WO2024011836A1 - Exosquelette de membre inférieur pour rééducation à la marche latérale - Google Patents

Exosquelette de membre inférieur pour rééducation à la marche latérale Download PDF

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Publication number
WO2024011836A1
WO2024011836A1 PCT/CN2022/138179 CN2022138179W WO2024011836A1 WO 2024011836 A1 WO2024011836 A1 WO 2024011836A1 CN 2022138179 W CN2022138179 W CN 2022138179W WO 2024011836 A1 WO2024011836 A1 WO 2024011836A1
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WO
WIPO (PCT)
Prior art keywords
thigh
swing
power module
binding
component
Prior art date
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PCT/CN2022/138179
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English (en)
Chinese (zh)
Inventor
曹武警
杜思达
吴新宇
陈春杰
马跃
何勇
李金科
Original Assignee
深圳先进技术研究院
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Publication of WO2024011836A1 publication Critical patent/WO2024011836A1/fr

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities

Definitions

  • the invention relates to a lateral walking rehabilitation lower limb exoskeleton.
  • Lower limb dysfunction is the most common sequela in patients with hemiplegia, and lower limb exoskeletons show excellent prospects in the rehabilitation of walking function in such patients.
  • Human walking includes longitudinal walking forward and backward and transverse walking left and right.
  • Longitudinal walking rehabilitation is mainly for daily activities, and transverse walking rehabilitation is mainly for restoring the patient's balance ability.
  • the current lateral rehabilitation of such patients mainly includes two stages: In the first stage, the patient gets out of bed and walks back and forth holding on to the bed railing. At this time, the patient's hip adductor and abductor muscles are weak, and it takes great effort to support the bed slowly. Walking left and right; the second stage is the later stage of rehabilitation, when the patient has basically recovered the function of the lower limbs. At this time, lateral resistance is generally provided on the lower limbs through a circular elastic rope so that the patient can perform lateral walking exercises against resistance.
  • the present invention proposes a lateral walking rehabilitation lower limb exoskeleton, which can adapt to people of different body types, can provide better wearing comfort, and can provide lateral movement of the hip joint in the first stage.
  • the lateral movement resistance of the hip joint can be accurately controlled, and lateral walking rehabilitation training movements with multiple degrees of freedom for the hip joint can be used.
  • a lateral walking rehabilitation lower limb exoskeleton which is special in that:
  • waist base Includes waist base, power module, swing bracket assembly and thigh binding assembly
  • the power module includes a left power module and a right power module.
  • the left power module and the right power module have the same structure and are symmetrically arranged on the left and right sides of the waist base;
  • the swing bracket assembly includes a left swing bracket assembly and a right swing bracket assembly; the left swing bracket assembly and the right swing bracket assembly have the same structure and are connected to the left power module and the right power module respectively;
  • the thigh binding component includes a left thigh binding component and a right thigh binding component; the left thigh binding component and the right thigh binding component have the same structure and are connected to the left swing bracket component and the right swing bracket component respectively;
  • the left power module drives the left swing bracket assembly and the left thigh binding assembly to swing left and right;
  • the right power module drives the right swing bracket assembly and the right thigh binding assembly to swing left and right;
  • the left thigh binding component and the right thigh binding component realize forward and backward swinging through the left swing bracket component and the right swing bracket component respectively.
  • the above-mentioned left power module includes a left motor mounting plate, a left servo motor, a left coupling and a left torque sensor;
  • One end of the left motor mounting plate is connected to the waist base, and the distance between the two is adjustable.
  • the other end of the left servo motor and the left motor mounting plate is fixed.
  • the left torque sensor is connected to the left servo motor through the left coupling. Output shaft connection.
  • connecting plates are provided on both sides of the waist base.
  • Long holes are provided on the connecting plates, and long holes are also provided on the motor mounting plate. After the long holes of the two are matched, the bolts are used to loosen and lock the fit, so that the power module The position can be adjusted left and right relative to the waist base to form a lateral adjustment locking structure; a waist restraint belt is provided on the front of the waist base.
