CN102113949B - Exoskeleton-wearable rehabilitation robot - Google Patents

Abstract

A wearable exoskeleton rehabilitation robot in the technical field of medical rehabilitation equipment, including: a lower extremity exoskeleton, worn on the patient's lower limbs and waist; a shoulder exoskeleton, worn on the patient's shoulder, located above the lower extremity exoskeleton; It is divided into left and right upper extremity exoskeletons, which are worn on the upper limbs of the patient, respectively located under the upper arm part of the shoulder exoskeleton. The invention enables patients to carry out rehabilitation training on the upper and lower limbs at the same time. At the same time, relying on the battery drive behind the patient, it solves the problem that the patient's range of motion is limited when using traditional rehabilitation devices for rehabilitation training.

Description

Exoskeleton Wearable Rehabilitation Robot

technical field

The invention relates to a device in the technical field of medical rehabilitation equipment, in particular to a wearable exoskeleton rehabilitation robot.

Background technique

Rehabilitation medicine is a medical applied discipline that studies the rehabilitation of the disabled and patients. Its purpose is to make the sick and disabled get the maximum benefit as soon as possible through various means such as physical therapy, exercise therapy, life training, skill training, speech training and psychological counseling. Restoration to the maximum extent enables the functions of the remaining parts of the body to be brought into full play, to achieve the greatest possible self-care, labor and work abilities, and to lay the foundation for the reintegration of the sick and disabled into society. According to statistics, there are currently 8.77 million patients with limb dysfunction caused by stroke, spinal cord injury and various accidents in my country, and more than half of them can improve their limb function through training. Traditional rehabilitation training starts with the hands-on guidance of professional doctors, and then the patient's healthy upper limbs or their family members and nurses manually pull the patient's affected limbs repeatedly. With the development of science and technology, medical robot technology has developed rapidly, and rehabilitation robot is a new application of robot technology in rehabilitation medicine. Since the robot does not have the problem of fatigue and can meet the training intensity requirements of different patients, it is more suitable for patients to perform rehabilitation training alone.

After searching the existing technical literature, it is found that the Chinese invention patent publication number: CN101357097A, name: five-degree-of-freedom exoskeleton type upper limb rehabilitation robot, the device includes a mounting frame for installing the robot, and the mounting frame is designed with guide rails, and the lifting frame is installed on the guide rails , the lifting frame has a height adjustment mechanism, the rotatable mounting arm is installed on the lifting frame through the rotating shaft, and the rehabilitation manipulator body composed of the transverse shoulder, upper arm, forearm and handle is mounted on the rotatable mounting arm, with 5 degrees of freedom Joints, five driving motors are installed on the rotation axis of each joint, and four torque sensors cascaded with the driving motors are respectively installed on the shoulder, elbow and wrist, of which two are on the shoulder, one on the elbow and one on the wrist. There is one at the flexion and extension, and the torque sensor is used as the transmission device and the detection device to connect the motor reducer and the actuator. The lower part of the base of the device has moving rollers, which can adjust the position of the device, but because the moving rollers do not have electric drive capability, it is difficult for the patient to move the device, which limits the range of motion of the patient when using the rehabilitation mechanical arm. For patients with movement disorders of upper and lower limbs on one side caused by hemiplegia, the device only provides upper limb rehabilitation training, and there are certain limitations in the range of rehabilitation training for patients.

Contents of the invention

The present invention aims at the above-mentioned deficiencies in the prior art, and provides a wearable exoskeleton rehabilitation robot, which enables patients to perform rehabilitation training on upper and lower limbs at the same time. At the same time, relying on the battery drive behind the patient, it solves the problem that the patient's range of motion is limited when using traditional rehabilitation devices for rehabilitation training.

The present invention is realized through the following technical solutions, and the present invention includes: lower limb exoskeleton, which is worn on the patient's lower limbs and waist; shoulder exoskeleton, which is worn on the patient's shoulder and located above the lower limb exoskeleton; upper limb exoskeleton, which is divided into left and right upper limbs The exoskeleton, worn on the patient's upper limbs, is respectively located under the upper arms of the shoulder exoskeleton. Each component is directly worn, and the exoskeleton is fixed on the patient's limbs through the fixed support and the fixing belt to form an exoskeleton robot rehabilitation system, which is powered by a battery pack and treats different needs of rehabilitation patients.

