TWM510736U - Multi-functional lower limb step rehabilitation and walk assistance machine device - Google Patents

Description

Multifunctional lower limb gait rehabilitation and walking aid device

This creative department provides a multi-functional lower limb gait rehabilitation and walking aid device, especially for the lower limbs to be rehabilitated by the exoskeleton rehabilitation device. In addition, the indoor navigation aid can be used for the user to move to the selected one. Anchor point.

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 lower limb gait rehabilitation and assisting machine, 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, the purpose of this creation is to solve the inconvenience caused by the weight reduction method used in rehabilitation, and to know that the walking assist robot has too little weight loss help, lacks the problem of maintaining the gait balance function, and allows the patient to move indoors. The operation of the real world helps to relieve the sense of discomfort and improve the motivation and effectiveness of rehabilitation.

To achieve the above objectives, our creator provides a multifunctional lower limb gait rehabilitation and walking aid device comprising: an exoskeleton rehabilitation device having a hip joint mechanism, the hip joint The mechanism pivots a thigh frame, the hip mechanism pivots a first actuator, and the thigh frame system pivots a second actuator, the first actuator and the second actuator A hip joint linear actuator is pivoted, the hip joint linear actuator is coupled to a processing unit, and the thigh rack body is provided with a knee joint mechanism at one end of the hip joint mechanism, and the knee joint mechanism is used to connect the thigh joint a frame body and a calf frame body, wherein the knee joint mechanism pivots a third actuator, and the shank system pivots a fourth actuator, the third actuator and the fourth actuator A knee joint linear actuator is pivoted, the knee joint linear actuator is coupled to the processing unit, and the calf frame body is provided with an ankle joint mechanism at one end of the knee joint mechanism, and the ankle joint mechanism is connected to the calf frame body And a sole support, the sole support a foot length adjusting mechanism for adjusting a length of the sole support, the hamper system pivoting a fifth actuator, and the fifth actuator pivoting an ankle joint linear actuator, the ankle joint linear The actuator pivots the sole support at one end of the fifth actuator, and the ankle joint linear actuator is coupled to the processing unit.

According to the above-mentioned multifunctional lower limb gait rehabilitation and walking aid device, wherein the hip joint mechanism and the thigh frame system pivot a first contactless angle sensor sensing angle, the knee joint mechanism and the calf The frame system pivots a second contactless angle sensor sensing angle, and the ankle joint mechanism and the sole support base pivot a third contactless angle sensor sensing angle, the first contactless angle sense The detector, the second non-contact angle sensor and the third non-contact angle sensor extract signals of the angular displacement of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism during the walking cycle, thereby Each signal is transmitted to the processing unit, and the first actuator, the second actuator, the third actuator, the fourth actuator, and the fifth actuator are controlled by the processing unit The exoskeleton rehabilitation device.

According to the above-mentioned multifunctional lower limb gait rehabilitation and walking aid device, wherein the exoskeleton rehabilitation device is coupled to a supporting device, and the top end is provided with at least one suspension device, and the suspension device is at least A tension sensor senses gravity to stabilize the center of gravity of the support device, the suspension device is provided with a set of joints, the sleeve portion is provided with a reflective element, and the support device and the exoskeleton rehabilitation device are respectively provided There is a bracket, and the bottom end of the supporting device is further provided with at least one moving device, and the moving device is driven by a motor driver, and the supporting device is further provided with a riding unit corresponding to the exoskeleton rehabilitation device, and the supporting device is further provided. There is an armrest, and the armrest is provided with at least one pressure sensor, and the pressure sensor is coupled to the processing unit.

According to the above-mentioned multifunctional lower limb gait rehabilitation and walking aid device, wherein the exoskeleton rehabilitation device is respectively provided with at least one fixing component, and the thigh frame body is provided with a thigh length adjusting mechanism, and the calf frame body A small leg length adjustment mechanism is provided.

