the rehabilitation, the air pressure source 732 utilizes the cylinder mechanism 73, and the cylinder mechanism 73 adjusts the pressure reducing valve 731 through the throttle valve 733 and the switching valve 734 to set an appropriate weight reduction value, and the cylinder mechanism 73 is further processed by the processing unit. 2 control by the balance bar 75 and the tension sensor 761, thereby driving the suspension device 76 and giving displacement, so as to appropriately reduce the gravity of the user's legs, so that the user can rejuvenate freely, so as to achieve the best reduction Heavy purpose The effect of training.

Referring to FIG. 3, the purpose of the supporting device 7 is to ensure that the user reduces the weight of gravity during weight loss training. According to the theory of rehabilitation medicine, the most effective rehabilitation method for the user is in rehabilitation training. The weight loss of the average user does not exceed 30% (inclusive) of its weight; for example, most people weigh less than 100 kg, so the maximum weight loss is less than 30 kg, of which, considering the safety factor of 1.5, each cylinder The minimum output force of the mechanism 73 should be greater than 225N.

Referring to FIG. 4, the center of gravity adjusting device 8 of the present invention needs to establish a rod-shaped human body model to analyze the special state of the highest and lowest center of gravity during the normal standing and walking process of the human body, and obtain the special state of the part. After the data, the three-dimensional mathematical equations can be established, which can be used to calculate the curve of the center of gravity of the standing and walking process for the human body of different heights. As a basis for designing the center of gravity adjustment device 8, the human body weight trajectory is designed as a passive adjustment. The mechanism for changing the body weight of the human body, thereby realizing the change rule of the person's body weight during normal standing and walking; the first gas body unit 83a and the second gas body unit 83b of the center of gravity adjusting device 8 have a nearly linear elastic curve, therefore, When the center of gravity adjustment device 8 is subjected to the pressure of the user, the first link 82a, the second link 82b, the third link 82c, and the fourth link 82 are pivotally disposed on the first adjustment plate body 81a and the second The plate body 81b is adjusted so as to be pivotable according to the change of the force applied, and the first gas body unit 83a and the second gas body unit 83b are automatically extended according to the change of the pressure. Shrinking, by buffering the sudden change of pressure, thereby passively achieving the change of the trajectory of the human heart with the displacement of the user's center of gravity.

Continued, as shown in Figure 4, the center of gravity adjustment device 8 simulates the normal center of gravity change of the human body, that is, the curve of the center of gravity of the normal human body is required to be input, but since the left and right changes of the body weight and the front and back are much smaller than the upper and lower center of gravity changes, In the present invention, only the change of the center of gravity of the upper and lower sides means that the stroke change of the first gas body unit 83a and the second gas body unit 83b is the input of the center of gravity balance mechanism, and the appropriate first gas body unit 83a And the second gas body unit 83b performs the production and motion analysis of the center of gravity adjustment device 8, and calculates the change stroke of the first gas body unit 83a and the second gas body unit 83b, and the mathematical expression 1 of the center of gravity adjustment device 8 is :

[Math 1]

Continuing to refer to FIG. 4, wherein F_0 and K are parameters of the first gas body unit 83a and the second gas body unit 83b, and f_1 is the force supported by the weight reduction mechanism, and the size is 0~ Between 300N, f_2 is the supporting force of the sole, and the variation curve can be obtained by the detection of the foot force, whereby the strokes of the first gas body unit 83a and the second gas body unit 83b can be calculated from the values of the above parameters. The change is made, and the appropriate first gas body unit 83a and second gas body unit 83b are selected accordingly.

