WO2017215014A1 - 一种基于传感驱动一体化的髋关节康复辅助装置 - Google Patents

一种基于传感驱动一体化的髋关节康复辅助装置 Download PDF

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Publication number
WO2017215014A1
WO2017215014A1 PCT/CN2016/086593 CN2016086593W WO2017215014A1 WO 2017215014 A1 WO2017215014 A1 WO 2017215014A1 CN 2016086593 W CN2016086593 W CN 2016086593W WO 2017215014 A1 WO2017215014 A1 WO 2017215014A1
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WO
WIPO (PCT)
Prior art keywords
hip joint
seat
motor
thigh
rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/086593
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English (en)
French (fr)
Inventor
王东海
李国民
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Guangdong Sygole Intelligence Technology Co Ltd
Huazhong University of Science and Technology
Original Assignee
Guangdong Sygole Intelligence Technology Co Ltd
Huazhong University of Science and Technology
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Application filed by Guangdong Sygole Intelligence Technology Co Ltd, Huazhong University of Science and Technology filed Critical Guangdong Sygole Intelligence Technology Co Ltd
Publication of WO2017215014A1 publication Critical patent/WO2017215014A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1118—Determining activity level
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/088—Hip

Definitions

  • the invention belongs to the field of rehabilitation medical instruments and power assisting devices, and particularly relates to a hip joint rehabilitation auxiliary device based on sensor driving integration.
  • the existing rehabilitation training for the lower limbs of the human body is mainly to make an appointment with a physical therapist in the hospital rehabilitation department to carry out the physical movement of the hand.
  • the technical problem to be solved by the present invention is to provide a sensor-driven integrated hip joint rehabilitation auxiliary device which is convenient to install and more scientifically provides hip joint rehabilitation assisted movement.
  • the present invention adopts the following technical solutions:
  • a hip joint rehabilitation auxiliary device based on sensor driving integration comprising a seat device, further comprising a connecting device, a hip joint driving mechanism, a sensing device and a lower limb rod device, wherein the seat device is snapped on the connecting device, the hip joint
  • the driving mechanism is fixedly connected with the connecting device and the sensing device, and the lower limb rod device is movably attached to the sensing device;
  • the sensing device comprises a synchronous transmission plate, a hip joint shaft, an inertial measurement module, a magnet and a Hall sensor, and a hip joint shaft
  • One end is fixedly mounted in the synchronous drive plate, and the other end is movably mounted in the connecting device.
  • the magnet is embedded in the hip joint shaft in the radial direction of the hip joint axis, and the Hall sensor is installed in the connecting device, and the synchronous drive plate and the hip are assembled.
  • Joint drive mechanism connection, inertial measurement module installed in the lower limb rod device
  • the hip joint driving mechanism comprises a motor, a motor bearing, a torque sensor, a timing belt pulley and a timing belt.
  • the motor bearing is fixed on the connecting device, the motor is mounted on the motor bearing, and the synchronous pulley is set on the output shaft of the motor.
  • the torque sensor is set on the output shaft of the motor, and the timing belt is set on the timing pulley and the timing belt is fixedly connected with the synchronous transmission board.
  • the timing belt is coupled to the timing pulley in an engaged manner.
  • the lower limb rod device comprises a hip joint leaflet, a loose-leaf web, a thigh rod and a thigh strap, the hip joint movable sheet is fixedly connected with the synchronous drive plate, the hip joint leaflet is provided with a rotating shaft, and the loose-leaf connecting upper end movable set is arranged on the rotating shaft.
  • the thigh rod is connected with the loose-leaf connecting plate, the thigh strap is mounted on the thigh rod, and the inertial measurement module is installed in the thigh rod.
  • the thigh rod is composed of a thigh upper rod and a lower leg lower rod.
  • the upper end of the upper leg of the thigh is connected with the loose-leaf connecting plate, and the lower part of the upper leg of the leg is inserted into the lower leg of the thigh and fixedly connected.
  • the connecting device comprises a motor upper connecting seat and a motor lower connecting seat, wherein the motor upper connecting seat is mounted on the lower motor connecting seat, the hip joint shaft is movably mounted in the lower connecting seat of the motor, and the Hall sensor is mounted under the motor. Inside the seat.