According to the multi-functional lower limb gait rehabilitation and walking aid device, the processing unit is further coupled to an indoor navigation assisting device, and the indoor navigation assisting device is further coupled to a navigation positioning system, the navigation positioning system is coupled Connected to the processing unit, the navigation and positioning system is provided with a virtual map corresponding to the actual operating environment, and the exoskeleton rehabilitation device is positioned at a position of the virtual map, and the navigation and positioning system is configured by setting an positioning point. The processing unit controls the exoskeleton rehabilitation device to move to the positioning point, and the indoor navigation assisting device is further coupled to a front searchlight.

The multi-functional lower limb gait rehabilitation and assisting device according to the above, wherein the indoor navigation assisting device is coupled to a remote monitoring device, wherein the remote monitoring device remotely monitors the position of the indoor navigation assisting device, and The remote monitoring device receives the first contactless angle sensor, the second contactless angle sensor, and the third contactless angle sensor system to capture the hip joint mechanism and the knee joint during a walking period The mechanism and the signal of the angular displacement of the ankle joint mechanism.

According to the above-mentioned multifunctional lower limb gait rehabilitation and walking device, wherein the processing unit is further coupled to a camera and a laser range finder, the processing unit is provided by the camera and the laser range finder The object motion trajectory is analyzed to detect the relative position of the front obstacle, and the exoskeleton rehabilitation device is controlled to evade the front obstacle during the movement.

According to the multi-functional lower limb gait rehabilitation and assisting device, the indoor navigation assisting device is further coupled to a display unit, and the display unit correspondingly presents the virtual map, the location point and the positioning point, and the navigation The positioning system can be located at the virtual map planning location to the positioning point path and displayed on the display unit.

According to the multi-functional lower limb gait rehabilitation and assisting device, the indoor navigation assisting device is further coupled to an ultrasonic sensor, and the processing unit determines a distance value by the ultrasonic sensor. To control the moving speed of the indoor navigation aid.

The multi-function lower limb gait rehabilitation and assisting device according to the above, wherein the ultrasonic sensor is further coupled to a filter, wherein the filter detects the distance value detected by the ultrasonic sensor The filter filters noise.

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 user can support the weight by the suspension device and the bracket mounted on the waist, so as to reduce the bearing capacity of the user's legs, reduce the burden of supporting the weight of the lower limbs, and allow the lower limbs to walk under different weight loads. Rehabilitation training, as well as the user's legs can be more freely exercised during training to achieve the best training results.

2. Compared with the conventional gait rehabilitation training system, this creation is equipped with an exoskeleton rehabilitation device, with a hip joint linear actuator, a knee joint linear actuator and an ankle joint linear actuator and the first The single-leg exoskeleton rehabilitation device consisting of a hybrid drive of the actuator, the second actuator, the third actuator, the fourth actuator and the fifth actuator greatly improves safety, comfort and reliability Practicality and ease of operation, and fewer drive components are required, the mechanism is simple and not complicated, and easy to repair. In addition, the exoskeleton rehabilitation device allows the user to walk directly on the flat ground without using a treadmill. Furthermore, the information of the state of each joint and the feet in the user's walking cycle is captured, and the coordination between the creation and the user is controlled, so that the user can obtain the best practice gait training, thereby achieving the correct walking gait, Balance the effect of control.

3. In the operation process of the present invention, in addition to the normal gait-type rehabilitation mode, the user can also choose to operate in the vertical rehabilitation mode by the riding unit, and the riding unit can be operated by the user. Height is adjusted to the appropriate height.