According to research, in various rehabilitation methods, if the patient can participate in the rehabilitation exercise independently, it can promote and strengthen the rehabilitation effect of the patient's motor function. Therefore, the patient is in the autonomous training mode, the exoskeleton rehabilitation The device 1 needs to have the function of tracking the movement of the lower limbs of the patient; Continuation, as shown in Fig. 5, the user puts his lower limb into the exoskeleton rehabilitation device 1 and fixes his lower limb by the fixing member 5, that is, rehabilitation The exoskeleton rehabilitation device 1 uses a pneumatic servo system as a driver, and the first hip joint mechanism 11a, the second hip joint mechanism 11b, and the knee joint mechanism 17 control the first cylinder device 15a and the second cylinder with a proportional directional valve. The movement of the device 15b, and for the dorsiflexion and plantar flexion of the ankle joint mechanism 19, the adduction and abduction of the hip joint mechanism, the proportional pneumatic valve is used to perform the first pneumatic device 14a, the second pneumatic device 14b, and the first actuation. The contraction and elongation control of the third actuator 3a, the second actuator 3b, and the third actuator 3c, in addition, the single-leg exoskeleton rehabilitation device 1 is coupled to the first pneumatic device by the first cylinder device 15a and the second cylinder device 15b. Device 14a And the second pneumatic device 14b is mixed and driven, compared with the traditional gait rehabilitation training system, the flexibility, safety and lightness of the exoskeleton rehabilitation device 1 of the invention are greatly improved, and the required driving components are more Less and the assembly of the mechanism is simple. Therefore, the user can drive the walking movement on the running device 9 by the exoskeleton rehabilitation device 1, thereby realizing the exercise training of each joint, the active and passive self-adjustment of the leg muscles, and The rehabilitation of the nerve function, and further, the first non-contact angle sensor 12a, the second contactless angle sensor 12b and the third contactless angle sensor 12c are used to capture the exoskeleton rehabilitation device 1 The signals of the angular displacement of the first hip joint mechanism 11a, the knee joint mechanism 17, and the ankle joint mechanism 19 during the walking cycle are controlled by the first cylinder device 15a, the second cylinder device 15b, the first pneumatic device 14a, and the second pneumatic device. 14b, the first actuator 3a, the second actuator 3b, and the third actuator 3c drive the exoskeleton rehabilitation device 1 to coordinate with the motion state between the users, and further, the user can Demand by big Length adjustment mechanism 161 and leg length adjustment mechanism 181 to adjust the thigh frame 16 and calf frame length of 18 for users to get the best of rehabilitation training to improve the quality of rehabilitation function of the user's leg injury.

In addition, since the gait rehabilitation training of the present invention uses the running device 9 as a platform, it is necessary to first understand the trajectory of the exoskeleton rehabilitation device 1 in the space, especially the movement trajectory at the end of the foot, in order to simulate the normal human body. For the walking situation, please refer to Fig. 6, in which the exoskeleton rehabilitation device 1 is combined with the design mechanism by the DH coordinate conversion method, and the positional posture of the end of the external bone assisting leg is analyzed to obtain a pose equation. The content includes the establishment of the DH coordinate conversion table, the derivation of forward kinematics, and the derivation of inverse kinematics.

Furthermore, by extracting the information of the state of each joint and the feet in the user's walking cycle, and adjusting the pressure reducing valve 731 through the cylinder mechanism 73, the appropriate weight loss value is set, and transmitted to the remote monitoring device 6, and the information thereof is transmitted. The processing unit 2 transmits and controls the coordination between the present invention and the user, and the speed sensor transmitted to the running device 9 by the processing unit 2 to adjust the speed of the running device 9 for the user to obtain the best. Rehabilitation training, in order to achieve the effect of improving rehabilitation walking.

It is obvious from the above description and setting that the present invention has the following several advantages and effects, which are detailed as follows:

1. The user can support the weight of the user by the suspension device 76 and the center of gravity adjustment device 8, so as to reduce the gravity of the user's legs, thereby reducing the burden of the lower limbs supporting their own weight, thereby achieving the best rehabilitation effect.

2. Compared with the conventional gait rehabilitation training system, the present invention is provided with an exoskeleton rehabilitation device 1 which utilizes a first cylinder device 15a and a second cylinder device 15b with a first pneumatic device 14a and a second pneumatic device. A single-leg exoskeleton rehabilitation device composed of a 14b hybrid drive includes: a cylinder device and a pneumatic device, a hybrid drive excavation rehabilitation device, a degree of freedom configuration, a kinematics and dynamics simulation analysis, a pneumatic and electrical control circuit design, The mechanical component corresponding to the selection and processing of the sensor material, and the first pneumatic device 14a and the second pneumatic device 14b are mixed and driven by the first cylinder device 15a and the second pneumatic device 14b to improve flexibility and lightness. Therefore, the linear motion of the cylinder is more convenient than the conventional motor, and the speed reduction mechanism is not required, the anti-overloading capability is strong, and the conventional single is more clean than the hydraulic drive, thereby the invention is substantially Improves flexibility, safety, and lightness. In addition, fewer drive components are required, and the mechanism is simpler than complex.

3. The present invention transmits information to the remote monitoring device 6 by extracting information on the state of each joint and the feet in the user's walking cycle, and adjusting the pressure reducing valve 731 through the cylinder mechanism 73 to set an appropriate weight loss value. And transmitting the analyzed information to the processing unit 2, thereby controlling the coordination between the exoskeleton rehabilitation device 1 and the user, and controlling the speed sensor of the running device 9 to adjust the speed of the running device 9 to match the user. For the user to get the best rehabilitation training, and thus achieve the effect of improving rehabilitation walking.

4. The bottom end of the supporting device 7 of the present invention is provided with a moving device 78 and a fixing device 79. Therefore, the user can move the supporting device 7 by the moving device 78 before and after rehabilitation, so that the user can smoothly enter and exit the running device 9 When the rehabilitation is in progress, the support device 7 can be fixed by the fixing device 79 to make it difficult to move, so as to improve the safety of the user for rehabilitation.