  • the above-mentioned left swing bracket assembly includes a left hip main swing member, a left hip telescopic member, a left pin structure and a left thigh structure;
  • One end of the main left hip swing piece is fixedly connected to the left torque sensor; the other end is connected to one end of the left hip telescopic piece, and the distance between the two is adjustable; the other end of the left hip telescopic piece passes through one end of the left thigh structure
  • the left pin structure is rotationally connected; the other end of the left thigh structure is connected to the thigh binding component, and the distance between the two is adjustable.
  • the above-mentioned left hip main ornament is a bending part, one end of which is connected to the left hip telescopic part is provided with a guide rail, and the left hip telescopic part is provided with a slider.
  • the guide rail and the slider form a guide rail slider structure; Through holes are arranged at intervals on the center line of the slider, corresponding to the long holes provided on the center line of the guide rail. The bolts are loosened and locked so that the size of the left hip telescopic part can be adjusted in the front and rear directions, forming a front and rear adjustment locking structure.
  • the above-mentioned left thigh binding includes a left positioning block, two left binding connecting plates, a left thigh binding belt and a left thigh binding pin structure;
  • the left thigh binding positioning block and the left binding connection plate are connected through the left thigh binding pin structure, and the left thigh binding connection plate rotates left and right relative to the thigh binding pin structure, and the left thigh binding belt is connected to the left binding connection plate superior.
  • the above-mentioned left positioning block is provided with a through hole, which corresponds to the elongated hole provided on the left thigh structure.
  • the left thigh binding component can slide up and down relative to the thigh structure to form an up and down adjustment. Locking structure.
  • the above-mentioned two left binding connecting plates are both provided with long slots, and the left thigh binding belt is fixed through the long slots on the two left binding connecting plates.
  • the above-mentioned lateral walking rehabilitation lower limb exoskeleton also includes a control component, which is electrically connected to the left and right torque sensors and the left servo motor and/or right servo motor in the power module.
  • the control component is configured according to the left and right torque sensors.
  • the torque output feedback signal of the torque sensor and the right torque sensor in the left and right swing direction controls the left power module and/or the right power module to drive the swing bracket assembly and the thigh binding assembly to swing in the left and right direction, forming a transverse direction for outputting the torque of the left and right swing direction. Swing torque feedback control.
  • the above-mentioned lateral walking rehabilitation lower limb exoskeleton also includes a walking state recognition component.
  • the walking state recognition component includes two inertia measurement sensors.
  • the two inertia measurement sensors are respectively provided on the left thigh binding component and the right thigh binding component. Control The component is electrically connected to the inertia measurement sensor;
  • the control component determines the wearer's current gait based on the signal from the inertia measurement sensor, and then determines the reference output torque.
  • the control power module drives the swing bracket component and the thigh binding component to swing in the left and right directions relative to the waist base. .
  • This invention fills the shortcomings of existing lower limb exoskeleton solutions for lateral walking rehabilitation
  • the structure size can be adjusted in three directions: left and right, front and back, and up and down to ensure that it can adapt to people of different body types;
  • the power module is adapted to the kinematics of the human skeleton to drive the swing component and the thigh binding to swing, the shear force on human tissue during the exoskeleton assistance process is smaller;
  • the thigh binding can slide along the thigh structure of the exoskeleton within a limited range, which can compensate for the longitudinal rotation of the thigh binding and waist binding during longitudinal walking caused by incorrect wearing position or adjustment (in the structure of this application, it is the pin structure 313 /323) distance changes, so that there is no additional load during longitudinal walking;
  • the thigh strapping component has a limited flexible structure, which can make up for the differences in inconsistency and lack of synergy between the exoskeleton and human skeletal muscle kinematics.
  • Figure 1 is an overall view of the lateral walking rehabilitation exoskeleton proposed by the present invention
  • Figure 2 is a structural diagram of the lateral walking rehabilitation exoskeleton component proposed by the present invention.
  • Figure 3 is a picture of human body wearing
  • Figure 4 is a lateral walking gait diagram on the left side
  • Figure 5 is a lateral walking gait diagram on the right side
  • Figure 6 is a schematic diagram of longitudinal free walking.