4. The indoor navigation aid device installed in this creation can be used as a guide vehicle, or through the navigation unit positioning menu in the corresponding actual operating environment through the menu of the display unit, the exoskeleton rehabilitation device is located at the virtual map location and wants to go. Positioning point, and the processing unit plans a route of the position point in the virtual map to move to the positioning point for the user to clearly understand the orientation of the body, and further, the indoor navigation aid device is processed by the ultrasonic sensor by the processing unit, and Filtering the distance detected by the ultrasonic sensor to filter noise, thereby estimating the forward speed and steering speed of the safe operation, and detecting the front by the processing unit by the camera and the ultrasonic sensor laser range finder Obstacle for timely avoidance to avoid collision. In addition, the indoor navigation aid transmits the speed information, coordinates and position on the map to the remote monitoring device in a wireless area network, so that the user can instantly monitor the instantaneous position remotely. When walking at night, because the socket is provided with a reflective element, the safety of the user during walking at night can be improved and used. Searchlight can open top, in order to observe the state of the forward movements.

This creation is a multi-functional lower limb gait rehabilitation and walking aid device, its implementation means, characteristics and its efficacy. Several preferred and feasible embodiments are described in detail below with reference to the drawings. And agree with this creation.

First, please refer to Figures 1 to 5, which is a multifunctional lower limb gait rehabilitation and walking aid device, which includes:

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 processing unit 141, and the hip joint mechanism 11 and the thigh rack 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 processing 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 processing 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 processing 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 processing 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 device 33, the moving device 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 processing unit 141;

An indoor navigation assisting device 5 is coupled to the processing unit 141. The indoor navigation assisting device 5 is further coupled to a navigation and positioning system 51. The navigation and positioning system 51 is coupled to the processing unit 141. The navigation and positioning system 51 is coupled to the processing unit 141. A virtual map 511 corresponding to an actual operating environment (not shown) is disposed, and the exoskeleton rehabilitation device 1 is positioned at a position 511a of the virtual map 511, and the navigation and positioning system 51 is configured by setting an positioning point 511b. The processing unit 141 controls the exoskeleton rehabilitation device 1 to move to the positioning point 511b. The processing unit 141 is further coupled to a camera 52 and a laser range finder 53. The processing unit 141 is coupled to the camera 52. And the laser range finder 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 indoor navigation assisting device 5 is further coupled. An ultrasonic sensor 54 is connected to the processing unit 141 to measure a distance value by the ultrasonic sensor 54 to control the moving speed of the indoor navigation assisting device 5, and the indoor navigation assisting device 5 is more coupled. Connect a front 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 device 6 is coupled to the indoor navigation assisting device 5, the remote monitoring device 6 remotely monitoring the position of the indoor navigation assisting device 5, and the remote monitoring device 6 receives the first contactless device The angle sensor 15a, the second contactless angle sensor 15b and the third contactless angle sensor 15c capture the hip joint mechanism 11, the knee joint mechanism 16, and the ankle joint mechanism 18 during the walking cycle. The amount of angular displacement; and

A display unit 7 is coupled to the indoor navigation assisting device 5, and the display unit 7 correspondingly presents the virtual map 511, the location point 511a, and the positioning point 511b, and the navigation positioning system 51 can be planned on the virtual map 511. The path from the position point 511a to the positioning point 511b is displayed on the display unit 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 creation 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 recover the lower limbs under different weight loads, and the supporting device 3 is provided with the moving device 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 processing unit 141 analyzes the speed and direction of the walking, thereby controlling the movement of the indoor navigation assisting device 5, and the user 8 can adjust the height of the armrest 35 according to requirements. Furthermore, the user 8 can select the holding armrest 35 to be normal. In addition to the gait-type rehabilitation method, 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 for the user 8 to select. Rehabilitation of lower limbs in a variety of ways.