In summary, the technical means disclosed by the present invention can effectively solve the problems of the prior knowledge, achieve the intended purpose and efficacy, and are not found in the publication before publication, have not been publicly used, and have long-term progress, The inventions referred to in the Patent Law are correct, and the application is filed according to law, and the company is invited to give a detailed examination and grant a patent for invention.

The above is only the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, that is, the equivalent changes and modifications made by the scope of the invention and the contents of the invention are all It should remain within the scope of this invention.

〔this invention〕
1‧‧‧Exoskeleton rehabilitation device
11a‧‧‧First hip joint mechanism
11b‧‧‧Second hip joint mechanism
111‧‧‧Hip cylinder cylinder frame
12a‧‧‧First contactless angle sensor
12b‧‧‧Second no-contact angle sensor
12c‧‧‧ third contactless angle sensor
13a‧‧‧First hip joint external cylinder block
13b‧‧‧Second hip joint external cylinder block
14a‧‧‧First Pneumatic Device
14b‧‧‧Second pneumatic device
15a‧‧‧First cylinder device
15b‧‧‧Second cylinder device
16‧‧‧Thigh frame
161‧‧‧Thigh length adjustment mechanism
17‧‧‧Knee joint mechanism
18‧‧‧ calf frame
181‧‧‧Leg length adjustment mechanism
19‧‧‧ Ankle joint mechanism
2‧‧‧Processing unit
3a‧‧‧First actuator
3b‧‧‧second actuator
3c‧‧‧third actuator
4‧‧‧ pedal device
5‧‧‧Fixed components
6‧‧‧ Remote monitoring device
7‧‧‧Support device
71‧‧‧ pulley
72‧‧‧Transmission unit
73‧‧‧Cylinder mechanism
731‧‧‧Reducing valve
732‧‧‧Air pressure source
733‧‧‧ throttle valve
734‧‧‧Reversing valve
74‧‧‧Cylinder fixing plate
75‧‧‧Balance rod
76‧‧‧suspension device
761‧‧‧ Rally Sensor
77‧‧‧ Sockets
78‧‧‧Mobile devices
79‧‧‧Fixed devices
8‧‧‧Center of gravity adjustment device
81a‧‧‧First adjustment plate
81b‧‧‧Second adjustment plate
82a‧‧‧first connecting rod
82b‧‧‧second link
82c‧‧‧third link
82d‧‧‧fourth link
83a‧‧‧First gas body unit
83b‧‧‧Second gas body unit
9‧‧‧Running device

Figure 1 is a perspective view of the present invention. Figure 2 is a schematic diagram of the actuation of the support device. Figure 3 is a block diagram of the support device. Figure 4 is a schematic diagram of the balance adjustment of the center of gravity adjustment device. Figure 5 is a schematic diagram of the actuation of the exoskeleton rehabilitation device. Figure 6 is a schematic diagram of the linkage coordinate system of the exoskeleton rehabilitation device.

1‧‧‧Exoskeleton rehabilitation device

11a‧‧‧First hip joint mechanism

11b‧‧‧Second hip joint mechanism

111‧‧‧Hip cylinder cylinder frame

12a‧‧‧First contactless angle sensor

12b‧‧‧Second no-contact angle sensor

12c‧‧‧ third contactless angle sensor

13a‧‧‧First hip joint external cylinder block

13b‧‧‧Second hip joint external cylinder block

14a‧‧‧First Pneumatic Device

14b‧‧‧Second pneumatic device

15a‧‧‧First cylinder device

15b‧‧‧Second cylinder device

16‧‧‧Thigh frame

161‧‧‧Thigh length adjustment mechanism

17‧‧‧Knee joint mechanism

18‧‧‧ calf frame

181‧‧‧Leg length adjustment mechanism

19‧‧‧ Ankle joint mechanism

3a‧‧‧First actuator

3b‧‧‧second actuator

3c‧‧‧third actuator

4‧‧‧ pedal device

5‧‧‧Fixed components

7‧‧‧Support device

71‧‧‧ pulley

72‧‧‧Transmission unit

73‧‧‧Cylinder mechanism

74‧‧‧Cylinder fixing plate

75‧‧‧Balance rod

76‧‧‧suspension device

761‧‧‧ Rally Sensor

77‧‧‧ Sockets

78‧‧‧Mobile devices

79‧‧‧Fixed devices

8‧‧‧Center of gravity adjustment device

81a‧‧‧First adjustment plate

81b‧‧‧Second adjustment plate

82a‧‧‧first connecting rod

82b‧‧‧second link

82c‧‧‧third link

82d‧‧‧fourth link

83a‧‧‧First gas body unit

9‧‧‧Running device

Claims (10)

