WO2017215014A1 - Appareil d'assistance à la rééducation de la hanche basé sur l'intégration de la détection et de la conduite. - Google Patents

Appareil d'assistance à la rééducation de la hanche basé sur l'intégration de la détection et de la conduite. Download PDF

Info

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
Authority
WO
WIPO (PCT)
Prior art keywords
hip joint
seat
motor
thigh
rod
Prior art date
Application number
PCT/CN2016/086593
Other languages
English (en)
Chinese (zh)
Inventor
王东海
李国民
Original Assignee
广东思谷智能技术有限公司
华中科技大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 广东思谷智能技术有限公司, 华中科技大学 filed Critical 广东思谷智能技术有限公司
Publication of WO2017215014A1 publication Critical patent/WO2017215014A1/fr

Links

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—Detecting, measuring or recording 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, 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—Detecting, measuring or recording 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, 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—Detecting, measuring or recording 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, 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.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Physiology (AREA)
  • Pathology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Rehabilitation Therapy (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Un appareil d'assistance à la rééducation de la hanche basé sur l'intégration de la détection et de la conduite, comprend une assise (1), un dispositif de connexion (2), un mécanisme d'entraînement d'articulation de la hanche (3), un dispositif de détection (4) et une tige pour le membre inférieur (5). L'assise (1) est fixée sur le dispositif de connexion (2). Le mécanisme d'entraînement de la hanche (3) est relié au dispositif de connexion (2) et de détection (4). La tige du membre inférieur (5) est attaché librement au dispositif de détection (4). Le dispositif de détection (4) comprend une plaque de transmission synchrone (44), une tige d'articulation de la hanche (41), un aimant (43) et un capteur de Hall (42). Une extrémité de la tige de la hanche (41) est fixée dans la plaque de transmission synchrone (44), et l'autre extrémité de l'arbre d'articulation de la hanche (41) est mobile dans le dispositif de connexion (2). L'aimant (43) est incorporé dans l'arbre de l'articulation de la hanche (41) dans l'axe de l'arbre de l'articulation de la hanche (41); le capteur de Hall (42) est incorporé dans le dispositif de connexion (2); la plaque de transmission synchrone (44) est reliée au mécanisme d'entraînement de l'articulation de la hanche (3). Grâce à cet appareil les entraînements de rééducation pour des activités telles que la marche, la bicyclette, le siège domestique et le fauteuil roulant peuvent être fournis aux patients hémiplégiques du membre inférieur. Un exercice d'assistance de rééducation de la marche peut être prévu pour le membre inférieur, du côté handicapé, en utilisant la démarche du membre inférieur du côté sain d'un patient.
PCT/CN2016/086593 2016-06-15 2016-06-21 Appareil d'assistance à la rééducation de la hanche basé sur l'intégration de la détection et de la conduite. WO2017215014A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610415631.9 2016-06-15
CN201610415631.9A CN105943312B (zh) 2016-06-15 2016-06-15 一种基于传感驱动一体化的髋关节康复辅助装置

Publications (1)

Publication Number Publication Date
WO2017215014A1 true WO2017215014A1 (fr) 2017-12-21

Family

ID=56905536

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/086593 WO2017215014A1 (fr) 2016-06-15 2016-06-21 Appareil d'assistance à la rééducation de la hanche basé sur l'intégration de la détection et de la conduite.

Country Status (2)

Country Link
CN (1) CN105943312B (fr)
WO (1) WO2017215014A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107981866A (zh) * 2018-01-10 2018-05-04 中山大学附属第医院 一种用于髋关节置换术的测量装置
CN110251365A (zh) * 2019-06-12 2019-09-20 中北大学 一种球面外骨骼髋关节康复机构

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109549816B (zh) * 2017-09-24 2024-04-02 湖北职业技术学院 一种娱乐健身康复车下肢被动和主动康复训练装置
CN108992304A (zh) * 2018-06-21 2018-12-14 洛阳师范学院 一种直拉式老年手指关节康复训练装置
CN112386447B (zh) * 2020-11-18 2021-12-31 同济大学 一种针对偏瘫患者的非对称式下肢自主康复装置
CN114523465A (zh) * 2022-03-22 2022-05-24 山东建筑大学 一种骑乘式绳轮驱动下肢助行外骨骼机器人

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5476441A (en) * 1993-09-30 1995-12-19 Massachusetts Institute Of Technology Controlled-brake orthosis
CN101184463A (zh) * 2005-05-31 2008-05-21 本田技研工业株式会社 行走辅助装置的控制装置以及控制程序
US20090312155A1 (en) * 2008-06-11 2009-12-17 Honda Motor Co., Ltd. Walking assist device
CN102078228A (zh) * 2010-12-30 2011-06-01 霍启英 智能机械腿
CN104825306A (zh) * 2015-04-29 2015-08-12 东南大学 一种基于套索传动的髋关节助力康复装置
CN105250117A (zh) * 2015-07-03 2016-01-20 山东理工大学 一种坐式步行下肢外骨骼

