TWM508319U - Navigation aid for rehabilitation machine - Google Patents

Description

Navigation aid for rehabilitation machine

The present invention relates to a navigation aid for a rehabilitation machine, and more particularly to a navigation aid for a user to move to a selected location.

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: stroke, spinal cord injury, cerebral palsy or impaired brain function, multiple sclerosis, damage to the central nervous system caused by Parkin's disease factors, and also caused varying degrees of motor dysfunction in patients' limbs. In severe cases, symptoms of full or partial hemiplegia may occur. At the same time, injuries to the nerves or upper limbs/lower limbs are also increasing due to traffic accidents. However, the lower limb walking function is an important indicator of mobility. It is necessary to ensure normal living independently, so most 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 the patient, which in turn seriously affects the ability to act, the ability to perceive the environment, and the quality of life. The theory of rehabilitation medicine and clinical trials show that patients with correct surgery and medication are correct. Scientific rehabilitation training plays an important role in the recovery and improvement of motor 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. Related medical research shows that although damaged nerve cells are not regenerative, nerve tissue can regain function by functional recombination or compensation, that is, the brain has plasticity characteristics, which are shown in animals and humans to be specific to limbs. Function for active or passive repetitive correct gait training It can stimulate the proprioceptors to change the central nervous map, and promote the plasticity of the brain and spinal cord to re-learn the walking function. However, most of the current rehabilitation treatments rely on manual labor, and the rehabilitation staff and patients have to spend a lot of time. With physical strength, the efficiency and effectiveness of rehabilitation training are severely limited, and the equipment of rehabilitation medical care is relatively simple, which cannot meet the needs of patients' progressive and focused rehabilitation.

With the development of intelligent 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 The training of multi-functional limb rehabilitation training system has become one of the urgent problems to be solved in modern rehabilitation medicine and treatment. Therefore, rehabilitation robots have emerged as the times require and provide important medical evidence. The rehabilitation robot is an important branch of medical robots. Its research integrates rehabilitation medicine, biomechanics, mechanical mechanics, materials mechanics, mechanics, electronics, computer science and robotics. The difference between rehabilitation robots and industrial robots is that they must be in direct contact with the human body, and The patient works in the same working space to make the patient and the rehabilitation training device perform an overall coordinated movement. The rehabilitation robot is controlled by a computer, and the device has a corresponding sensor and safety system, which can be operated according to different patients. The current situation automatically adjusts the training parameters to achieve the best rehabilitation effect, therefore, Health Robot helps patients re-learn and improve rehabilitation of power and effectiveness of the training action 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 weight reduction method used in rehabilitation is the most common walking in the water and the use of walking sticks and crutches. There is a swimming pool in the water. The general public does not have a swimming pool, so it is extremely inconvenient for the rehabilitation of patients; The booster device only transfers the weight of the lower limbs to the shoulder joint. The shoulder joint carries additional load and is prone to fatigue, resulting in short training time and easy gait abnormality. The balance adjustment function is easy to cause the patient to fall and injured. In addition, the conventional walking assist robot has the problem of too little weight reduction and lack of maintaining the gait balance function. The hardware equipment is bulky and must be limited to the fixed space and location. operating.

In view of this, the creator specially researched and improved the navigation aids, and improved the above problems with a better design, and after a long period of research and development and continuous testing, the creation of this creation began.

Therefore, this creation is to solve the real-time rehabilitation operation in which the user has to move indoors, and it is also impossible to navigate to the destination to be reached by the navigation device.

In order to achieve the above objective, the creator provides a navigation aid for a rehabilitation machine, comprising: a navigation aid device coupled to a positioning system, the positioning system is provided with a simulated map corresponding to the actual operating environment. And located at the starting point of one of the simulated maps.

The navigation aid of the rehabilitation machine according to the above, wherein the positioning system is further coupled to a control unit.

According to the navigation aid of the rehabilitation machine described above, the positioning system controls the navigation unit to move to the positioning point by setting an positioning point.

The navigation aid of the rehabilitation machine according to the above, wherein the navigation aid further comprises at least one moving component.