  • the connecting device further includes a bicycle seat plate coupled to the seat device, the bicycle seat plate being provided with a connecting hole.
  • the seat device comprises a human waist strap, a seat strap, a seat and a beam, the seat strap is fixedly connected to the seat at one end, and the other end is fixedly connected with the waist strap of the human body, the seat is mounted on the beam, the beam It is installed between the motor upper connector and the motor lower connector.
  • the bicycle seat plate is mounted on the beam.
  • the beneficial effects of the invention are: when a healthy human body walks, rides a bicycle or moves in a family seat or a medical wheelchair, the hips of the left and right hip joints are sensed in the sagittal plane and the frontal plane, and the hip joints in the human health period are established.
  • the gait database provides a scientific basis for rehabilitation assistance in the treatment of hip joints in humans.
  • the hip sagittal motion gait of the healthy side of the hemiplegia patient is monitored in real time, and the half gait is delayed based on the healthy side gait.
  • the patient's disability side hip joint is driven periodically, and the healthy side hip gait is replicated to the disability side hip joint to achieve gait coordination of both lower limbs.
  • the torque sensor controls and detects the motor driving torque of the patient's disability side hip joint, and senses and evaluates the patient's rehabilitation effect.
  • the device can be placed on the vertical beam of the bicycle seat or on the beam of the family seat, the medical wheelchair, etc., and can be conveniently and safely locked and unloaded to provide an auxiliary movement of the disabled side of the patient with hemiplegia of the lower limb.
  • Figure 1 is a schematic perspective view of the present invention
  • FIG. 2 is a schematic structural view of an exploded state of the present invention after the seat device is removed;
  • FIG. 3 is a schematic perspective view of a bicycle seat plate of the present invention.
  • the present invention discloses a hip joint rehabilitation assisting device based on sensor drive integration, including a seat device 1, a connecting device 2, a hip joint driving mechanism 3, a sensing device 4, and a lower limb.
  • the lever device 5 is mounted on the connecting device 2, the hip joint driving mechanism 3 is connected and fixed to the connecting device 2 and the sensing device 4, and the lower limb rod device 5 is movably attached to the sensing device 4.
  • the sensing device 4 includes a synchronous transmission plate 44, a hip joint shaft 41, a magnet 43 and a Hall sensor 42.
  • One end of the hip joint shaft 41 is fixedly mounted in the synchronous transmission plate 44, and the other end is movably mounted in the connecting device 2.
  • the magnet 43 is fitted in the hip joint shaft 41 in the radial direction of the hip joint shaft 41, the Hall sensor 42 is mounted in the connecting device 2, and the synchronous transmission plate 44 is coupled to the hip joint driving mechanism 3.
  • the hip joint shaft 41 rotates in the connecting device 2, thereby driving the synchronous driving plate to rotate. Since the magnet is embedded in the hip joint shaft, the magnet rotates with the rotation of the hip joint shaft, and the Hall sensor is disposed in the region close to the magnet.
  • the Hall sensor is used to detect the magnitude of the magnetic induction when the magnet rotates to measure the sagittal rotation angle of the hip joint.
  • the sensing device 4 also includes an inertial measurement module 45 that is mounted within the lower limb rod assembly 5. The inertial measurement module is used to measure the rotation angle of the frontal plane of the hip joint.
  • the hip joint driving mechanism 3 includes a motor 32, a motor support 31, a torque sensor 33, a timing pulley 35 and a timing belt 34.
  • the motor support 31 is fixed on the connecting device 2, and the motor 32 is mounted on the motor support 31.
  • the timing pulley 35 is fitted on the output shaft of the motor 32
  • the torque sensor 33 is fitted on the output shaft of the motor 32
  • the timing belt 34 is fitted on the timing pulley 35
  • the timing belt 34 is fixedly coupled to the synchronous transmission plate 44.
  • the timing belt 34 is coupled to the timing pulley 35 in an engaged manner.
  • the timing pulley 35 and the torque sensor 33 are sequentially fitted on the output shaft of the motor 32 from the outside to the inside.
  • the torque sensor is used to detect the output torque of the motor.
  • Timing belt One end of the timing belt is fixedly attached to the synchronous transmission plate.