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 processing unit and controls the commands of the joints to guide the user to perform the gait trajectory movement of the reconstruction. Therefore, in the active training mode of the exoskeleton rehabilitation device 1, the master-slave tracking control method 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 the structure of the one-leg exoskeleton rehabilitation device 1, which greatly improves safety, comfort, reliability, practicability and convenience of operation, and requires fewer driving components, which makes the creation mechanism 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 to the remote monitoring device 6 by the signal processing unit 141 of the joint and the two-legged state during the walking period of the user 8 and is monitored by the remote monitoring device 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 indoor navigation assisting device 5 to navigate through the menu of the display unit 7 to locate the exoskeleton in the virtual map 511 corresponding to the actual operating environment by the navigation and positioning system 51. The rehabilitation device 1 is located at a position 511a of the virtual map 511, and the navigation and positioning system 51 causes the processing unit 141 to control the exoskeleton rehabilitation device 1 to move to the positioning point 511b by setting the positioning point 511b, so that the user 8 can clearly understand In the orientation, the display unit 7 correspondingly presents the virtual map 511, the position 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 be turned on at night. The front searchlight 55 is used to observe the state of the forward movement. For example, after the user 8 selects the positioning point 511b, the indoor navigation assisting device 5 starts the navigation function after confirming the target, and the display unit 7 first plans the walking path for the user 8 to walk. The process trajectory to the positioning point 511b is smooth. In addition, by installing the remote monitoring device 6, the speed information, the coordinates and the position on the map in the path are transmitted via the wireless communication system (for example). : GPRS) instantly transmitted to the remote monitoring device 6, whereby the remote monitoring position 8 of the user.

Referring to FIG. 4 to FIG. 6, the display unit 7 and the remote monitoring device 6 can be modified as the indoor navigation assisting device 5 moves, for example, map replacement, correction of map parameters, and correction of coordinates to match the new map. The indoor navigation aid 5 moves to a new space, and the user 8 can still clearly understand the orientation in the new environment.

Referring to FIG. 5 and FIG. 6, the indoor navigation assisting device 5 can also be used as a guide blind vehicle. The user 8 can use the indoor navigation assisting device 5 to pass the camera unit 52 and the laser ranging by the processing unit 141. The instrument 53 and the 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 during the movement The front obstacle is evaded, and the distance value detected by the ultrasonic sensor 54 installed behind the indoor navigation aid 5 is used. The processing unit 141 measures the distance value measured by the ultrasonic sensor 54. The distance between the user 8 and the indoor navigation assisting device 5 is controlled by the moving speed of the indoor navigation assisting device 5, and the area of the front environment and the distance between the user 8 and the indoor navigation assisting device 5 are outputted by the processing unit 141. The indoor navigation assisting device 5 controls the moving speed of the appropriate advancement. For example, when the user 8 is slower, the moving speed of the indoor navigation assisting device 5 is slowed down to match the pace of the user 8; When the pace of the 8 is faster, the indoor navigation assisting device 5 will accelerate the pace with the user 8; however, when the current space is narrow, although the user 8 is closer to the indoor navigation assisting device 5, it cannot accelerate or maintain a higher speed. And when the obstacle is encountered, the speed is adjusted and turned away from the obstacle in front to avoid the accident of collision; thereby, the moving speed of the indoor navigation assisting device 5 is mainly controlled according to the width of the front space and the distance between the rear user 8 Adjustments to match 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‧‧‧Exoskeleton rehabilitation device
11‧‧‧Hip joint mechanism
12‧‧‧Thigh frame
121‧‧‧Thigh length adjustment mechanism
13a‧‧‧First actuator
13b‧‧‧second actuator
13c‧‧‧third actuator
13d‧‧‧fourth actuator
13e‧‧‧ fifth actuator
14a‧‧‧Hip joint linear actuator
14b‧‧‧Knee joint linear actuator
14c‧‧‧ Ankle joint linear actuator
141‧‧‧Processing unit
15a‧‧‧First contactless angle sensor
15b‧‧‧Second contactless angle sensor
15c‧‧‧ third contactless angle sensor
16‧‧‧Knee joint mechanism
17‧‧‧Legs
171‧‧‧Leg length adjustment mechanism
18‧‧‧ Ankle joint mechanism
19‧‧‧foot support
191‧‧‧foot length adjustment mechanism
2‧‧‧Fixed components
3‧‧‧Support device
31‧‧‧suspension device
311‧‧‧Rally Sensor
32‧‧‧ Sockets
321‧‧‧Reflective components
33‧‧‧Mobile devices
34‧‧‧ ride components
35‧‧‧Handrails
351‧‧‧pressure sensor
4‧‧‧ bracket
5‧‧‧Indoor navigation aids
51‧‧‧Navigation and Positioning System
511‧‧‧virtual map
511a‧‧‧Location
511b‧‧‧Location
52‧‧‧ camera
53‧‧‧Laser rangefinder
54‧‧‧Ultrasonic sensor
541‧‧‧ filter
55‧‧‧Front searchlight
6‧‧‧ Remote monitoring device
7‧‧‧Display unit
8‧‧‧Users

