Movatterモバイル変換


[0]ホーム

URL:


CN104083268B - Wearable intelligent hemiplegia lower limb rehabilitation training robot - Google Patents

Wearable intelligent hemiplegia lower limb rehabilitation training robot
Download PDF

Info

Publication number
CN104083268B
CN104083268BCN201410335941.0ACN201410335941ACN104083268BCN 104083268 BCN104083268 BCN 104083268BCN 201410335941 ACN201410335941 ACN 201410335941ACN 104083268 BCN104083268 BCN 104083268B
Authority
CN
China
Prior art keywords
connecting plate
ankle
waist support
joint
lower limb
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.)
Expired - Fee Related
Application number
CN201410335941.0A
Other languages
Chinese (zh)
Other versions
CN104083268A (en
Inventor
李芳�
冯晓明
张红利
韩亚伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shaanxi Xindailu Electronic Technology Co ltd
Original Assignee
Shaanxi Xin Lead Electronic Technology Co Ltd
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 Shaanxi Xin Lead Electronic Technology Co LtdfiledCriticalShaanxi Xin Lead Electronic Technology Co Ltd
Priority to CN201410335941.0ApriorityCriticalpatent/CN104083268B/en
Publication of CN104083268ApublicationCriticalpatent/CN104083268A/en
Application grantedgrantedCritical
Publication of CN104083268BpublicationCriticalpatent/CN104083268B/en
Expired - Fee Relatedlegal-statusCriticalCurrent
Anticipated expirationlegal-statusCritical

Links

Landscapes

Abstract

The invention discloses a wearable intelligent hemiplegia lower limb rehabilitation training robot which comprises foot support mechanisms, leg mechanisms and a waist support mechanism form bottom to top in sequence. The wearable intelligent hemiplegia lower limb rehabilitation training robot is characterized in that each foot support mechanism comprises a foot support and an ankle mechanism connected with the foot support in a transmission mode, each leg mechanism comprises a thigh connecting board and a crus connecting board, each thigh connecting board is connected with the corresponding crus connecting board through a knee joint mechanism, the waist support mechanism comprises a waist support, the waist support is provided with symmetrical upper waist support supports, a hip joint mechanism is arranged between the waist support and each thigh connecting board, and the ankle mechanisms, the knee joint mechanisms and the hip joint mechanisms are connected with one controller which is connected with a sensor detection system. The wearable intelligent hemiplegia lower limb rehabilitation training robot is small in size and convenient to wear and use, can meet the requirement for lower limb rehabilitation training of patients with hemiplegia, has the advantage of being adjustable in speed, pace and stride frequency, and has the functions of collecting, displaying and recording training data and the functions of rehabilitation evaluation and report output.