  • the timing belt drives the synchronous transmission plate to rotate with the hip joint axis as the rotation center, so that the synchronous transmission plate rotates by a certain angle.
  • the torque sensor controls and detects the motor driving torque of the patient's disability side hip joint, and senses and evaluates the patient's rehabilitation effect.
  • the lower limb rod device 5 includes a hip joint flap 51, a leaflet connecting plate 52, a thigh rod and a thigh strap 55.
  • the hip joint flap 51 is fixedly coupled to the synchronous drive plate 44, and the hip joint flap 51 is specifically mounted and fixed to the synchronous drive plate 44.
  • the bottom surface of the hip flap 51 is provided with a rotating shaft.
  • the upper end of the loose-leaf connecting plate 52 is arranged on the rotating shaft, the thigh rod is connected with the loose-leaf connecting plate 52, the thigh strap 55 is mounted on the thigh rod, and the inertia measuring module 45 is mounted on the thigh.
  • the thigh rod is composed of a thigh upper rod 53 and a thigh lower rod 54.
  • the upper end of the thigh upper rod 53 is connected to the leaflet connecting plate 52, and the lower leg upper rod 53 is inserted into the lower leg lower rod 54 and fixedly connected.
  • the inertial measurement unit is usually the upper port position of the rod on the thigh.
  • the leaflet connecting plate rotates relative to the rotating shaft, thereby driving the movement of the lower limb rod device and the inertial measurement module in the direction of the frontal plane.
  • the connecting device 2 includes a motor upper connecting seat 21 and a motor lower connecting seat 22, the motor upper connecting seat 21 is mounted on the motor lower connecting seat 22, and the hip joint shaft 41 is movably mounted in the lower motor connecting seat 22, Hall
  • the sensor 42 is mounted in the lower motor connecting seat 22, and a bicycle seat plate 23 fixedly connected to the seat device 1.
  • the bicycle seat plate 23 is provided with a connecting hole 231 through which the bicycle can be conveniently arranged. It is convenient to lock and disassemble the beam on the vertical beam or the beam of the family seat, medical seat and other equipment.
  • a through hole for mounting the hip joint shaft and a card slot for mounting the Hall sensor can be opened on the motor lower connector 22 for easy installation.
  • the synchronizing drive plate 44 is disposed within the lower motor mount 22, and the synchronizing drive plate 44 is coupled to the lower motor mount 22 via the hip joint shaft 41.
  • the synchronous transmission plate 44 is oscillated in the sagittal plane, that is, in the front-rear direction, by the transmission of the timing belt 34. Since one end of the hip joint shaft 41 is fixedly mounted on the synchronous transmission plate 44, and the other end is movably mounted in the motor lower connection seat 22,
  • the hip joint shaft 41 is rotatable within the motor lower connecting seat 22, and a through hole may be provided in the motor lower connecting seat 22 in advance, and the hip joint shaft is movably mounted in the through hole.
  • a mounting slot can also be provided on the lower base of the motor to mount the Hall sensor card in the mounting slot.
  • the seat device 1 includes a human waist strap 11 , a seat strap 12 , a seat 13 and a cross beam 14 .
  • One end of the seat strap 12 is fixedly connected to the seat 13 , and the other end is fixedly connected with the human waist strap 11 .
  • the seat 13 is mounted on a beam 14 which is mounted between the motor upper connector 21 and the motor lower connector 22.
  • the bicycle seat panel 23 is fixedly mounted on the beam 14.
  • the sensing device and the lower limb rod device are respectively symmetrically disposed, respectively, in conformity with the left thigh and the right thigh of the human body.
  • the invention utilizes the motor and various sensors to form an integrated structural design, realizes better control, and helps rehabilitation training.
  • the bicycle seat plate is mounted on a corresponding beam of a bicycle vertical beam, a family seat, a medical seat, etc., using a connection hole on the bicycle seat plate. It can be installed and removed more easily.
  • the human leg strap is tied to the person's leg, and the person's foot passes through the thigh strap, which is tied to the person's thigh, thereby assembling the device of the present invention with the human body.
  • the device of the present invention can be directly tied to the human body without being connected to a bicycle, a family seat or a medical seat or the like.
  • the thigh swings back and forth, and the motor outputs a suitable torque according to the amplitude of the swing.