The first picture is a three-dimensional diagram of the creation. Figure 2 is a schematic diagram of the movement of the handrail, support device and seating unit of the present creation. Figure 3 is a schematic diagram of the actuation of the exoskeleton rehabilitation device of the present invention. Fig. 4 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 5 is a block diagram of the navigation of this creation navigation. Fig. 6 is a schematic diagram showing the simulation planning path of the navigation positioning system by the display unit of the present creation.

1‧‧‧Exoskeleton rehabilitation device

11‧‧‧Hip joint mechanism

12‧‧‧Thigh frame

121‧‧‧Thigh length adjustment mechanism

13a‧‧‧First actuator

13b‧‧‧second actuator

13c‧‧‧third actuator

14a‧‧‧Hip joint linear actuator

15a‧‧‧First contactless angle sensor

15b‧‧‧Second contactless angle sensor

16‧‧‧Knee joint mechanism

17‧‧‧Legs

171‧‧‧Leg length adjustment mechanism

19‧‧‧foot support

191‧‧‧foot length adjustment mechanism

2‧‧‧Fixed components

3‧‧‧Support device

31‧‧‧suspension device

311‧‧‧Rally Sensor

32‧‧‧ Sockets

33‧‧‧Mobile devices

34‧‧‧ ride components

35‧‧‧Handrails

351‧‧‧pressure sensor

4‧‧‧ bracket

5‧‧‧Indoor navigation aids

52‧‧‧ camera

53‧‧‧Laser rangefinder

54‧‧‧Ultrasonic sensor

55‧‧‧Front searchlight

7‧‧‧Display unit

Claims (10)