The navigation aid of the rehabilitation machine according to the above, wherein the control unit is further coupled to a photographing device and a laser ranging device, wherein the control unit analyzes the object by the photographing device and the laser ranging device The motion trajectory detects the relative position of the obstacle in front and controls the navigation aid to evade the obstacle during the movement.

The navigation aid of the rehabilitation machine according to the above, wherein the navigation aid is further coupled to a searchlight.

The navigation aid of the rehabilitation machine according to the above, wherein the navigation aid is coupled to a remote monitoring system, and the remote monitoring system remotely monitors the position of the navigation aid.

According to the navigation aid of the rehabilitation machine described above, the navigation aid is a guide blind guide.

According to the navigation aid of the rehabilitation machine, the navigation aid is further coupled to a display device, and the display device correspondingly presents the simulated map, the starting point and the positioning point, and the positioning system is The simulated map is planned to start from the anchor point path and displayed on the display device.

The navigation aid of the rehabilitation machine according to the above, wherein the display device is a touch screen player.

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

1. The navigation aid device of the creation device can be used as a guide vehicle, or through the menu of the display device, by using the positioning system in the corresponding actual operating environment, the starting point of the user and the positioning point to be visited, and by The control unit plans to simulate the route from the starting point to the positioning point in the map, so that the user can clearly understand the orientation of the body.

2. With the navigation aid of the creation, the speed information, coordinates and position on the map are transmitted to the remote monitoring system, so that the user's instantaneous position can be monitored remotely and instantly.

3. The present invention uses the control unit to couple the photographic device and the laser ranging device to analyze the motion trajectory of the object to detect the relative position of the obstacle in front, thereby enabling the control navigation aid to evade the obstacle during the movement, thereby Improve the security of the user by moving the navigation aid.

4. By creating a searchlight, the user can turn on the searchlight when walking at night to enhance the safety of the user during nighttime walking in order to observe the state of the forward movement.

This creation is a navigation aid for a rehabilitation machine. Its implementation methods, features and functions are described in detail in the following examples, and are explained in detail below with reference to the text. .

First, please refer to Figures 1 to 5, which is a navigation aid for a rehabilitation machine, which comprises:

An exoskeleton rehabilitation device 1 is provided with a hip joint mechanism 11 pivotally provided with a thigh frame body 12, and the thigh frame body 12 is provided with a thigh length adjusting mechanism 121. The hip joint mechanism 11 is pivotally provided with a first actuator 13a, and the thigh frame body 12 is pivotally provided with a second actuator 13b. The first actuator 13a and the second actuator 13b are pivoted. a hip joint linear actuator 14a, the hip joint linear actuator 14a is coupled to a control unit 141, and the hip joint mechanism 11 and the thigh frame body 12 are pivotally provided with a first contactless angle sensor 15a. Measuring the angle, the thigh frame body 12 is provided with a knee joint mechanism 16 at one end of the hip joint mechanism 11 for connecting the thigh frame body 12 and a calf frame body 17, and the calf frame body 17 is provided with a a calf length adjusting mechanism 171, the knee joint mechanism 16 is pivotally provided with a third actuator 13c, and the calf frame body 17 is pivotally provided with a fourth actuator 13d, the third actuator 13c and the fourth The actuator 13d is pivotally connected to a knee joint linear actuator 14b, and the knee joint linear actuator 14b is coupled to the control unit 1 41. The knee joint mechanism 16 and the calf frame body 17 are pivotally disposed with a second contactless angle sensor 15b. The calf frame body 17 is provided with an ankle joint mechanism 18 at one end of the knee joint mechanism 16. The ankle joint mechanism 18 is connected to the calf frame body 17 and a sole support seat 19, and the sole support seat 19 is provided with a foot length adjustment mechanism 191 for adjusting the length of the sole support seat 19, and the calf frame body 17 is pivoted. A fifth actuator 13e is disposed, and the fifth actuator 13e is pivotally provided with an ankle joint linear actuator 14c. The ankle joint linear actuator 14c is pivoted relative to one end of the fifth actuator 13e. The ankle joint linear actuator 14c is coupled to the control unit 141. The ankle joint mechanism 18 and the sole support base 19 are pivotally disposed with a third contactless angle sensor 15c to sense an angle. The first contactless angle sensor 15a, the second contactless angle sensor 15b, and the third contactless angle sensor 15c capture the hip joint mechanism 11 and the knee joint mechanism 16 during the walking cycle. And the signal of the angular displacement of the ankle joint mechanism 18, so as to transmit each signal to the control unit 1 41, and the first actuator 13a, the second actuator 13b, the third actuator 13c, the fourth actuator 13d, and the fifth actuator 13e are controlled by the control unit 141. The exoskeleton rehabilitation device 1;