The lower extremity exoskeleton includes: foot exoskeleton, hip joint exoskeleton, sleeve-type calf rod, knee joint exoskeleton, sleeve-type thigh rod, hip joint exoskeleton, wherein: the foot exoskeleton is directly worn The ankle exoskeleton is connected to the foot, the calf bar is connected to the ankle exoskeleton, the knee exoskeleton is connected to the calf bar, the thigh exoskeleton is connected to the knee exoskeleton, and the hip exoskeleton is connected to the thigh bar.

The upper extremity exoskeleton includes: the upper extremity exoskeleton includes: elbow joint flexion and extension motor, elbow joint flexion and extension bevel gear assembly, big arm fixed plate, forearm fixed plate, elbow joint rotation motor, elbow joint rotation link, wrist Joint flexion and extension motor, palm stretching and gripping motor, four-finger stretching and gripping motor, four-finger stretching and gripping bevel gear assembly, palm baffle, and four-finger rod, among which: the upper arm fixed plate is bound to the patient's upper arm, and the elbow joint flexion and extension bevel gear assembly is connected to the upper arm The fixed plate is connected, the elbow joint flexion and extension motor is connected with the elbow joint flexion and extension bevel gear assembly, the forearm fixed plate is connected with the elbow joint flexion and extension bevel gear assembly and bound with the patient’s forearm, the elbow joint rotation motor is connected with the forearm fixed plate, and the elbow joint rotates The connecting rod is connected with the rotation motor of the elbow joint, the flexion and extension motor of the wrist joint is connected with the rotation link of the elbow joint, the palm baffle is connected with the flexion and extension motor of the wrist joint and fixed with the palm of the patient, the motor for opening and gripping the palm is fixed with the baffle for the palm, and the four fingers are stretched and gripped The bevel gear assembly is connected with the palm baffle, the four-finger grip motor is connected with the four-finger grip bevel gear assembly, and the four-finger bar is connected with the four-finger grip bevel gear assembly and fixed with the patient's four fingers.

The shoulder exoskeleton includes: a side extension motor part, a shoulder joint connection part, and a flexion and extension motor part, wherein: the side extension motor part is connected with the shoulder joint connection part, the flexion and extension motor part is connected with the shoulder joint connection part, and the big arm is fixed on a flat plate Bind to the patient's upper arm. Compared with the prior art, the present invention has the following advantages: it fits each joint, and can carry out comprehensive rehabilitation training for each joint of upper and lower limbs for different patients; it adopts battery power supply, is wearable and portable, and solves the problem of limited range of motion of patients ; Each exoskeleton rod is designed with a sleeve, which can realize stepless adjustment of length, which is convenient for patients to wear; at the same time, the exoskeleton sleeve is made of lightweight materials to reduce the burden on patients.

The present invention can have two rehabilitation training methods: in the active training method, the exoskeleton analyzes and predicts the patient's movement intention through the myoelectric interface, and provides assistance and protection; in the passive training method, the exoskeleton drives the patient to complete some daily exercises under the drive of the motor action, training.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the lower extremity exoskeleton of the present invention.

Fig. 2 is a schematic diagram of the structure of the exoskeleton of the upper limb and the shoulder joint of the present invention.

Fig. 3 is a structural diagram of the left lower extremity exoskeleton of the present invention.

Fig. 4 is a structural diagram of the left hip joint exoskeleton of the present invention.

Fig. 5 is a structural diagram of the thigh bar of the present invention.

Fig. 6 is a structural diagram of the calf bar of the present invention.

Fig. 7 is a structural diagram of the lower extremity motor part of the present invention.

Fig. 8 is a structural diagram of the shoulder joint exoskeleton of the present invention.

Fig. 9 is a structural diagram of the upper extremity exoskeleton of the present invention.

Detailed ways

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

This embodiment includes: lower extremity exoskeleton, upper extremity exoskeleton, shoulder exoskeleton, wherein:

As shown in FIG. 1 , the lower extremity exoskeleton includes: lower extremity exoskeleton connecting parts 1 ; connecting left and right lower extremity exoskeletons, the distance can be adjusted; left lower extremity exoskeleton 2 ; right lower extremity exoskeleton 3 . Among them, the male plate of the exoskeleton connecting part 1 is connected with the left lower extremity exoskeleton 2, the female plate of the exoskeleton connecting part is connected with the right lower extremity exoskeleton 3, the male plate contains a threaded cylinder, and the female plate has a groove to pass through the cylinder. The distance between the left and right lower extremity exoskeleton can be adjusted by fixing it with nuts.

