TWI409055B - Exoskeleton type walking rehabilitation system for knee joint - Google Patents

Abstract

The invention discloses an exoskeleton type power-assisted walking rehabilitation system for lower limbs. The invention has a model-base system which controls a visual feedback device, a body weight support device, a foot power control device, and a treadmill device, and provides various modulate corresponding with different situation for patients who need walking rehabilitation.

Description

Knee exoskeleton walking rehabilitation equipment

The invention is a rehabilitation device, in particular a knee exoskeleton walking rehabilitation device.

In the development of rehabilitation equipment, wearable rehabilitation equipment has been introduced in recent years. In addition to monitoring physiological reactions, it can also be integrated with robot systems or computer systems to promote personal health and early detection of abnormal body information. . Taking the United States as an example, wearable rehabilitation equipment has gradually received attention and extensive application due to the aging of its population and the serious shortage of medical care robot systems and medical care manpower. In addition, rehabilitation and rehabilitation, behavioral treatment (Behavioral Therapy), and personalized care, health promotion (Wellness and Health Promotion), etc., need to combine rehabilitation equipment And communication technology to provide better rehabilitation medical assistance.

It is generally known that an important goal of health care is to continually improve the prevention of disease and the treatment and recovery of patients. Therefore, in the field of rehabilitation equipment, in order to promote human health, the research and development of robotics technology is in the ascendant, especially the robotic system can promote personal service and exercise training through physical interaction or social interaction, etc. Young people, the elderly, the physically and mentally handicapped, professional athletes, and amateurs in other fields may have potential application value.

Patients with lower body spasm can achieve walking by walking aids. For example, walking exercise can improve the physiological function of patients with lower extremities, improve the heart, lungs, intestines and urinary function of patients, and reduce the occurrence of hemorrhoids. It promotes blood circulation to the lower limbs of patients; there are many walking aids on the market, which are designed to help lower limb paralysis patients. For example, Cyberdyne has integrated innovative ideas from robotics technology to assist the disabled.

Since the disabled are the so-called "extreme users", it is difficult for the auxiliary products to meet the specific needs of the individual. However, the existing rehabilitation equipment in the market has not yet reached a complete integrated system, and it has not yet been fully To achieve a smart environment and interface that is easy for users to operate, it is highly desirable to develop new types of rehabilitation equipment to provide better assistance to those who need to recoil their lower limbs.

The main object of the present invention is to provide a knee joint exoskeleton walking rehabilitation device, which uses a main control unit to control a visual feedback device, a weight support device, an exoskeleton wearable lower limb drive device, and a sports wheel device to Choose between the various modules and choose the right combination to meet the different needs of users.

Another object of the present invention is to provide a knee joint exoskeleton walking rehabilitation device which uses a visual feedback device to obtain a gait parameter during walking, so that the user can grasp his own rehabilitation state by the visual feedback device.

Another object of the present invention is to provide a knee joint exoskeleton walking rehabilitation device which provides weight support using a weight support device according to the needs of the user's walking rehabilitation training, so that the user's legs are at different weights. Under load, perform walking rehabilitation training to achieve the best training results.

The invention relates to a knee joint exoskeleton walking rehabilitation device, which comprises: a main control unit having a processor and a plurality of signal receiving/transmission interfaces; a visual feedback device electrically connected to the main control unit, and a visual feedback device capable of displaying the user during operation Body walking condition; the weight support device is electrically connected to the main control unit, and the weight support device supports the user's body to reduce the weight of the body worn by the foot, and also prevents the user from falling due to instability of the lower limb; the exoskeleton wearable The lower limb driving device is electrically connected to the main control unit, the exoskeleton wearable lower limb driving device fixes the leg of the user, and has a linear motion component to form a rehabilitation exercise training mode of the wearable exoskeleton structure; and the electric wheel belt device electrical property The main control unit is connected to control the speed of the belt device with the main control unit.

Therefore, the advantages and spirit of the present invention will be further understood from the following detailed description of the invention.

The invention relates to a knee joint exoskeleton walking rehabilitation device, which can control the rehabilitation device in a modular manner to train the walking ability of the human lower limb. Please refer to FIG. 1 , which is a schematic structural diagram of a knee joint exoskeleton walking rehabilitation device according to an embodiment of the present invention.

The knee exoskeleton walking rehabilitation device as shown in FIG. 1 includes: the main control unit 10 has a processor and a plurality of signal receiving/transmitting interfaces (not shown); and the visual feedback device 11 is electrically connected to the main control unit. 10, which can display the gait condition of the user during operation; the weight support device 12 is electrically connected to the main control unit 10, which supports the user's body to reduce the body weight of the foot, and can also avoid the user's lower limbs Unstable and falling; the exoskeleton wearable lower limb driving device 13 is electrically connected to the main control unit 10, which fixes the user's leg portion, and has a plurality of sensing elements 131 that can sense the speed of the leg and the joint bending angle motion state; The sports wheel device 14 is electrically connected to the main control unit 10.

As shown in FIG. 1 , when the main control unit 10 is connected to a database module 15 for storing personal rehabilitation data for the user to use the rehabilitation mode, the main control unit 10 reads the rehabilitation data of the user, Different users choose the best mode of operation.