At least one fixing element 2 is attached to the exoskeleton rehabilitation device 1;

A support device 3 is coupled to the exoskeleton rehabilitation device 1. The top end of the support device 3 is provided with at least one suspension device 31, and the suspension device 31 senses gravity by at least one tension sensor 311. The center of gravity of the support device 3 is stabilized. The suspension device 31 is provided with a set of connecting portions 32. The sleeve portion 32 is provided with a light reflecting element 321 , and the supporting device 3 and the exoskeleton rehabilitation device 1 are respectively provided with a bracket. 4, and the bottom end of the supporting device 3 is further provided with at least one moving component 33, the moving component 33 is driven by a motor driver, and the supporting device 3 is further provided with a riding unit 34 corresponding to the exoskeleton rehabilitation device 1, and The support device 3 is further provided with an armrest 35, the armrest 35 is provided with at least one pressure sensor 351, the pressure sensor 351 is coupled to the control unit 141;

A navigation assisting device 5 is coupled to the control unit 141. The navigation assisting device 5 is further coupled to a positioning system 51. The positioning system 51 is coupled to the control unit 141. The positioning system 51 is provided with a corresponding actual operation. a simulation map 511 of an environment (not shown), and positioning the exoskeleton rehabilitation device 1 at a starting point 511a of the simulation map 511, and the positioning system 51 causes the control unit 141 to set an anchor point 511b. Controlling the exoskeleton rehabilitation device 1 to move to the positioning point 511b, the control unit 141 is further coupled to a photographing device 52 and a laser ranging device 53 by the photographing device 52 and the laser The distance measuring device 53 analyzes the motion trajectory of the object to detect the position of the front obstacle, and controls the exoskeleton rehabilitation device 1 to evade the front obstacle during the movement, and the navigation assisting device 5 is further coupled with a sense of ultrasonic The controller 54 is controlled by the ultrasonic sensor 54 to determine a moving speed of the navigation aid 5, and the navigation aid 5 is further coupled to a searchlight 55;

A filter 541 is coupled to the ultrasonic sensor 54. The filter 541 filters the distance detected by the ultrasonic sensor 54 via the filter 541.

A remote monitoring system 6 is coupled to the navigation aid 5, the remote monitoring system 6 remotely monitors the location of the navigation aid 5, and the remote monitoring system 6 receives the first contactless angle The detector 15a, the second contactless angle sensor 15b and the third contactless angle sensor 15c capture the angular displacement of the hip joint mechanism 11, the knee joint mechanism 16, and the ankle joint mechanism 18 during the walking cycle. The number of signals; and

A display device 7 is coupled to the navigation aid device 5, and the display device 7 correspondingly presents the simulation map 511, the starting point 511a, and the positioning point 511b, and the positioning system 51 can be planned from the simulated map 511. The path from the starting point 511a to the positioning point 511b is displayed on the display device 7.