Description

A kind of wearable intelligent healing hemiplegic lower limb image training robot
Technical field
The invention belongs to rehabilitation field of medical device, specifically, it is related to a kind of wearable intelligent healing hemiplegic lower limbImage training robot.
Background technology
Walking is the most basic manner of the mankind, is also the necessary requirement ensureing the independent life of the mankind, when variousWhen factor nervous system or kinematic system go wrong, human body walking obstacle all can be led to even to lose walking ability, serious shadowRing the normal life of human body.Healing robot, according to medical science of recovery therapy theory and collaborative robot principle, by a set of calculatingWalking states control system under machine control, helps limbs of patient to carry out rehabilitation training, by active training, passive exercise, resistanceAnti- training isotype, to reach the ability strengthening limbs of patient or some position, the purpose rebuilding body function.
Content of the invention
The technical problem to be solved in the present invention is to overcome drawbacks described above, provides a kind of wearable intelligent healing hemiplegic lower limb instructionPractice robot, help limbs of patient to carry out rehabilitation training, isotype is trained by active training, passive exercise, impedance, to reachThe ability at enhancing limbs of patient or some position, the purpose of reconstruction body function.
For solving the above problems, the technical solution adopted in the present invention is:
A kind of wearable intelligent healing hemiplegic lower limb image training robot, includes footrest mechanism, leg machine from bottom to top successivelyStructure and waist support mechanism it is characterised in that:Described footrest mechanism includes footrest, and the ankle mechanism being in transmission connection with footrest;InstituteState leg mechanism and include thigh connecting plate and shank connecting plate, between thigh connecting plate and shank connecting plate, pass through knee-joint mechanismConnect;Described waist support mechanism includes waist support, and waist support is provided with symmetrical waist support upper bracket, and waist support and thigh connecting plate itBetween be provided with hip joint mechanism;Described ankle mechanism, knee-joint mechanism and hip joint mechanism are common to connect a controller, controllerIt is connected with sensor detecting system.
As a kind of technical scheme of optimization, described ankle mechanism includes the ankle being connected between footrest and shank connecting plateJoint, ankle-joint is provided with ankle-joint gear, and ankle-joint gear drive connects ankle-joint link gear.
As a kind of technical scheme of optimization, described ankle-joint link gear includes parallel and is fixedly connected on shank connectionLinkage connecting rod on plate, the upper transmission of linkage connecting rod connects knee-joint mechanism, and the bottom of linkage connecting rod is provided with ankle linkageTooth bar, ankle linkage tooth bar engagement ankle-joint gear.
As a kind of technical scheme of optimization, described knee-joint mechanism includes being arranged on shank connecting plate or thigh connectsKnee joint motor on plate, knee joint motor is connected with the knee joint being arranged on shank connecting plate or thigh connecting plateCam, knee joint cam drive connects linkage connecting rod.
As a kind of technical scheme of optimization, described thigh connecting plate is provided with length adjustment mechanism;Described length is adjustedSection mechanism includes the length adjustment plate that is arranged on shank connecting plate upper end, and be arranged on thigh connecting plate lower end regulation solidFixed board, is bolted between length adjustment plate and adjustment fixing plate.
As a kind of technical scheme of optimization, described hip joint mechanism includes the hip joint electricity being arranged on waist support upper bracketMachine, hip joint motor is in transmission connection thigh connecting plate.
As a kind of technical scheme of optimization, between described waist support and waist support upper bracket, it is provided with waistline adjustable plate.
As a kind of technical scheme of optimization, described controller connects knee joint motor and hip joint motor.
As a kind of technical scheme of optimization, described controller includes host computer and embedded computer, embeddedComputer connects sensor and connects host computer by way of wireless or wired;Institute's sensor detecting system includes fleshForce snesor, myoelectric sensor, angular transducer, pull pressure sensor and limit sensors, muscular strength sensor, myoelectricity sensesDevice, angular transducer, pull pressure sensor and limit sensors connect embedded computer jointly.
Due to employing technique scheme, compared with prior art, the present invention has splendid wearable property.Due to spyDifferent design, makes one to be combined well with machine, improves and dresses to obtain comfortableness.
Special control thinking, controls deformed limb motion, its stability, balance by strong limb, coordinates higher.Special knee ankleEven linkage function, when suffering limb motion of knee joint, its ankle-joint also moves together.Robotics is on rehabilitation training equipmentApplication, makes the gait of Wearable image training robot more natural.Multivariant waist holder structure, this waist support has up and down, axially turns roundDynamic, so that patient is walked more natural.
Small volume wearing of the present invention is easy to use, so that Rehabilitation is trained and is not limited by time place, is capable of hemiplegiaThe demand of the rehabilitation training of patient's lower limb, including the single motion in each joint, lifts leg, walking, rises and sit back and wait, each motion has threeThe pattern of kind, has speed, stride, the adjustable feature of cadence simultaneously, also has collecting training data, display and writing function, toolThere are Rehabilitation Assessment and report output function, there is triple safe safeguard measure and emergency measure.