Please refer to FIG. 2 , which is a schematic diagram of a practical operation mechanism of a knee joint exoskeleton walking rehabilitation device according to another embodiment of the present invention. The main control unit 20, such as a general processor, has a plurality of signal receiving/transmitting interfaces for receiving/transmitting signals to devices in the rehabilitation device. The visual feedback device 21 is electrically connected to the main control unit 20 and can display the gait condition of the user during operation, which can be a display device (such as a liquid crystal display) or a display device having a user interface. The weight support device 22 is electrically connected to the main control unit 20 to support the body of the user, to reduce the weight of the body that the foot is subjected to, and to prevent the user from falling due to instability of the lower limbs. The exoskeleton wearable lower limb driving device 23 is electrically connected to the main control unit 20 to fix the leg of the user, and has a linear motion element 231 to form a rehabilitation exercise training mode of the wearable exoskeleton structure and a plurality of sensing elements (not shown) The sensor can sense the speed of the leg and the bending angle of the joint, and transmit the sensed information back to the main control unit 20. The sports belt device 24 is electrically connected to the main control unit 20, and the computer is used to control the program to control the gradient and speed of the moving belt device 24. The slope (about 1 degree to 15 degrees) and the speed (0 m/s to Movement state of 10 m/s).

Referring to Fig. 3, the detail of the exoskeleton wearable lower limb driving device 23 is shown. The exoskeleton wearable lower limb driving device 23 can provide a rehabilitation exercise training mode of the wearable exoskeleton structure, including the assist mode and the resistance mode, because the motor can generate a driving force when the linear motion element 231 has a motor ( That is, assisting), so that a power assist mode can be provided; and when the linear motion element 231 is equipped with a MR damper, the magnetorheological fluid damper generates a resistance, thereby providing a resistance mode. In the assist mode, the machine foot 232 can drive the human foot; in the resistance mode, the human foot drives the machine foot 232, so the user's leg can be trained by changing the damping of the magnetorheological fluid damper. Muscle strength. The plurality of sensing elements 233 are located in the exoskeleton wearable lower limb driving device 23, and the sensing element 233 has a gyroscope and an acceleration gauge, and the function thereof can sense the angle, angular velocity, linear velocity and linear acceleration of the hip joint and the knee joint. And transmitting the sensed information to the main control unit 20. Therefore, the plurality of sensing elements 233 can sense the sensing angle (not shown), the angular velocity (not shown), and the angular acceleration of the angular sensing element; and sense the linear velocity (not shown) at the linear velocity sensing component, A linear acceleration sensing element is also sensed for linear acceleration (not shown).

Fig. 4 is a schematic diagram showing the combination of module functions of the embodiment of Fig. 2. The main control unit 20 has a shutdown mode, a normal operation mode, and a user rehabilitation mode. The weight support device 22 has a closed mode, an immediate mode, and a non-instant mode. The exoskeleton wearable lower limb driving device 23 has a power control element that causes the exoskeleton wearable lower limb driving device 23 to have a closed mode, an assist mode, and a resistance mode. The visual feedback device 21 has an off mode and an on mode. The sports wheel device 14 has an auxiliary training mode and a passive training mode.

Still as shown in Fig. 4, according to the above, when the sports wheel device 14 is set in the assist training mode, there are 54 (3 × 3 × 3 × 2) combined modes. In one of the combined modes, the weight support device 22 is in the immediate mode, the exoskeleton wearable lower limb drive device 23 is in the assist mode, and when the visual feedback device 21 is in the on mode, the main control unit 20 can be used in the normal operation mode. The knee-assisted driving torque is provided while walking. The weight support device 22 instantly adjusts the support force, and the user is supported by the weight to reduce the load on the legs. At the same time, the visual feedback device 21 can also be used to instantly display the gait parameters and the audiovisual entertainment function.

As shown in FIG. 4, when the exoskeleton wearable lower limb driving device 23 is in the resistance mode, the knee joint needs more torque to overcome the resistance when the user walks, so that the muscles of the leg can be exercised. The exoskeleton wearable lower limb drive device 23 can provide various resistances to the user according to different needs, and can set several different resistances to suit different objects, including users who have never had lower limbs, athletes, or seniors. To young people.

In addition, as shown in FIG. 4, in one of the combined modes, the weight supporting device 22 is in the immediate mode, the exoskeleton wearing lower limb driving device 23 is in the assist mode, and the visual feedback device 21 is in the open mode, the main control unit 20 The user can perform the rehabilitation of the walking in the user rehabilitation mode, the weight supporting device 22 adjusts the supporting force in real time, and the main control unit 20 sets the walking state according to the user's condition, and the state can be the first set pre-set. Set the value, or the parameters that the user stores in the database module after each use. Simultaneous use of the visual feedback device 21 can obtain the gait parameters during walking by connecting the main control unit 20, so that the user can grasp his own rehabilitation state by being an audible feedback device.