Therefore, referring to FIG. 1 and FIG. 2, after the user 8 is inserted into the socket portion 32, the suspension device 31 is used to transmit the Z-axis direction through the rod motor, and the rod motor is designed in a single branch. The system can withstand 120 kg. Therefore, the rod motor is relatively safe for other screws to make Z-axis displacement, and the displacement is judged according to the height and weight of the user 8, for example, the height of the user 8 is 180. The weight of the centimeters is 85 kg, and the support device 3 is firstly set at the height of the user 8, and then the human body gravity is sensed by the tension sensor 311, and since the present invention is actively activated, 10 to 20 kg is reserved. As the weight of the lower limbs, instead of fully supporting the human body's gravity, the tension sensor 311 needs to display the value of 65 to 75 kilograms, but it is not limited thereto, and the tension can be adjusted according to the user's lower limb needs. The tension parameter of the detector 311 is used for the user 8 to lower the lower limbs under different weight loads, and the supporting device 3 is provided with the moving component 33, so that the training can be performed by walking rehabilitation to achieve the best training effect. To achieve a good purpose of rehabilitation, in addition The bracket 4 is installed on the waist of the user 8, and the waist waist can be adjusted according to requirements. The weight of the lower limb can be supported by the bracket 4, thereby facilitating the use, and further, the sleeve portion 32 is reflective. The element 321 thus enhances the safety of the user 8 when walking at night.

Referring to FIG. 1 and FIG. 2 again, the user 8 can hold the armrest 35 by the normal gait rehabilitation method, and the user 8 walks the message from the pressure sensor 351 of the armrest 35 and transmits the message. The control unit 141 analyzes the speed and direction of the walking, thereby controlling the movement of the navigation assisting device 5, and the user 8 can adjust the height of the armrest 35 according to requirements. Further, the user 8 can select the holding armrest 35 to perform the normal step. In addition to the rehabilitation mode of the state, the adjustable seating unit 34 can also be used to operate in the vertical rehabilitation mode, and the seating unit 34 can adjust the height according to the needs of the user 8, so that the user 8 can select a plurality of types. Way to rehabilitate the lower limbs.

Referring to FIG. 3, the user 8 can rehabilitate in the normal gait mode by the exoskeleton rehabilitation device 1, and according to the gait trajectory of the normal person set by the system, the corresponding gait parameters, such as step size and step. The speed parameter is outputted by the control unit and controls the commands of the joints to guide the user to perform the gait movement of the reconstruction. Therefore, in the active training mode of the exoskeleton rehabilitation device 1, the control method of the master-slave tracking is adopted, wherein The wide range of motion of the hip joint mechanism 11 and the knee joint mechanism 16 is achieved by the hip joint linear actuator 14a, the knee joint linear actuator 14b, and the ankle joint linear actuator 14c, and for small range motion. For example, the dorsiflexion and plantar flexion of the ankle joint mechanism 18, the intubation and abduction of the hip joint mechanism 11, the first actuator 13a, the second actuator 13b, the third actuator 13c, and the fourth actuation are employed. The device 13d and the fifth actuator 13e are realized by the hip joint linear actuator 14a, the knee joint linear actuator 14b, and the ankle joint linear actuator 14c with the first actuator 13a, the second Actuator 13b, third actuator 13c, fourth actuator 13d and fifth The device 13e is mixed and driven to form a single-leg exoskeleton rehabilitation device 1, which greatly improves safety, comfort, reliability, practicability and ease of operation, and requires fewer driving components, so that the mechanism of the present invention is simple Conducive to the assembly, in addition, the exoskeleton rehabilitation device 1 can be used by the user 8 to repeat the training movement in the correct gait, without walking on the flat ground without the use of a treadmill, to approximate the gait trajectory of the human body walking on the ground. Thereby, the exercise training of each joint, the active and passive self-adjustment of the leg muscles and the rehabilitation training of the nerve function are realized, and further, the first contactless angle sensor 15a and the second contactless angle sensor 15b can be utilized. The third contactless angle sensor 15c transmits the signal of each joint and two feet in the walking period of the user 8 to the remote monitoring system 6 by the control unit 141, and is monitored by the remote monitoring system 6 The actuator 13a, the second actuator 13b, the third actuator 13c, the fourth actuator 13d, and the fifth actuator 13e drive the coordination of the exoskeleton rehabilitation device 1 with the movement state of the human body, ,user Were adjusted according to the needs of thigh-length adjustment mechanism 121, length 171 and foot support seat 19 of the leg length adjustment mechanism for users to get the best of 8 rehabilitation training to improve the quality of the user function rehabilitation of 8 damaged leg.