  • 1-Waist base 2-Power module; 21-Left power module; 211-Left motor mounting plate; 212-Left servo motor; 213-Left coupling; 214-Left torque sensor;
  • 22-right power module 22-right power module; 222-right servo motor; 224-right torque sensor;
  • 3-Swing bracket assembly 31-Left swing bracket assembly; 311-Left hip main swing piece; 312-Left hip telescopic part; 313-Left pin structure; 314-Left thigh structure; 32-Right swing bracket assembly; 4 -Thigh binding component; 41-Left thigh binding component; 411-Left positioning block; 412-Two left binding connecting plates; 413-Left thigh binding belt; 414-Left thigh binding pin structure; 42- Right thigh binding component; 51-control component; 52-inertia measurement sensor.
  • walking rehabilitation lower limb exoskeletons mainly focus on longitudinal walking, and there are very few auxiliary exoskeleton solutions for lateral walking.
  • Longitudinal walking rehabilitation lower limb exoskeletons cannot be used in the reconstruction of lower limb balance ability and lateral resistance training in hemiplegic patients.
  • Current lateral resistance training mainly provides resistance through circular elastic lanyards. The amount of resistance is uncontrollable, making it difficult to achieve accurate and effective rehabilitation for different wearers. Therefore, the present invention proposes a lower limb exoskeleton for lateral walking rehabilitation, which first solves the problem that most current lower limb exoskeletons can only assist walking in the forward direction and cannot provide lateral walking assistance or rehabilitation training for patients with lower limb motor dysfunction.
  • a lateral walking rehabilitation lower limb exoskeleton includes a waist base 1, a power module 2, a swing bracket assembly 3 and a thigh binding assembly 4.
  • the power module 2 includes a left power module 21 and a right power module 22.
  • the left power module 21 and the right power module 22 have the same structure and are symmetrically arranged on the left and right sides of the waist base 1.
  • the swing bracket assembly 3 includes a left swing bracket assembly 31 and a right swing bracket assembly 32; the left swing bracket assembly 31 and the right swing bracket assembly 32 have the same structure and are connected to the left power module 21 and the right power module 22 respectively.
  • the thigh binding assembly 4 includes a left thigh binding assembly 41 and a right thigh binding assembly 42; the left thigh binding assembly 41 and the right thigh binding assembly 42 have the same structure, and are respectively the same as the left swing bracket assembly 31 and the right swing bracket assembly 32 connect.
  • the waist base 1 is used for binding on the waist of patients with lower limb dysfunction
  • the thigh binding component 4 is used for binding on the legs of patients with lower limb dysfunction.
  • the left power module 21 drives the left swing bracket assembly 31 and the left thigh binding assembly 41 to swing left and right
  • the right power module 22 drives the right swing bracket assembly 32 and the right thigh binding assembly 42 to swing left and right
  • the thigh binding assembly 42 swings forward and backward through the left swing bracket assembly 31 and the right swing bracket assembly 32 respectively.
  • the left power module 21 includes a left motor mounting plate 211, a left servo motor 212, a left coupling 213 and a left torque sensor 214; the left motor mounting plate 211 One end is connected to the waist base 1, and the distance between the two is adjustable. The other end of the left servo motor 212 and the left motor mounting plate 211 is fixed.
  • the left torque sensor 214 communicates with the output of the left servo motor 212 through the left coupling 213. Shaft connection.
  • the front part of the waist base 1 is provided with a waist restraint belt, and both sides of the waist base 1 are provided with connecting plates, and the connecting plates are provided with long holes.
  • the motor mounting plate is also provided with long holes. After the two long holes are matched, the bolts are used to loosen and lock the fit, so that the power module 2 can adjust its position left and right relative to the waist base 1, forming a lateral adjustment locking structure.
  • the left swing bracket assembly 31 includes a left hip main swing member 311, a left hip telescopic member 312, a left pin structure 313 and a left thigh structure 314;
  • One end of the swing member 311 is fixedly connected to the left torque sensor 214; the other end is connected to one end of the left hip telescopic member 312, and the distance between the two is adjustable;
  • the other end of the left hip telescopic member 312 is connected to one end of the left thigh structure 314 It is connected by rotation through the left pin structure 313; the other end of the left thigh structure 314 is connected to the thigh binding assembly 4, and the distance between them is adjustable.