As shown in FIG. 2 , the upper limb and shoulder exoskeleton includes: a shoulder exoskeleton 4 ; an upper limb exoskeleton 5 . Both the upper arm part of the shoulder exoskeleton and the upper arm part of the upper limb exoskeleton are bound to the upper arm to achieve fixation.

As shown in Figure 3, the left lower extremity exoskeleton 2 includes: a hip joint exoskeleton 6; a sleeve type thigh bar 7; a knee joint exoskeleton 8; a sleeve type calf exoskeleton 9; Foot exoskeleton11. Among them, the thigh rod 7 is connected with the hip joint exoskeleton 6 through a bevel gear assembly, and is bound to the patient's thigh; the knee joint exoskeleton 8 is located at the lower part of the thigh rod 7; Binding; the ankle exoskeleton 10 is located under the calf bar 9; the foot exoskeleton 11 is located on the side of the ankle exoskeleton 10, and is fixed to the patient's foot.

As shown in FIG. 4 , the hip joint exoskeleton 6 includes: a hip joint lateral extension motor 12 ; a hip joint connection part 13 ; and a hip joint movable part 14 . Wherein, the hip joint side extension motor is connected with the lower limb exoskeleton connecting part 1 in Fig. 1 to generate the side extension drive of the lower limb; the hip joint connecting part 13 is connected with the hip joint side extension motor 12 through a bevel gear part; the hip joint movable part 14 It is connected with the hip joint connecting part 13 through a bearing, and the rotational freedom of the hip joint is opened. A bevel gear is installed on the shaft of the hip joint movable part 14, and is connected with the sleeve type thigh bar.

As shown in FIG. 5 , the sleeve-type thigh rod 7 includes: a motor for flexing and extending the hip joint 15 ; a large sleeve 16 for the thigh rod; a small sleeve 17 for the thigh rod; and a motor 18 for flexing and extending the knee. Wherein, the hip joint flexion and extension motor 15 is connected with the hip joint movable part 14 in Fig. 4 through a bevel gear to realize the degree of freedom of hip joint flexion and extension; the large thigh rod part sleeve 16 is located below the hip joint flexion and extension motor 15; 17 is set with the large sleeve 16 of the thigh rod, and the length of the thigh rod can be adjusted through the tightness of the large sleeve of the thigh rod; the knee joint flexion and extension motor 18 is located under the small sleeve of the thigh rod to generate the drive of the degree of freedom of knee joint flexion and extension .

As shown in FIG. 6 , the sleeve-type calf rod 9 includes: a knee joint bevel gear assembly 22 ; a large calf rod sleeve 21 ; a small calf rod sleeve 20 ; and an ankle joint flexion and extension motor 19 . Wherein, the knee joint bevel gear assembly 22 is connected with the knee joint flexion and extension motor 18 in FIG. The small sleeve 20 is nested with the large sleeve of the calf, and the length of the calf rod can be adjusted by the tightness of the large sleeve of the calf rod; the ankle joint flexion and extension motor 19 is located under the small leg sleeve, which generates ankle flexion and extension freedom drive.

As shown in FIG. 7 , the various motor components of the lower limbs include: a bevel gear connection assembly 23 ; a motor protection case 24 ; a servo motor 25 ; and a fixed plate 26 . Wherein, the bevel gear assembly 23 is a bevel gear box, and the rotation around the Z axis generated by the motor is converted into rotation around the X axis through the bevel gear; the motor protection shell 24 is located below the bevel gear connection assembly to protect the servo motor; the servo motor 25 It is located in the motor protection shell to generate driving power; the fixed plate 26 is located beside the motor protection shell 24 and is connected with the motor protection shell, which can be used to bind and fix the patient's lower limbs.