Continuing to refer to FIG. 4 and FIG. 5, the user 8 can use the navigation aid device 5 to navigate through the menu of the display device 7 to locate the exoskeleton rehabilitation by the positioning system 51 in the simulated map 511 corresponding to the actual operating environment. The device 1 is at the starting point 511a of the simulated map 511, and the positioning system 51 controls the control unit 141 to move the exoskeleton rehabilitation device 1 to the positioning point 511b by setting the positioning point 511b, so that the user 8 can clearly understand the body. The orientation of the display device 7 corresponding to the simulated map 511, the starting point 511a and the positioning point 511b for the user 8 to expand the range of motion, not limited to the rehabilitation room, and further, the user 8 can turn on the searchlight at night. 55, in order to observe the state of the forward movement, for example, after the user 8 selects the positioning point 511b, the navigation aid 5 starts the navigation function after confirming the target, and the display device 7 first plans the walking path for the user 8 to walk to the positioning point. The 511b process trajectory is smooth. In addition, by installing the remote monitoring system 6, the speed information, coordinates and position on the map are instantly transmitted to the remote via a wireless communication system (for example, GPRS). 6 monitoring system whereby remote monitoring of the user's location 8.

Referring to Figures 4 to 6, the display device 7 and the remote monitoring system 6 can be modified as the navigation aid 5 moves, for example, map replacement, correction of map parameters, and correction of coordinates to match the new map, enabling navigation The auxiliary device 5 is moved to the new space, and the user 8 can still clearly understand the orientation in the new environment.

Referring to FIG. 5 and FIG. 6 , the navigation aid 5 can also be used as a guide vehicle. The user 8 can use the navigation aid 5 to control the unit 141 by transmitting the camera 52 and the laser ranging device. 53 and an infrared sensor (not shown) take a sequence of continuous images of the front environment area, analyze the motion track of the object to detect the position of the front obstacle, and control the exoskeleton rehabilitation device 1 to dodge during the movement The front obstacle, in addition, the distance value detected by the ultrasonic sensor 54 installed behind the navigation aid 5, the control unit 141 controls the navigation by the distance value measured by the ultrasonic sensor 54. The moving speed of the auxiliary device 5 is used to obtain the distance between the user 8 and the navigation assisting device 5, and the area of the front environment and the distance between the user 8 and the navigation assisting device 5 are output to the navigation assisting device 5 by the control unit 141. Controlling the moving speed of the appropriate advancement, for example, when the user 8 is slower, the moving speed of the navigation aid 5 will be slowed down to match the pace of the user 8; and when the user 8 is faster, the navigation assisting device Setting 5 will accelerate the pace with the user 8; however, when the current space is narrow, although the user 8 is closer to the navigation aid 5, it cannot accelerate or maintain a higher speed, and adjusts the speed and turns away from the front when encountering an obstacle ahead. Obstacle, in order to avoid the accident of collision; thereby, the moving speed of the navigation aid 5 is mainly adjusted according to the width of the front space and the distance between the rear user 8 to meet the needs and safety of the user 8 walking. .

Looking at the above, the technical means exposed in this creation is not only unprecedented, but also achieves the intended purpose and effect, so it is both novel and progressive. It is a new type of patent law that is called the whole. In terms of structure, it has indeed met the statutory requirements of the Patent Law and has filed a new type of patent application in accordance with the law.

However, the above descriptions are only preferred embodiments of the present invention, and should not be used as a limitation to the scope of implementation of the creation, that is, the equivalent changes and modifications made by the applicant in accordance with the scope of the patent application and the contents of the specification should still be Belonging to the scope covered by this creation patent.