The invention will be further described with reference to the accompanying drawings and detailed description simultaneously.
Brief description
Fig. 1 is the structural representation of an embodiment of the present invention.
Specific embodiment
Embodiment:
As shown in figure 1, a kind of wearable intelligent healing hemiplegic lower limb image training robot, include footrest machine from bottom to top successivelyStructure, leg mechanism and waist support mechanism.Described footrest mechanism includes footrest 1, and the ankle mechanism being in transmission connection with footrest 1.InstituteState leg mechanism and include thigh connecting plate 9 and shank connecting plate 14, closed by knee between thigh connecting plate 9 and shank connecting plate 14Section mechanism connects.Described waist support mechanism includes waist support 13, and waist support 13 is provided with symmetrical waist support upper bracket 12, and waist support 13It is provided with hip joint mechanism and thigh connecting plate 9 between.Described ankle mechanism, knee-joint mechanism and hip joint mechanism connect jointlyOne controller, controller is connected with sensor detecting system.
In the present embodiment, described ankle mechanism includes the ankle-joint being connected between footrest 1 and shank connecting plate 14, ankleAnkle-joint gear 2 is provided with joint, ankle-joint gear 2 is in transmission connection ankle-joint link gear.
Described ankle-joint link gear includes linkage connecting rod 4 that is parallel and being fixedly connected on shank connecting plate, and linkage is evenThe upper transmission of bar 4 connects knee-joint mechanism, and the bottom of linkage connecting rod is provided with ankle linkage tooth bar 3, and ankle linkage tooth bar 3 is nibbledClose ankle-joint gear 2.
Described knee-joint mechanism includes the knee joint motor 5 being arranged on shank connecting plate 14 or thigh connecting plate 9, kneeJoint motor 5 is connected with the knee joint cam 6 being arranged on shank connecting plate or thigh connecting plate, knee joint cam 6Be in transmission connection linkage connecting rod 4.
It is provided with length adjustment mechanism on described thigh connecting plate.Described length adjustment mechanism includes being arranged on shank connectionLength adjustment plate 7 on plate upper end, and be arranged on the adjustment fixing plate 8 of thigh connecting plate lower end, length adjustment plate 7 and adjustingIt is bolted between fixed plate 8.
Described hip joint mechanism includes the hip joint motor 10 being arranged on waist support upper bracket, and hip joint motor 10 transmission is evenConnect thigh connecting plate.
It is provided with waistline adjustable plate between described waist support 13 and waist support upper bracket 12.Described controller connects knee joint motorWith hip joint motor.
Described controller includes host computer and embedded computer, and embedded computer connects sensor and by noLine or wired mode connect host computer;Institute's sensor detecting system includes muscular strength sensor, myoelectric sensor, angleSensor, pull pressure sensor and limit sensors, muscular strength sensor, myoelectric sensor, angular transducer, pull pressure sensorJointly connect embedded computer with limit sensors.
The three kinds of motions principle of the present invention:
1:Passive motion-type exercise pattern.Under this pattern, first pass through the strong limb characteristics of motion of sensor detection, including motion speedDegree, amplitude, the parameter such as type of motion, process through controller, more same motion done by PC control suffering limb, that is, withStrong limb motion drives the motion of suffering limb, so ensures that patient has preferable balance and harmony in training.This pattern is mainly forgedThe joint motion of refining suffering limb, stimulates muscle and nervous system, to improve, recovers muscular strength and effects on neural system.
2:Active movement pattern.Under this pattern, sensor detecting the kinematic parameter of suffering limb, including tension and compression during motionPower, muscular strength, and speed, are processed by controller, judge type of sports and the parameter of suffering limb, are transported by servo system control suffering limbDynamic, this pattern mainly trains patient in the presence of sense of independence, completes rehabilitation training.Purpose is improving the effect of rehabilitation trainingReally.
3:Resistance formula motor pattern.Under this pattern, sensor detecting the kinematic parameter of suffering limb, including tension and compression during motionPower, muscular strength, and speed, are processed by controller, judge type of sports and the parameter of suffering limb, by servo-drive system, suffering limb are movedApply certain resistance, to temper and to improve the muscular strength of suffering limb.
During three of the above motor pattern controls, all there is antitetanic safety measure.Relevant physiology in motion process, motionParameter detected by sensor, signal transmission is processed to host computer, shown and recorded, the data of record can be looked intoAsk.
The present invention has splendid wearable property.Due to special design, make one to be combined well with machine, improve and wearWear to obtain comfortableness.Special control thinking, controls deformed limb motion, its stability, balance by strong limb, coordinates higher.SpecialKnee ankle connects linkage function, and when suffering limb motion of knee joint, its ankle-joint also moves together.Robotics is in rehabilitation training equipmentOn application, make the gait of Wearable image training robot more natural.Multivariant waist holder structure, this waist support has up and down, axleTo twisting, patient is made to walk more natural.
The present invention is not limited to above-mentioned preferred embodiment, and anyone should learn and make under the enlightenment of the present inventionStructure change, every have with the present invention same or like as technical scheme, belong to protection scope of the present invention.