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102085143B (zh) * 2011-03-02 2012-11-28 上海交通大学 骑行式下肢康复机器人
WO2013086035A1 (fr) * 2011-12-05 2013-06-13 Northeastern University Exosquelette orthopédique pour la partie inférieure du corps pour la régulation de l'obliquité pelvienne pendant la marche sur le sol
US10327975B2 (en) * 2012-12-11 2019-06-25 Ekso Bionics, Inc. Reconfigurable exoskeleton
CN104666047B (zh) * 2013-11-28 2018-05-01 中国科学院沈阳自动化研究所 基于生物信息感知的双侧镜像康复系统
KR20150094427A (ko) * 2014-02-11 2015-08-19 삼성전자주식회사 착용형 로봇 및 그 제어 방법
CN104083268B (zh) * 2014-07-15 2017-02-08 陕西鑫带路电子科技有限公司 一种穿戴式智能偏瘫下肢康复训练机器人
WO2016056998A1 (fr) * 2014-10-07 2016-04-14 Nanyang Technological University Dispositif d'assistance de démarche
CN205126722U (zh) * 2015-09-17 2016-04-06 上海健康医学院 下肢功能康复训练机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5476441A (en) * 1993-09-30 1995-12-19 Massachusetts Institute Of Technology Controlled-brake orthosis
CN101184463A (zh) * 2005-05-31 2008-05-21 本田技研工业株式会社 行走辅助装置的控制装置以及控制程序
US20090312155A1 (en) * 2008-06-11 2009-12-17 Honda Motor Co., Ltd. Walking assist device
CN102078228A (zh) * 2010-12-30 2011-06-01 霍启英 智能机械腿
CN104825306A (zh) * 2015-04-29 2015-08-12 东南大学 一种基于套索传动的髋关节助力康复装置
CN105250117A (zh) * 2015-07-03 2016-01-20 山东理工大学 一种坐式步行下肢外骨骼

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107981866A (zh) * 2018-01-10 2018-05-04 中山大学附属第医院 一种用于髋关节置换术的测量装置
CN110251365A (zh) * 2019-06-12 2019-09-20 中北大学 一种球面外骨骼髋关节康复机构

Also Published As

Publication number Publication date
CN105943312A (zh) 2016-09-21
CN105943312B (zh) 2018-08-31

Similar Documents

Publication Publication Date Title
WO2017215014A1 (fr) Appareil d'assistance à la rééducation de la hanche basé sur l'intégration de la détection et de la conduite.
US7537573B2 (en) Active muscle assistance and resistance device and method
US10722416B2 (en) Multi-posture lower limb rehabilitation robot
CN104490565B (zh) 七自由度外骨骼式上肢康复机器人
WO2018233322A1 (fr) Appareil de rééducation d'entraînement des membres inférieurs
KR100802533B1 (ko) 인체 하지의 보행모드 결정장치 및 이를 갖는 인체 하지용보조 근력 로봇 및 이를 사용한 인체 하지의 보행모드결정방법
CN109875848B (zh) 一种卧式下肢康复机器人训练机构及系统
CN103735386A (zh) 穿戴式下肢外骨骼康复机器人
AU2013236977A1 (en) Motorized exoskeleton unit
CN112545846B (zh) 基于意图识别的动力型多自由度助行下肢外骨骼机器人
CN111168648B (zh) 一种基于柔性驱动的四自由度髋关节外骨骼助行机器人
CN111449899B (zh) 一种用于康复训练的骨盆矫正康复训练机器人
CN210962908U (zh) 一种坐式下肢康复机器人
Jiang et al. Recent advances on lower limb exoskeleton rehabilitation robot
CN109107039B (zh) 一种肌电反馈与电刺激辅助式下肢康复训练器
CN207941022U (zh) 一种动力系统纵置的助行外骨骼机器人
Sargsyan et al. Robotic rehabilitation devices of human extremities: design concepts and functional particularities
WO2024011836A1 (fr) Exosquelette de membre inférieur pour rééducation à la marche latérale
Zabaleta et al. Exoskeleton design for functional rehabilitation in patients with neurological disorders and stroke
CN112773668A (zh) 一种膝关节助力康复器
WO2009076731A3 (fr) Appareil permettant d'exercer les membres supérieurs de personnes ou de patients atteints de diverses limitations physiques
CN112674992A (zh) 一种外骨骼式辅助站立行走用行走器械及其使用方法
CN2905032Y (zh) 肢体运动康复机
CN214762073U (zh) 一种膝关节助力康复器
CN217366433U (zh) 智能助力坐站康复训练设备

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16905128

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC, EPO FORM 1205A DATED 31.05.19

122 Ep: pct application non-entry in european phase

Ref document number: 16905128

Country of ref document: EP

Kind code of ref document: A1