  • the left hip main swing member 311 is a bending member, and one end thereof connected to the left hip telescopic member 312 is provided with a guide rail, and the left hip telescopic member 312 is provided with a slider.
  • the guide rail, The slide block forms a guide rail slide block structure; through holes are arranged at intervals on the center line of the slide block, corresponding to the long holes provided on the center line of the guide rail, and the locking fit is loosened by bolts, so that the left hip telescopic part 312 can move in the front and rear direction. Adjust the size to form a front and rear adjustment locking structure.
  • the left thigh binding 41 includes a left positioning block 411, two left binding connecting plates 412, a left thigh binding belt 413 and a left thigh binding pin structure 414 ;
  • the left thigh binding positioning block 411 and the left binding connection plate 412 are connected through the left thigh binding pin structure 414, and the left thigh binding connection plate 412 rotates left and right relative to the thigh binding pin structure 414, and the left thigh binding belt 413 Connected to the left binding connection plate 412.
  • the left positioning block 411 is provided with a through hole, corresponding to the long hole provided on the left thigh structure 314, and the left thigh is tied through the bolt locking structure.
  • the binding component 41 can slide up and down relative to the thigh structure 314 to form an up and down adjustment locking structure.
  • the two left binding connecting plates 412 are both provided with long slots, and the left thigh binding belt 413 passes through the long slots on the two left binding connecting plates 412. hole fixed.
  • the elasticity of the left thigh binding belt 413 and the friction between the left thigh binding strap 413 and the notch of the left binding connecting plate 412 can limit the deformation range of the flexible structure in the thigh binding assembly 4, and at the same time, it is consistent with the kinematics of the wearer when walking with exoskeleton assistance.
  • the lack of sex and coordination has a certain compensatory effect.
  • control component 51 As a preferred embodiment of the present invention, referring to Figures 1 and 2, it also includes a control component 51, the control component 51 is connected with the left torque sensor 214 and the right torque sensor 224 and the left servo motor 212 and/or in the power module 2 Or the right servo motor 222 is electrically connected, and the control component 51 controls the left power module 21 and/or the right power module 22 to drive the swing bracket assembly 3 and the thigh according to the torque output feedback signal of the left torque sensor 214 and the right torque sensor 224 in the left and right swing direction.
  • the binding assembly 4 swings in the left and right directions to form a lateral swing torque feedback control for outputting a moment of swinging in the left and right directions.
  • the control component 51 can be operated by patients with lower limb dysfunction or relatives, caregivers, etc. themselves. Of course, other methods can also be used to assist control.
  • the lower limb exoskeleton based on lateral walking also includes a walking state recognition component.
  • the walking state recognition component includes two inertia measurement sensors 52. See Figures 1 and 2.
  • the two inertia measurement sensors 52 They are respectively provided on the left thigh binding component 41 and the right thigh binding component 42.
  • the control component 51 is electrically connected to the inertia measurement sensor 52; the control component 51 determines the wearer's current gait based on the signal of the inertia measurement sensor 52, and then determines the reference output.
  • the power module 2 is controlled to drive the swing bracket assembly 3 and the thigh binding assembly 4 to swing in the left and right directions relative to the waist base 1.
  • a lower limb exoskeleton 10 for lateral walking rehabilitation mainly includes: a waist base 1, a power module 2, a swing bracket component 3, a thigh binding component 4, a control component 51 and Inertia measurement sensor 52.
  • the waist base 1 is used to be tied to the waist of patients with lower limb dysfunction.
  • the control assembly 51 is installed on the rear side of the waist base 1, the waist restraint belt is provided on the front, and the power modules 2 are installed on the left and right sides.
  • the thigh binding component 4 is used for binding the legs of patients with lower limb dysfunction.
  • the straps of the waist base 1 and the thigh binding assembly 4 of this embodiment are set to be adjustable, which facilitates the user to dynamically adjust according to the actual size of his waist and legs, thereby fixing the external movements of the lower limbs based on lateral walking.
  • Skeleton10 Moreover, increasing the fit between the lower limb exoskeleton 10 based on lateral walking and the user facilitates the user's lateral walking.
  • the power module 2 includes a left power module 21 and a right power module 22 .