  • the motor When the motor is running, the synchronous pulley rotates, and the synchronous pulley drives the synchronization.
  • the belt drive drives the synchronous drive plate to swing back and forth with the hip joint axis as the central axis, and the torque sensor detects the output torque of the motor in real time.
  • the magnet radially embedded in the hip joint shaft also rotates, and the Hall sensor detects the magnetic induction intensity when the magnet rotates, thereby measuring the sagittal rotation angle of the hip joint and the inertial measurement in the thigh rod.
  • the module retrieves the rotation angle of the hip joint surface with the back and forth swing of the thigh rod, thereby establishing a hip gait database during human health, and providing a scientific basis for rehabilitation assistance when the hip joint is sick.
  • the Hall sensor is also used to monitor the hip sagittal motion gait of the healthy side of the hemiplegia patient in real time, using inertial measurement.
  • the module monitors the rotation angle of the frontal plane of the hip in real time, and uses the healthy side gait to delay the movement of the patient's disability side hip according to the delayed half gait cycle, and replicates the hip gait of the healthy side to the hip joint of the disabled side. Achieve gait coordination between the lower limbs.
  • the torque sensor controls and detects the motor driving torque of the patient's disability side hip joint, and senses and evaluates the patient's rehabilitation effect.

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Abstract

一种基于传感驱动一体化的髋关节康复辅助装置，包括座椅装置（1）、连接装置（2）、髋关节驱动机构（3）、传感装置（4）和下肢杆装置（5），座椅装置（1）卡装在连接装置（2）上，髋关节驱动机构（3）与连接装置（2）和传感装置（4）连接固定，下肢杆装置（5）与传感装置（4）活动装接，传感装置（4）包括同步传动板（44）、髋关节轴（41）、磁铁（43）和霍尔传感器（42），髋关节轴（41）一端固定安装在同步传动板（44）内、另一端活动装设在连接装置（2）内，磁铁（43）沿髋关节轴（41）径向方向嵌装在该髋关节轴（41）内，霍尔传感器（42）安装在连接装置（2）内，同步传动板（44）与髋关节驱动机构（3）连接。本装置能够为下肢偏瘫患者提供行走、自行车、家庭座椅、医疗轮椅等康复训练方式，利用患者的健康侧下肢步态为残障侧下肢提供步态康复辅助运动。