According to the above, the present invention uses the main control unit 20 to control the visual feedback device 11, the weight support device 12, the exoskeleton wearable lower limb drive device 13, and the sports wheel device 14 to select a suitable one between different modules. Combine to match users with different needs.

Please refer to FIG. 5, which is a schematic diagram of the module function combination of the embodiment of FIG. The main control unit 20 has a shutdown mode, a normal operation mode, and a user rehabilitation mode. The weight support device 22 has a closed mode, an immediate mode, and a non-instant mode. The visual feedback device 21 has an off mode and an on mode.

Still as shown in Fig. 5, according to the above, when the sports wheel device 14 is set to the passive training mode, there are 18 (3 × 3 × 2) combination modes. In one of the combined modes, the weight support device 22 is in the immediate mode, and when the visual feedback device 21 is in the open mode, the main control unit 20 can perform walking rehabilitation for the user in the user rehabilitation mode, and the weight support device 22 To adjust the support force in real time, the main control unit 20 sets the parameters of the walking rehabilitation training according to the user's condition, and the parameters may be preset preset values, or are stored in the database module 15 by the user after each use. parameter. At the same time, the visual feedback device 21 can be used to obtain the gait parameters during walking by connecting the main control unit 20, so that the user can grasp the user of the rehabilitation state by the visual feedback device 21.

According to the above, the present invention uses the visual feedback device 11, 21 to obtain the gait parameters during walking, so that the user can grasp his own training information of the rehabilitation state by the auditory feedback device 11, 21, so that the perception can conform to the self. The physical reality of the body, in turn, can achieve a perfect human-machine combination with the machine. The weight support device 12, 22 can also be used to provide weight support according to the user's walking rehabilitation training requirements, so that the user's legs can perform walking rehabilitation training under different weight loads to achieve the best training effect.

In an embodiment, the main control unit 10, 20 and the visual feedback device 11, 21 of the present invention can be an integrated computer, such as a tablet computer, and the user can directly view the digital content while operating the main screen. Control unit 10.

The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention; all other equivalent changes or modifications which are not departing from the spirit of the present invention should be included in the following. Within the scope of the patent application.

10, 20. . . Main control unit

11, 21. . . Visual feedback device

12, 22. . . Weight support device

13,23. . . Exoskeleton wearable lower limb drive

131, 233. . . Inductive component

14, 24. . . Sports wheel device

15. . . Database module

231. . . Linear motion element

232. . . Machine foot

1 is a schematic structural view of a knee joint exoskeleton walking rehabilitation device according to an embodiment of the present invention.

2 is a schematic view of a knee joint exoskeleton walking rehabilitation device according to another embodiment of the present invention.

3 is a schematic view of a knee joint exoskeleton walking rehabilitation device according to an embodiment of the present invention.

FIG. 4 is a schematic diagram of a combination of function of a module according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of a combination of function of a module according to another embodiment of the present invention.

10. . . Main control unit

11. . . Visual feedback device

12. . . Weight support device

13. . . Exoskeleton wearable lower limb drive

131. . . Inductive component

14. . . Sports wheel device

15. . . Database module

Claims (8)

A knee joint exoskeleton walking rehabilitation device comprises at least: a main control unit having a processor and a plurality of signal receiving/transmitting interfaces, the main control unit having a normal operation mode and a user rehabilitation a database module, the database module is coupled to the main control unit for storing a personal rehabilitation data for the main control unit to read the personal rehabilitation data, and selecting an optimal operation mode for a user; a visual feedback device electrically connected to the main control unit, the visual feedback device can display a physical walking condition of the user during operation, the visual feedback device has an instant display gait parameter and an audiovisual entertainment function a weight supporting device electrically connected to the main control unit, the weight supporting device supporting the user's body to reduce the weight of the body worn by the foot, and avoiding the user being unstable due to the lower limb Falling, wherein the weight support device has a weight sensing element that can measure the weight of the user; The limb drive device has a plurality of sensing elements for sensing an angular velocity of the hip joint and the knee joint and a linear acceleration, the sensing element comprising: a gyroscope; and an accelerometer The sensing element transmits one of the sensed information to the main control unit, the exoskeleton wearable lower limb driving device is electrically connected to the main control unit, and the exoskeleton wearable lower limb driving device fixes the a user's leg, and the exoskeleton wearable lower limb driving device provides a rehabilitation exercise training mode; and a sports wheel belt device that utilizes a computer with a control program to control a slope and a speed, A gradient and a speed can be simulated, and the sports wheel device is electrically connected to the main control unit, and the main control unit controls the speed of the belt device. The device of claim 1, wherein the rehabilitation exercise training mode comprises a boost mode and a resistance mode. The apparatus of claim 2, wherein the assist mode is formed by a motor providing the assist. The apparatus of claim 2, wherein the resistance mode is formed by a magnetorheological damper providing the resistance. The device of claim 1, wherein the sports wheel device has an auxiliary training mode and a passive training mode. The device of claim 1, wherein the visual feedback device is selected from the group consisting of a computer and a tablet. The apparatus of claim 1, wherein the slope is about 1 degree to 15 degrees. The apparatus of claim 1, wherein the speed is from about 0 m/s to about 10 m/s.