  • the right power module 21 and the left power module 22 are mirror symmetrical.
  • the left power module 21 includes a left motor mounting plate 211, a left servo motor 212, a left coupling 213 and a left torque sensor 214.
  • the motor mounting plate 211 is fixed on the waist base 1.
  • the waist base 1 is provided with three long holes, which are combined with the three long holes on the motor mounting plate 211.
  • the matching bolts are used to loosen the locking fit, so that the left The power module 21 can adjust its position left and right relative to the waist base 1 to form a lateral adjustment locking structure.
  • the relative positions of the left and right power modules 2 relative to the waist base 1 are adjusted according to the left and right width of the wearer's waist and hips to adapt to the wearer's body shape.
  • the adjustment method should be such that after the wearer is equipped with a complete exoskeleton, the thigh structure 314 fits the outside of the thigh without any obvious squeezing feeling.
  • the left servo motor 212 is fixedly mounted on the left motor mounting plate 211.
  • the left servo motor 212, the left coupling 213 and the left torque sensor 214 are fixedly connected in sequence along the axial direction of the left servo motor 212.
  • the swing bracket assembly 3 includes a left swing bracket assembly 31 and a right swing bracket assembly 32 .
  • the right swing bracket assembly 32 is a mirror image of the left swing bracket assembly 31 .
  • the left swing bracket assembly 31 is taken as an example for description.
  • the left swing bracket assembly 31 includes a left hip main swing member 311 , a left hip telescopic member 312 , a left pin structure 313 and a left thigh structure 314 .
  • the left torque sensor 214 in the left power module 21 is connected to the left hip main swing member 311 and drives the left swing bracket assembly 31 to swing left and right relative to the waist base 1 to form an active joint A.
  • the guide rail of the left hip main ornament 311 and the slider of the left hip telescopic part 312 form a guide rail slider structure.
  • the through holes arranged at intervals on the center line of the slider are combined with the long holes on the center line of the guide rail, and are loosened by matching bolts.
  • the locking fit allows the left swing bracket assembly 31 to adjust its size in the front-to-back direction, forming a front-to-back adjustment locking structure.
  • the relative position of the left hip telescopic component 312 relative to the left hip main swing component 311 is adjusted according to the front and rear thickness of the wearer's waist and hips to adapt to the wearer's body shape.
  • the adjustment method should be such that after the wearer is equipped with a complete exoskeleton, under different gaits, the front and back swing of the thigh will not cause the exoskeleton to cause front-to-back resistance to the wearer.
  • the left pin structure 313 connects the upper end of the left hip telescopic component 312 and the left thigh structure 314, so that the left thigh structure 314 swings back and forth relative to the left hip telescopic component 312 with the pin structure 313 as the axis of rotation, forming a free joint B.
  • the pin structure has a simple and reliable structure, is light in weight, and does not require a bearing structure.
  • the radial gap has less impact on the rigidity of the system compared to the flexibility of the human body and thigh binding component 4, and can slightly increase the wearing comfort.
  • the rotation axis of the self-use joint follows the swing when the wearer's thigh swings left and right, so that the human-machine kinematics have a high degree of fit in the front-to-back direction. Since the thigh has limited swing motion in the front-to-back direction when the wearer walks sideways, the joint B can provide better human-machine consistency when assisting in walking sideways. At the same time, together with the sliding adaptive structure, it ensures that the wearer has the ability to walk forward and backward freely during the entire process of exoskeleton assistance.
  • the thigh binding component 4 includes a left thigh binding component 41 and a right thigh binding component 42 .
  • the right thigh binding component 42 is a mirror image of the left thigh binding component 41 .
  • the left thigh binding 41 includes a left positioning block 411, two left binding connection plates 412, a left thigh binding belt 413 and a left thigh binding pin structure 414. Among them, there are four through holes on the thigh binding positioning block 411, which are combined with the two long holes on the left thigh structure 314. Through matching screws and double nut locking structures, the left thigh binding assembly 41 and the thigh structure are ensured. There is a small gap between 314 and it can slide smoothly without obstruction and without obvious shaking, so that the left thigh binding component 41 can slide up and down relative to the thigh structure 314 to form an up and down sliding adaptive structure.