Description

一种基于传感驱动一体化的髋关节康复辅助装置
技术领域
本发明属于康复医疗器械和助力器械领域，尤其涉及一种基于传感驱动一体化的髋关节康复辅助装置 。
背景技术
随着社会老龄化的加剧，下肢髋关节肌肉萎缩病人和髋关节偏瘫患者不断增多，患者康复训练、正常行走的需求强烈。同时，由于日常交通事故的频发，下肢瘫痪病人的数量不断增多，髋关节置换术后等运动康复任务日益严重。现有的人体下肢髋关节康复辅助训练主要是预约理疗师在医院康复科凭个人经验进行手把手的肢体运动。这种康复方式：一方面，时间、地点限制很大，仅限于病床上或者双杠手扶训练，工作效率低，劳动强度大，医疗成本高，不适合大规模临床应用；另一方面，理疗师个人经验的主观性较大，每次康复的动作重复度较低，患者个体的行走习惯考虑不足，没有前期正常行走和训练康复的历史数据库可以参考，康复方法并不科学。然而与行走困难所不同，一些下肢偏瘫患者在自行车上能够比较正常地骑行，很多下肢偏瘫患者也更倾向于在家庭式的座椅上活动或者在医疗轮椅上进行康复运动。
发明内容
本发明要解决的技术问题是提供一种安装方便，更加科学地提供髋关节康复辅助运动的基于传感驱动一体化的髋关节康复辅助装置。
为了解决上述技术问题，本发明采取以下技术方案：
一种基于传感驱动一体化的髋关节康复辅助装置，包括座椅装置，还包括连接装置、髋关节驱动机构、传感装置和下肢杆装置，座椅装置卡装在连接装置上，髋关节驱动机构与连接装置和传感装置连接固定，下肢杆装置与传感装置活动装接；所述传感装置包括同步传动板、髋关节轴、惯性测量模块、磁铁和霍尔传感器，髋关节轴一端固定安装在同步传动板内、另一端活动装设在连接装置内，磁铁沿髋关节轴径向方向嵌装在该髋关节轴内，霍尔传感器安装在连接装置内，同步传动板与髋关节驱动机构连接，惯性测量模块装设在下肢杆装置内
所述髋关节驱动机构包括电机、电机支座、扭矩传感器、同步带轮和同步带，电机支座固定在连接装置上，电机安装在电机支座上，同步带轮套装在电机的输出轴上，扭矩传感器套装在电机的输出轴上，同步带套装在同步带轮上且该同步带与同步传动板固定连接。
所述同步带与同步带轮之间以啮合方式连接。
所述下肢杆装置包括髋关节活页、活页连接板、大腿杆和大腿绑带，髋关节活动页与同步传动板固定连接，髋关节活页内装设有转轴，活页连接板上端活动套装在该转轴上，大腿杆与活页连接板连接，大腿绑带安装在大腿杆上，惯性测量模块安装在大腿杆内。
所述大腿杆由大腿上杆和大腿下杆组成，大腿上杆上端与活页连接板连接，腿上杆下部插装入大腿下杆内并固定连接。
所述连接装置包括电机上连接座和电机下连接座，电机上连接座安装在电机下连接座上，髋关节轴活动装设在该电机下连接座内，霍尔传感器安装在该电机下连接座内。
所述连接装置还包括与座椅装置连接的自行车座板，该自行车座板上设有连接孔。
所述座椅装置包括人体腰部绑带、座椅绑带、座椅和横梁，座椅绑带一端与座椅固定连接、另一端与人体腰部绑带固定连接，座椅安装在横梁上，横梁安装在电机上连接座和电机下连接座间，自行车座板安装在横梁上。
本发明的有益效果为：当健康人体行走、骑自行车或者在家庭座椅、医疗轮椅上运动时，感知左右侧髋关节在矢状面和额状面的摆动角度，建立人体健康时期的髋关节步态数据库，为人体髋关节患病时提供康复辅助的科学依据。当偏瘫患者行走、骑自行车或者在家庭座椅、医疗轮椅上康复训练时，实时监测偏瘫患者健康侧的髋关节矢状面运动步态，以此健康侧步态为依据延时半个步态周期驱动患者残障侧髋关节，将健康侧的髋关节步态复制给残障侧的髋关节，实现两侧下肢的步态协调。扭矩传感器控制、检测患者残障侧髋关节的电机驱动力矩，感知、评价患者的康复效果。同时，此装置可以架在自行车座椅的竖直梁上或者家庭座椅、医疗轮椅等梁上，并方便、安全地锁紧和卸下，提供下肢偏瘫患者残障侧的辅助运动。
附图说明
附图1为本发明立体结构示意图；
附图2为本发明去掉座椅装置后的分解状态结构示意图；