A pneumatically driven lower limb gait rehabilitation training system, comprising: an exoskeleton rehabilitation device, comprising a first hip joint mechanism, the first hip joint mechanism is provided with a first hip joint outer cylinder block at one end And a second hip joint outer cylinder block, the first hip joint outer cylinder block and the second hip joint outer cylinder frame are assembled with a first pneumatic device, and the first hip joint mechanism group is provided with a first a second hip joint mechanism, the second hip joint mechanism is provided with a hip joint cylinder frame, and the first joint cylinder device is coupled to a first cylinder device, the first cylinder device is coupled to a processing unit, the first The hip joint mechanism is provided with a one-legged frame body, and the thigh rack system is provided with a knee joint mechanism, and the thigh frame body and the knee joint mechanism are pivotally provided with a first actuator, and the knee joint mechanism is pivoted with a small leg a second actuator, the second actuator is coupled to the processing unit, and the knee joint mechanism and the lower leg system pivot a third actuator a three actuator coupled to the processing unit, the first actuator and The second actuator is pivotally provided with a second cylinder device, the calf frame system is provided with an ankle joint mechanism, and the ankle joint mechanism and the third actuator are combined with a second pneumatic device, the ankle joint mechanism A pedal device is provided. The pneumatically driven lower limb gait rehabilitation training system according to claim 1, wherein the first hip joint mechanism is pivotally provided with a first contactless angle sensor, and the knee joint mechanism is pivoted. a second contactless angle sensor, wherein the ankle joint mechanism is pivotally disposed with a third contactless angle sensor, the first contactless angle sensor, the second contactless angle sensor, and the third The contact angle sensor extracts the signal of the angular displacement of the first hip joint mechanism, the knee joint mechanism and the ankle joint mechanism during a walking cycle, thereby transmitting each signal to the processing a unit, and the exoskeleton rehabilitation device of the first actuator, the second actuator, and the third actuator is controlled by the processing unit. The pneumatically driven lower limb gait rehabilitation training system according to claim 1, wherein the thigh frame body further comprises a thigh length adjusting mechanism, and the calf frame body further comprises a calf length adjusting mechanism for adjusting Its length. The pneumatically driven lower limb gait rehabilitation training system according to claim 1, wherein the exoskeleton rehabilitation device is further provided with at least one fixing component. The pneumatically driven lower limb gait rehabilitation training system of claim 2, wherein the processing unit is further coupled to a remote monitoring device, the remote monitoring device receiving the first contactless angle sensing The second non-contact angle sensor and the third non-contact angle sensor extract signals of the hip joint mechanism, the knee joint mechanism and the angular displacement of the ankle joint mechanism during the walking period. The pneumatically driven lower limb gait rehabilitation training system according to claim 1, further comprising a supporting device corresponding to one end of the exoskeleton rehabilitation device, the supporting device being provided with at least one pulley, the pulley The pulleys are symmetrically disposed at one end of the supporting device, and the pulleys are respectively coupled by a transmission unit, and one end of the transmission unit is respectively provided with a cylinder mechanism and a pressure reducing valve, and the cylinder mechanism is respectively provided with the decompression mechanism. a valve, and one end of the cylinder mechanism is disposed at one end of the transmission unit by a cylinder fixing plate, the other end of the cylinder mechanism is fixed to one end of the supporting device, and the other end of the transmission unit is connected with a balance bar And the balance bar is provided with a suspension device at one end, and the suspension device is provided with a set of joints. The pneumatically driven lower limb gait rehabilitation training system according to claim 6, wherein the suspension device further comprises a tension sensor for sensing gravity to stabilize the center of gravity of the support device. The pneumatically driven lower limb gait rehabilitation training system according to claim 6, wherein the bottom end of the support device is further provided with at least one mobile device and at least one fixing device, wherein the support device can be moved by the movement The device is moved horizontally, and the support device can be positioned by the fixing device. The pneumatically driven lower limb gait rehabilitation training system according to claim 6, wherein the support device further comprises a gravity center adjustment device, wherein the gravity center adjustment device is assembled by a first adjustment plate body. In the supporting device, the first adjusting plate body is pivotally provided with a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, and the first connecting rod and the first adjusting plate system are pivoted a first gas body unit, and the second link and the first adjustment plate system pivot a second gas body unit, and the first adjustment plate system is configured by the first link and the second link The rod, the third link and the fourth link set a second adjustment plate body, and the second adjustment plate system is disposed on the second hip joint mechanism. The pneumatically driven lower limb gait rehabilitation training system of claim 1, wherein the processing unit is further coupled to a running device, and the running device is further provided with a speed sensor.