  • this structure can adapt to wearers with different thigh lengths; on the other hand, when the wearer performs longitudinal walking movements, for example, the left pin structure 313 fails to be collinear with the longitudinal swing axis of the human hip joint due to wearing errors and other reasons.
  • This sliding adaptive structure can compensate for the relative position changes between the thigh binding and the waist base caused by this offset.
  • the left thigh binding pin structure 414 connects the left thigh binding positioning block 411 and the left binding connection plate 412, and the left binding connection plate 412 rotates left and right relative to the thigh binding pin structure 414, and the left thigh binding belt 413 passes through
  • the two left binding connecting plates 412 are fixed with long slots.
  • the elasticity of the left thigh binding belt 413 and the friction between the left thigh binding strap 413 and the notch of the left binding connecting plate 412 can limit the deformation range of the flexible structure in the thigh binding assembly 4, and at the same time affect the wearer's movement when the exoskeleton assists walking.
  • the lack of academic consistency and coordination has a certain compensatory effect.
  • the lower limb exoskeleton based on lateral walking uses the power module 2 in the power module to drive the swing bracket assembly 3 and the thigh binding assembly 4 to swing in the left and right directions, achieving relatively high kinematic coordination of the human-machine skeleton. Lateral walking assistance with consistent wearing comfort, and higher wearing comfort in lateral assistance.
  • the lower limb exoskeleton based on lateral walking in this embodiment adopts different training states in different periods to promote the active rehabilitation effect of patients with lower limb dysfunction.
  • the lower limb exoskeleton based on lateral walking of this embodiment includes a first training state and a second training state.
  • the first training state is designed for patients with lower limb dysfunction who have insufficient hip abduction and adduction muscles in the early stages of balance training and lateral walking exercises.
  • the power module 2 is fixed relative to the wearer and drives the swing bracket assembly 3 and the thigh binding assembly 4 to provide assistance to the abduction and adduction of the hip joint to assist patients with lower limb dysfunction to walk laterally.
  • the second training state is designed to train the hip abduction and adduction muscles of patients with lower limb dysfunction at the end of balance training.
  • the power module 2 is fixed relative to the wearer, driving the swing bracket assembly 3 and the thigh binding assembly 5 to provide controllable resistance to hip joint abduction and adduction, so as to encourage patients with lower limb dysfunction to overcome resistance and walk laterally.
  • the left power module 21 drives the left swing bracket assembly 31 and the left thigh binding assembly 41 to swing to the left, providing a left-hand movement. Swing the left leg for assistance and walk to the supporting position of the right foot.
  • the right power module 22 drives the right swing bracket assembly 32 and the right thigh binding assembly 42 to swing to the right, providing assistance to shift the body's center of gravity until the legs are standing.
  • the left power module 21 drives the left swing bracket assembly 31 and the left thigh binding assembly 41 to swing to the right, while the right power module 22 drives the right swing bracket assembly 32 and the right thigh binding assembly 42 to swing to the left, jointly assisting the legs to be brought together. .
  • the right power module 22 drives the right swing bracket assembly 32 and the right thigh binding assembly 42 to the right.
  • Side swing provides assistance to swing the right leg to the right until the left foot is supported.
  • the left power module 21 drives the left swing bracket assembly 31 and the left thigh binding assembly 41 to swing to the left, providing assistance to shift the body's center of gravity until the legs are standing.
  • the left power module 21 drives the left swing bracket assembly 31 and the left thigh binding assembly 41 to swing to the right, while the right power module 22 drives the right swing bracket assembly 32 and the right thigh binding assembly 42 to swing to the left, jointly assisting the legs to be brought together. .
  • the power module 2 drives the swing direction of the swing bracket assembly 3 and the thigh binding assembly 4 and the lower limb exoskeleton provides obstacles for patients with lower limb dysfunction.
  • the power module 2 drives the swing bracket assembly 3 and the thigh binding assembly 4 to swing in the opposite direction.
  • the lower limb exoskeleton based on lateral walking in this embodiment also includes a control component 51, which is connected with the left torque sensor 214, the right torque sensor 224 and the left servo motor in the power module 2 212 and/or the right servo motor 222 are electrically connected.