A multifunctional lower limb gait rehabilitation and walking aid device comprises: an exoskeleton rehabilitation device, wherein the exoskeleton rehabilitation device is provided with a hip joint mechanism, the hip joint mechanism pivoting a thigh frame body, the hip joint The mechanism is pivoted with a first actuator, and the thigh frame system is pivotally provided with a second actuator, and the first actuator and the second actuator are pivotally disposed with a hip joint linear actuator. The hip joint linear actuator is coupled to a processing unit, and the thigh rack body is provided with a knee joint mechanism at one end of the hip joint mechanism for connecting the thigh rack body and a calf frame body, the knee joint The mechanism is pivotally disposed with a third actuator, and the lower leg system pivots a fourth actuator, and the third actuator and the fourth actuator pivot a knee joint linear actuator. The knee joint linear actuator is coupled to the processing unit, and the calf frame body is provided with an ankle joint mechanism at one end of the knee joint mechanism, the ankle joint mechanism connecting the calf frame body and a sole support seat, the sole support base a foot length adjustment mechanism to adjust the sole a length of the support, the lower leg system pivots a fifth actuator, and the fifth actuator pivots an ankle joint linear actuator, the ankle joint linear actuator opposite the fifth actuator The sole support is pivoted at one end, and the ankle joint linear actuator is coupled to the processing unit. The multifunctional lower limb gait rehabilitation and walking aid device according to claim 1, wherein the hip joint mechanism and the thigh frame system pivot a first contactless angle sensor sensing angle, the knee The joint mechanism and the shank system pivot a second non-contact angle sensor sensing angle, and the ankle joint mechanism and the sole support pedestal pivot a third non-contact angle sensor sensing angle, the first The non-contact angle sensor, the second non-contact angle sensor and the third non-contact angle sensor extract the angular displacement of the hip joint mechanism, the knee joint mechanism and the ankle joint mechanism during the walking cycle a signal for transmitting each signal to the processing unit, and controlling, by the processing unit, the first actuator, the second actuator, the third actuator, the fourth actuator, and the first The exoskeleton rehabilitation device of the five actuators. Multifunctional lower limb gait rehabilitation and walking machine as described in claim 1 or 2 The device, wherein the exoskeleton rehabilitation device is coupled to a support device, and the top end is provided with at least one suspension device, wherein the suspension device senses gravity by at least one tension sensor, thereby stabilizing the support device a center of gravity, the suspension device is provided with a set of joints, the sleeve portion is provided with a light reflecting element, and the support device and the exoskeleton rehabilitation device are respectively provided with a bracket, and the bottom end of the support device is further provided with at least one movement The device is a motor driver, the support device is further provided with a seating unit corresponding to the exoskeleton rehabilitation device, and the support device further comprises an armrest, and the armrest is provided with at least one pressure sensor, A pressure sensor is coupled to the processing unit. The multi-functional lower limb gait rehabilitation and walking aid device according to claim 1 or 2, wherein the exoskeleton rehabilitation device is respectively provided with at least one fixing component, and the thigh frame body is provided with a thigh length adjustment The mechanism, the calf frame body is provided with a calf length adjustment mechanism. The multi-functional lower limb gait rehabilitation and walking aid device according to the third aspect of the invention, wherein the processing unit is further coupled to an indoor navigation assisting device, the indoor navigation assisting device is further coupled to a navigation positioning system, The navigation and positioning system is coupled to the processing unit, and the navigation and positioning system is provided with a virtual map corresponding to the actual operating environment, and the exoskeleton rehabilitation device is positioned at a position of the virtual map, and the navigation and positioning system is set by An locating point, the processing unit controls the exoskeleton rehabilitation device to move to the positioning point, and the indoor navigation assisting device is further coupled to a front searchlight. The multi-functional lower limb gait rehabilitation and walking aid device according to claim 5, wherein the indoor navigation assisting device is coupled to a remote monitoring device, and the remote monitoring device remotely monitors the indoor navigation aid Positioning the device, and the remote monitoring device receives the first contactless angle sensor, the second contactless angle sensor, and the third contactless angle sensor system to capture the hip joint during the walking period The mechanism, the knee joint mechanism, and the signal of the angular displacement of the ankle joint mechanism. The versatile lower limb gait rehabilitation and assisting device according to claim 5, wherein the processing unit is further coupled to a camera and a laser range finder, the processing unit is configured by the camera and the camera The laser range finder analyzes the motion trajectory of the object to detect the relative position of the obstacle in front and control The exoskeleton rehabilitation device is configured to evade the obstacle during the movement. The multi-functional lower limb gait rehabilitation and walking aid device according to the fifth aspect of the invention, wherein the indoor navigation assisting device is further coupled to a display unit, wherein the display unit correspondingly presents the virtual map, the location point and the positioning Point, and the navigation positioning system can be located at the virtual map planning location to the positioning point path and displayed on the display unit. The multi-functional lower limb gait rehabilitation and walking aid device according to the seventh aspect of the invention, wherein the indoor navigation assisting device is further coupled to an ultrasonic sensor, wherein the processing unit is configured by the ultrasonic sensing The device determines a distance value to control the moving speed of the indoor navigation aid. The multi-function lower limb gait rehabilitation and walking aid device according to claim 9, wherein the ultrasonic sensor is further coupled to a filter, and the filter detects the ultrasonic sensor. The distance value filters noise through the filter.