[this creation]
1‧‧‧Rehabilitation device
11‧‧‧Hip joint mechanism
12‧‧‧Thigh skeleton
121‧‧‧Thigh adjustment mechanism
13a‧‧‧First actuator
13b‧‧‧second actuator
13c‧‧‧third actuator
13d‧‧‧fourth actuator
13e‧‧‧ fifth actuator
14a‧‧‧Hip joint actuator
14b‧‧‧Knee joint actuator
14c‧‧‧ Ankle joint actuator
141‧‧‧Control unit
15a‧‧‧First angle sensor
15b‧‧‧Second angle sensor
15c‧‧‧3rd angle sensor
16‧‧‧Knee joint mechanism
17‧‧‧Leg skeleton
171‧‧‧Leg adjustment mechanism
18‧‧‧ Ankle joint mechanism
19‧‧‧ Support
191‧‧‧foot adjustment mechanism
2‧‧‧Fixed devices
3‧‧‧Support institutions
31‧‧‧suspension mechanism
311‧‧‧Rear sensing components
32‧‧‧ Sockets
321‧‧‧Reflection Department
33‧‧‧Mobile components
34‧‧‧ rides
35‧‧‧Handrail components
351‧‧‧ Pressure sensing components
4‧‧‧Support components
5‧‧‧Navigation aids
51‧‧‧ Positioning System
511‧‧‧simulated map
511a‧‧‧ starting point
511b‧‧‧Location
52‧‧‧Photographing device
53‧‧‧Laser distance measuring device
54‧‧‧Ultrasonic sensing components
541‧‧‧Filter components
55‧‧‧Searchlights
6‧‧‧ Remote monitoring system
7‧‧‧Display device
8‧‧‧Users

Fig. 1 is a block diagram showing the pivoting of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism of the present invention. Figure 2 is a three-dimensional diagram of the creation. Figure 3 is a schematic diagram of the operation of the armrest component, the supporting mechanism and the riding device of the present invention. Figure 4 is a schematic diagram of the operation of the rehabilitation device of the present invention. Figure 5 is a block diagram of the navigation aid of the present invention for navigation walking. Figure 6 is a schematic diagram showing the simulation planning path of the positioning system of the display device of the present invention.

141‧‧‧Control unit

5‧‧‧Navigation aids

51‧‧‧ Positioning System

52‧‧‧Photographing device

53‧‧‧Laser distance measuring device

54‧‧‧Ultrasonic sensing components

541‧‧‧Filter components

6‧‧‧ Remote monitoring system

7‧‧‧Display device

Claims (10)

A navigation aid for a rehabilitation machine, comprising: a navigation aid device coupled to a positioning system, the positioning system is provided with a simulated map corresponding to an actual operating environment, and is located at a starting point of the simulated map. The navigation aid of the rehabilitation machine of claim 1, wherein the positioning system is further coupled to a control unit. The navigation aid of the rehabilitation machine of claim 2, wherein the positioning system controls the navigation aid to move to the positioning point by setting an positioning point. The navigation aid of the rehabilitation machine of claim 1, wherein the navigation aid further comprises at least one moving component. The navigation aid of the rehabilitation machine of claim 2, wherein the control unit is further coupled to a photographing device and a laser ranging device, wherein the control unit is coupled to the laser device and the laser device The distance measuring device analyzes the motion trajectory of the object to detect the relative position of the front obstacle, and controls the navigation assisting device to evade the obstacle during the moving process. The navigation aid of the rehabilitation machine of claim 1, wherein the navigation aid is further coupled to a searchlight. The navigation aid of the rehabilitation machine of claim 1, wherein the navigation aid is coupled to a remote monitoring system, and the remote monitoring system remotely monitors the position of the navigation aid. The navigation aid of the rehabilitation machine of claim 1, wherein the navigation aid is a guide blind. The navigation aid of the rehabilitation machine of claim 2, wherein the navigation aid is further coupled to a display device, wherein the display device correspondingly presents the simulated map, a starting point, and an anchor point, and the The positioning system can be displayed at the starting point of the simulated map to the positioning point path and displayed on the display device. The navigation aid of the rehabilitation machine of claim 9, wherein the display device is a touch screen player.