  • the control component 51 controls the left power module 21 and/or the right power module 22 to drive the swing bracket assembly 3 and the thigh binding assembly 4 in the left and right swing directions according to the torque output feedback signals of the left torque sensor 214 and the right torque sensor 224 in the left and right swing directions.
  • the oscillating direction forms a lateral oscillating torque feedback control for outputting a moment of oscillating left and right directions.
  • the control component 51 controls the power module 2 fixed on the waist base 1 according to the torque output signal to drive the swing bracket component 3 and the thigh binding component 4 to provide assistance for hip joint abduction and adduction.
  • the control component 51 can control the power module 2 fixed on the waist base according to the torque output signal to drive the swing bracket component 3 and the thigh binding component 4 to provide adjustable resistance to hip joint abduction and adduction.
  • the exoskeleton Under the lateral swing torque feedback control, the exoskeleton can better provide the wearer with stable and controllable power or resistance assistance that is consistent with ergonomic dynamics.
  • the control component 51 is electrically connected to the inertia measurement sensor 52 .
  • the control component 51 can be operated by patients with lower limb dysfunction, relatives, caregivers, etc. themselves. Control can also be assisted through other means.
  • the control component 51 can determine the wearer's current gait based on the signal of the inertia measurement sensor 52, and then determine the reference output torque.
  • the power module 2 is controlled to drive the swing bracket component 3 and the thigh binding component 4 relative to the waist.
  • the base 1 swings in the left and right directions.
  • the exoskeleton imposes no additional restrictions on the wearer when walking in the forward direction.
  • the present invention has designed a lower limb exoskeleton for lateral walking rehabilitation, which achieves hip joint lateral movement assistance and training assistance through the waist binding assembly, power module, swing bracket assembly, thigh binding assembly and electronic control assembly. , proposed a new lower limb exoskeleton solution for lateral walking rehabilitation.
  • the exoskeleton of the invention adjusts the size of the exoskeleton structure through two sets of adjustment locking structures and a set of sliding adaptive structures, which can adapt to people of different body types; the main structure is fixed The system inertia is greatly reduced when binding the waist; a torque sensor is used to connect the servo motor and the lateral swing member to read the lateral assistance or resistance of the exoskeleton to the human body in real time; and a structure that replicates the kinematics of the human skeleton is adopted, with the servo fixed at the waist The motor drives the swinging part and the thigh binding to provide assistance or resistance to the human body's lateral walking.
  • the sliding adaptive structure is used in conjunction with the passive free rotation axis for longitudinal walking to ensure longitudinal walking movements. No additional load is generated. Therefore, in the first and second stages of training, it shows better adaptability to different wearers, training comfort, better controllability, and compatibility for longitudinal walking.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Rehabilitation Tools (AREA)

Abstract

La présente invention concerne un exosquelette de membre inférieur pour rééducation à la marche latérale, comprenant une base de taille, des modules de puissance, des ensembles de support de balancement et des ensembles cale-cuisse. Selon l'invention : un module de puissance gauche entraîne un ensemble de support de balancement gauche et un ensemble cale-cuisse gauche à se balancer d'un côté à l'autre ; un module de puissance droit entraîne un ensemble de support de balancement droit et un ensemble cale-cuisse droit à se balancer d'un côté à l'autre ; et l'ensemble cale-cuisse gauche et l'ensemble cale-cuisse droit se balancent respectivement vers l'avant et vers l'arrière au moyen de l'ensemble de support de balancement gauche et de l'ensemble de support de balancement droit. La présente invention peut s'adapter à des personnes de différentes morphologies et fournir un confort de port relativement bon, et peut fournir une assistance pour un mouvement latéral de l'articulation de la hanche dans une première phase, ajuster et commander avec précision une résistance de mouvement latéral de l'articulation de la hanche dans une deuxième phase, et utiliser des actions ciblées de rééducation à la marche latérale à degrés de liberté multiples de l'articulation de la hanche.
PCT/CN2022/138179 2022-07-14 2022-12-09 Exosquelette de membre inférieur pour rééducation à la marche latérale WO2024011836A1 (fr)

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