附图3为本发明自行车座板的立体结构示意图。
具体实施方式
为了便于本领域技术人员的理解，下面结合附图对本发明作进一步的描述。
如附图1～3所示，本发明揭示了一种基于传感驱动一体化的髋关节康复辅助装置，包括座椅装置1、连接装置2、髋关节驱动机构3、传感装置4和下肢杆装置5，座椅装置1卡装在连接装置2上，髋关节驱动机构3与连接装置2和传感装置4连接固定，下肢杆装置5与传感装置4活动装接。
所述传感装置4包括同步传动板44、髋关节轴41、磁铁43和霍尔传感器42，髋关节轴41一端固定安装在同步传动板44内、另一端活动装设在连接装置2内，磁铁43沿髋关节轴41径向方向嵌装在该髋关节轴41内，霍尔传感器42安装在连接装置2内，同步传动板44与髋关节驱动机构3连接。髋关节轴41在连接装置2内转动，从而带动同步传动板转动，由于磁铁是嵌装在髋关节轴内，因此，磁铁跟着髋关节轴的转动而转动，霍尔传感器设置在靠近磁铁的区域，霍尔传感器用于检测磁铁转动时的磁感应强度大小从而测量髋关节矢状面旋转角度。传感装置4还包括惯性测量模块45，该惯性测量模块45装设在下肢杆装置5内。该惯性测量模块用于测量髋关节额状面旋转角度。
所述髋关节驱动机构3包括电机32、电机支座31、扭矩传感器33、同步带轮35和同步带34，电机支座31固定在连接装置2上，电机32安装在电机支座31上，同步带轮35套装在电机32的输出轴上，扭矩传感器33套装在电机32的输出轴上，同步带34套装在同步带轮35上且该同步带34与同步传动板44固定连接。同步带34与同步带轮35之间以啮合方式连接。同步带轮35、扭矩传感器33从外到内依次套装在电机32的输出轴上。扭矩传感器用于检测电机的输出力矩。同步带一端与同步传动板固定装接，当同步带轮转动时，同步带带动同步传动板以髋关节轴为转动中心进行转动，使得同步传动板转动一定角度。扭矩传感器控制、检测患者残疾侧髋关节的电机驱动力矩，感知和评价患者的康复效果。
所述下肢杆装置5包括髋关节活页51、活页连接板52、大腿杆和大腿绑带55，髋关节活页51与同步传动板44固定连接，髋关节活页51具体是安装固定在同步传动板44的底面，髋关节活页51内装设有转轴，活页连接板52上端活动套装在该转轴上，大腿杆与活页连接板52连接，大腿绑带55安装在大腿杆上，惯性测量模块45安装在大腿杆内。大腿杆由大腿上杆53和大腿下杆54组成，大腿上杆53上端与活页连接板52连接，大腿上杆53下部插装入大腿下杆54内并固定连接。惯性测量单元通常是卡装在大腿上杆的上端口位置。活页连接板相对于转轴转动，从而带动下肢杆装置和惯性测量模块在额状面方向的运动。
所述连接装置2包括电机上连接座21和电机下连接座22，电机上连接座21安装在电机下连接座22上，髋关节轴41活动装设在该电机下连接座22内，霍尔传感器42安装在该电机下连接座22内，以及与座椅装置1连接固定的自行车座板23，该自行车座板23上设有连接孔231，通过该连接孔231，可以方便的与自行车的竖直梁上卡装或者家庭座椅、医疗座椅等设备的梁上，锁紧和拆卸都较为方便。可在电机下连接座22上开设一个用于安装髋关节轴的通孔以及一个用于安装霍尔传感器的卡槽，方便安装。同步传动板44设在电机下连接座22内，并且该同步传动板44通过髋关节轴41与电机下连接座22连接。同步传动板44受到同步带34的传动在矢状面即前后方向的摆动，由于髋关节轴41一端固定安装在同步传动板44上、另一端则是活动安装在电机下连接座22内，因此髋关节轴41可在电机下连接座22内转动，可预先在电机下连接座22内设置一个通孔，髋关节轴活动安装在该通孔中。同样可在电机下连接座上设置一个安装槽，将霍尔传感器卡装在该安装槽中。
所述座椅装置1包括人体腰部绑带11、座椅绑带12、座椅13和横梁14，座椅绑带12一端与座椅13固定连接、另一端与人体腰部绑带11固定连接，座椅13安装在横梁14上，横梁14安装在电机上连接座21和电机下连接座22间。自行车座板23固定安装在横梁14上。
另外，在本发明中，传感装置和下肢杆装置分别对称设置两个，与人体左大腿和右大腿相符合。
本发明利用电机和各个传感器，形成一体化结构设计，实现更好的控制，有助力康复训练。