Claims (7)

CN201410335941.0A2014-07-152014-07-15Wearable intelligent hemiplegia lower limb rehabilitation training robotExpired - Fee RelatedCN104083268B (en)

Priority Applications (1)

Application NumberPriority DateFiling DateTitle
CN201410335941.0ACN104083268B (en)2014-07-152014-07-15Wearable intelligent hemiplegia lower limb rehabilitation training robot

Applications Claiming Priority (1)

Application NumberPriority DateFiling DateTitle
CN201410335941.0ACN104083268B (en)2014-07-152014-07-15Wearable intelligent hemiplegia lower limb rehabilitation training robot

Publications (2)

Publication NumberPublication Date
CN104083268A CN104083268A (en)2014-10-08
CN104083268Btrue CN104083268B (en)2017-02-08

Family

ID=51631105

Family Applications (1)

Application NumberTitlePriority DateFiling Date
CN201410335941.0AExpired - Fee RelatedCN104083268B (en)2014-07-152014-07-15Wearable intelligent hemiplegia lower limb rehabilitation training robot

Country Status (1)

CountryLink
CN (1)CN104083268B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication numberPriority datePublication dateAssigneeTitle
TWI690307B (en)2019-02-222020-04-11中國科技大學 Intelligent leg health exoskeleton device

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication numberPriority datePublication dateAssigneeTitle
CN105476817A (en)*2016-01-132016-04-13何平Mechanical leg controlled through thoughts of user and rehabilitation walking method
CN105943312B (en)*2016-06-152018-08-31华中科技大学Hip joint rehabilitation auxiliary device based on sensing and driving integration
CN106063760B (en)*2016-07-152018-10-12黄忠伟The external bone robot of hemiparalysis recovery type
CN106880469A (en)*2017-02-242017-06-23上海交通大学Ankle rehabilitation ESD
CN108567546A (en)*2018-04-102018-09-25超微(上海)骨科医院管理股份有限公司A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom
CN110236884B (en)*2019-07-042024-05-03青岛市中心医院All-round intelligent hip knee ankle joint passive rehabilitation training device
CN110478885A (en)*2019-08-232019-11-22马鞍山市安工大智能装备技术研究院有限公司Running athlete auxiliary training system based on electromyography signal
CN111449899B (en)*2020-03-262022-05-31浙江大学Pelvis correction rehabilitation training robot for rehabilitation training
CN111700778B (en)*2020-06-292024-05-10河南省祥和康复产业技术研究院有限责任公司Wearable lower limb rehabilitation training system
CN114795826A (en)*2022-04-112022-07-29河南省人民医院Shank rehabilitation and nursing apparatus for orthopedics
CN115253185B (en)*2022-04-142024-08-23中南大学湘雅医院Traction device for knee joint rehabilitation training

Citations (5)

* Cited by examiner, † Cited by third party
Publication numberPriority datePublication dateAssigneeTitle
CN103330635A (en)*2013-06-262013-10-02中国科学院合肥物质科学研究院 A wearable lower limb power-assisted robot, its folding method and a hand-drawn case for shipping
CN103610569A (en)*2013-11-282014-03-05中山大学Wearable lower limb power-assisting device and control method thereof
CN103610568A (en)*2013-12-162014-03-05哈尔滨工业大学Human-simulated external skeleton robot assisting lower limbs
CN103622792A (en)*2013-11-252014-03-12北京林业大学Information collecting and controlling system of external skeleton assist robot
CN204016771U (en)*2014-07-152014-12-17西安唐城电子医疗设备研究所A kind of wearable intelligent healing hemiplegic lower limb image training robot

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication numberPriority datePublication dateAssigneeTitle
WO2013049658A1 (en)*2011-09-282013-04-04Northeastern UniversityLower extremity exoskeleton for gait retraining

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication numberPriority datePublication dateAssigneeTitle
CN103330635A (en)*2013-06-262013-10-02中国科学院合肥物质科学研究院 A wearable lower limb power-assisted robot, its folding method and a hand-drawn case for shipping
CN103622792A (en)*2013-11-252014-03-12北京林业大学Information collecting and controlling system of external skeleton assist robot
CN103610569A (en)*2013-11-282014-03-05中山大学Wearable lower limb power-assisting device and control method thereof
CN103610568A (en)*2013-12-162014-03-05哈尔滨工业大学Human-simulated external skeleton robot assisting lower limbs
CN204016771U (en)*2014-07-152014-12-17西安唐城电子医疗设备研究所A kind of wearable intelligent healing hemiplegic lower limb image training robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication numberPriority datePublication dateAssigneeTitle
TWI690307B (en)2019-02-222020-04-11中國科技大學 Intelligent leg health exoskeleton device