本发明中，当人体行走时，只需要将人体腰部绑带绑在人体腰部上，大腿绑带绑在人的大腿上即可。当人骑自行车或者家庭座椅、医疗座椅等装置时，则将自行车座板安装在自行车竖直梁、家庭座椅、医疗座椅等装置的相应梁上，利用自行车座板上的连接孔可以较为轻松地安装和拆卸。人坐在座椅上，人体腿部绑带绑在人的腿部，人的脚则穿过大腿绑带，该大腿绑带绑在人的大腿上，从而使得本发明装置与人体装配在一起。或者直接将本发明装置与人体绑紧，不与自行车、家庭座椅或者医疗座椅等连接。
当健康人体行走、骑自行车或者在家庭座椅、医疗座椅等装置上运动时，大腿前后摆动，电机根据摆动的幅度输出合适的力矩，电机运行时带动同步带轮转动，同步带轮带动同步带传动，进而带动同步传动板以髋关节轴为中心轴前后摆动，扭矩传感器实时检测电机的输出力矩。髋关节转动时径向嵌装在该髋关节轴内的磁铁也跟随转动，霍尔传感器则检测磁铁转动时的磁感应强度大小，从而测量得到髋关节矢状面旋转角度，大腿杆内的惯性测量模块则随着大腿杆的前后摆动来检索髋关节额状面旋转角度，从而建立人体健康时期的髋关节步态数据库，为人体髋关节患病时提供康复辅助的科学依据。
当偏瘫患者穿戴上本发明装置后行走、骑自行车或者在家庭座椅、医疗轮椅上康复训练时，同样根据霍尔传感器实时监测偏瘫患者健康侧的髋关节矢状面运动步态，利用惯性测量模块实时监测髋关节额状面旋转角度，以此健康侧步态为依据延时半个步态周期驱动患者残障侧髋关节运动，将健康侧的髋关节步态复制给残障侧的髋关节，实现两侧下肢的步态协调。扭矩传感器控制、检测患者残障侧髋关节的电机驱动力矩，感知、评价患者的康复效果。
需要说明的是，以上所述并非是对发明技术方案的限定，在不脱离本发明的创造构思的前提下，任何显而易见的替换均在本发明的保护范围之内。

Claims (8)

  1. 一种基于传感驱动一体化的髋关节康复辅助装置，包括座椅装置，其特征在于，还包括连接装置、髋关节驱动机构、传感装置和下肢杆装置，座椅装置卡装在连接装置上，髋关节驱动机构与连接装置和传感装置连接固定，下肢杆装置与传感装置活动装接；
    所述传感装置包括同步传动板、髋关节轴、惯性测量模块、磁铁和霍尔传感器，髋关节轴一端固定安装在同步传动板内、另一端活动装设在连接装置内，磁铁沿髋关节轴径向方向嵌装在该髋关节轴内，霍尔传感器安装在连接装置内，同步传动板与髋关节驱动机构连接，惯性测量模块装设在下肢杆装置内。
  2. 根据权利要求1所述的基于传感驱动一体化的髋关节康复辅助装置，其特征在于，所述髋关节驱动机构包括电机、电机支座、扭矩传感器、同步带轮和同步带，电机支座固定在连接装置上，电机安装在电机支座上，同步带轮套装在电机的输出轴上，扭矩传感器套装在电机的输出轴上，同步带套装在同步带轮上且该同步带与同步传动板固定连接。
  3. 根据权利要求2所述的基于传感驱动一体化的髋关节康复辅助装置，其特征在于，所述同步带与同步带轮之间以啮合方式连接 。
  4. 根据权利要求3所述的基于传感驱动一体化的髋关节康复辅助装置，其特征在于，所述下肢杆装置包括髋关节活页、活页连接板、大腿杆和大腿绑带，髋关节活动页与同步传动板固定连接，髋关节活页内装设有转轴，活页连接板上端活动套装在该转轴上，大腿杆与活页连接板连接，大腿绑带安装在大腿杆上，惯性测量模块安装在大腿杆内。
  5. 根据权利要求4所述的基于传感驱动一体化的髋关节康复辅助装置，其特征在于，所述大腿杆由大腿上杆和大腿下杆组成，大腿上杆上端与活页连接板连接，腿上杆下部插装入大腿下杆内并固定连接。
  6. 根据权利要求5所述的基于传感驱动一体化的髋关节康复辅助装置，其特征在于，所述连接装置包括电机上连接座和电机下连接座，电机上连接座安装在电机下连接座上，髋关节轴活动装设在该电机下连接座内，霍尔传感器安装在该电机下连接座内。
  7. 根据权利要求6所述的基于传感驱动一体化的髋关节康复辅助装置，其特征在于，所述连接装置还包括与座椅装置连接的自行车座板，该自行车座板上设有连接孔。
  8. 根据权利要求7所述的基于传感驱动一体化的髋关节康复辅助装置，其特征在于，所述座椅装置包括人体腰部绑带、座椅绑带、座椅和横梁，座椅绑带一端与座椅固定连接、另一端与人体腰部绑带固定连接，座椅安装在横梁上，横梁安装在电机上连接座和电机下连接座间，自行车座板安装在横梁上。
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