Also Published As

Publication numberPublication date
CN104083268A (en)2014-10-08

Similar Documents

PublicationPublication DateTitle
CN104083268B (en)Wearable intelligent hemiplegia lower limb rehabilitation training robot
CN204016771U (en)A kind of wearable intelligent healing hemiplegic lower limb image training robot
US10420695B2 (en)Exoskeleton apparatus driven by pneumatic artificial muscle with functions of upper limb assist and rehabilitation training
CN104490568B (en)Human lower extremity exoskeleton walking aid rehabilitation robot
Sanchez-Manchola et al.Development of a robotic lower-limb exoskeleton for gait rehabilitation: AGoRA exoskeleton
CN104688486A (en)Lower limbs rehabilitation robot motion control system
CN111604890A (en) A motion control method suitable for exoskeleton robot
CN104490563A (en)Pneumatic muscle based intelligent wearable lower limb
CN107874984A (en)Improved structure of multifunctional lower limb gait rehabilitation and walking assisting machine
CN109157374A (en)A kind of intensive care unit brain paralysis patient double lower limb coordinated movement of various economic factors rehabilitation system
CN107811819A (en)A kind of wearable lower limb rehabilitation robot
CN105852874B (en)A kind of autonomous type rehabilitation training system and method
Sridar et al.Evaluating immediate benefits of assisting knee extension with a soft inflatable exosuit
TWI684442B (en) Gait learning auxiliary system and its application method
CN105796286A (en)Method for controlling lower limb exoskeleton robot through air bag sensor
CN101810532A (en)Lower limbs rehabilitation training robot
CN105250117A (en)Sitting walking lower limb exoskeleton
CN106214421A (en)A kind of elbow joint, shoulder joint and knee joint rehabilitation device
Lagoda et al.Human‐Robot Interfaces in Exoskeletons for Gait Training after Stroke: State of the Art and Challenges
CN107468486A (en)Lower limb class brain intelligent machine electronics ectoskeleton and its complex control system
CN106726360A (en)Traveling lower limb of helping the disabled dress ectoskeleton and its mode of progression of helping the disabled
CN109288650A (en) A mobile lower body exercise training and assistive intelligent device that can be used independently by the wearer
TWM526379U (en)Air pressure and muscle driven outer skeleton apparatus with upper limb power and rehabilitation training functions
JP2018139975A (en) Walking training device, walking diagnostic device, weight-bearing device, walking training method, and walking diagnostic method
Jiang et al.Recent advances on lower limb exoskeleton rehabilitation robot

Legal Events

DateCodeTitleDescription
C06Publication
PB01Publication
C10Entry into substantive examination
SE01Entry into force of request for substantive examination
C41Transfer of patent application or patent right or utility model
CB03Change of inventor or designer information

Inventor after:Li Fang

Inventor after:Feng Xiaoming

Inventor after:Zhang Hongli

Inventor after:Han Yawei

Inventor before:Wang Gang

Inventor before:Feng Xiaoming

Inventor before:Li Fang

Inventor before:Ma Zhaoming

Inventor before:Zhang Hongli

Inventor before:Wang Jianhui

CORChange of bibliographic data
TA01Transfer of patent application right

Effective date of registration:20160824

Address after:710065 Shaanxi city of Xi'an province high tech Zone Feng Hui Road No. 18 Tang Feng International Plaza first building 4 unit 12 layer 41202.

Applicant after:SHAANXI XINDAILU ELECTRONIC TECHNOLOGY CO.,LTD.

Address before:710071 Shaanxi high tech Zone in Xi'an City, Feng Hui Nan Lu Tang Feng International D No. 18 block 12 layer

Applicant before:XI'AN TANGCHENG ELECTRONIC MEDICAL EQUIPMENT INSTITUTE

C14Grant of patent or utility model
GR01Patent grant
CF01Termination of patent right due to non-payment of annual fee

Granted publication date:20170208

CF01Termination of patent right due to non-payment of annual fee

[8]ページ先頭

©2009-2025 Movatter.jp