As shown in Figure 8, the shown shoulder exoskeleton 4 comprises: shoulder joint connection part 27; Shoulder joint lateral expansion motor bevel gear assembly 30; Shoulder joint abduction motor 31; Shoulder joint flexion and extension motor 28; Shoulder joint flexion and extension motor bevel gear Assembly 29; Shoulder Joint Fixation Plate 32. Among them, the male plate of the shoulder joint connection part is connected with the left shoulder joint exoskeleton, the female plate of the shoulder joint connection part is connected with the right shoulder joint exoskeleton, the male plate contains a threaded cylinder, and the female plate has a groove that can pass through the cylinder , fixed by nuts, the distance between the left and right shoulder exoskeletons can be adjusted; the shoulder joint lateral expansion motor bevel gear assembly 30 is connected with the shoulder joint connecting part 27 to realize the degree of freedom of shoulder joint abduction; the shoulder joint measuring station and 31 are connected with the shoulder joint The side extension motor bevel gear assembly 31 is connected to generate the drive of the shoulder joint side extension degree of freedom; the shoulder joint flexion and extension motor bevel gear assembly 29 is located on the side of the shoulder joint side extension motor bevel gear assembly 30 to realize the shoulder joint flexion and extension freedom; the shoulder joint flexion and extension motor 28 It is connected with the bevel gear assembly 29 of the shoulder joint flexion and extension motor to generate the drive of the shoulder joint flexion and extension degree of freedom; the shoulder joint fixed plate 32 is located below the shoulder joint flexion and extension motor bevel gear assembly 29 and can be bound with the patient's upper limbs.

As shown in Figure 9, the upper extremity exoskeleton 5 includes: elbow joint flexion and extension motor 33; elbow joint flexion and extension bevel gear assembly 34; big arm fixed plate 35; forearm fixed plate 36; elbow joint rotation motor 37; elbow joint rotation Connecting rod 38; wrist joint flexion and extension motor 39; palm opening and holding motor 40; four fingers opening and holding motor 41; four fingers opening and holding bevel gear assembly 42; palm baffle plate 43; Among them, the upper arm fixed plate 35 is bound with the upper arm of the patient; the elbow joint flexion and extension bevel gear assembly 34 is connected with the upper arm fixed plate 35 to realize the degree of freedom of elbow joint flexion and extension; the elbow joint flexion and extension motor 33 is connected with the elbow joint flexion and extension bevel gear assembly 34 to generate the elbow joint Flexion and extension freedom drive; the forearm fixed plate 36 is connected with the elbow joint flexion and extension bevel gear assembly 34, which can be bound with the patient’s forearm; the elbow joint rotation motor 37 is connected with the forearm fixed plate 36 to realize the degree of freedom of elbow joint rotation; elbow joint rotation The connecting rod is connected with the elbow joint rotation motor 37 to realize the degree of freedom of the elbow joint rotation; the wrist joint flexion and extension motor 39 is connected with the elbow joint rotation connecting rod 38 to generate the wrist joint flexion and extension freedom drive; the palm baffle 43 is connected with the wrist joint flexion and extension motor 39 , can be fixed with the palm of the patient; the palm stretching motor 40 is fixed with the palm baffle to realize the freedom of palm stretching; the four-finger stretching bevel gear assembly 42 is connected with the palm baffle 43 to realize the freedom of four-finger stretching; The grip motor 41 is connected with the four-finger grip bevel gear assembly 42 to generate the four-finger grip freedom drive; the four-finger bar 44 is connected with the four-finger grip bevel gear assembly and can be fixed with the patient's four fingers.

Claims (2)

1. A wearable exoskeleton rehabilitation robot, characterized in that, comprising: Lower extremity exoskeleton, worn on the patient's lower limbs and waist; Shoulder exoskeleton, worn on the patient's shoulder, above the lower extremity exoskeleton; The upper extremity exoskeleton is divided into left and right upper extremity exoskeletons, which are worn on the upper limbs of the patient and are respectively located under the upper arm part of the shoulder exoskeleton; The lower extremity exoskeleton includes: foot exoskeleton, ankle joint exoskeleton, sleeve type calf rod, knee joint exoskeleton, sleeve type thigh rod, hip joint exoskeleton, wherein the foot exoskeleton is directly worn , the foot exoskeleton is located on the side of the ankle exoskeleton, and is fixed to the patient's foot; the sleeve type calf rod is connected with the ankle joint exoskeleton, the knee joint exoskeleton is connected with the sleeve type calf rod, and the sleeve type thigh rod Connected to the knee exoskeleton and the hip exoskeleton to the telescopic thigh bar; The upper extremity exoskeleton includes: elbow joint flexion and extension motor, elbow joint flexion and extension bevel gear assembly, big arm fixed plate, forearm fixed plate, elbow joint rotation motor, elbow joint rotation link, wrist joint flexion and extension motor, palm stretching motor , four-finger grip motor, four-finger grip bevel gear assembly, palm baffle, and four-finger rod, in which: the upper arm fixed plate is bound to the upper arm of the patient, the elbow joint flexion and extension bevel gear assembly is connected with the upper arm fixed plate, the elbow joint The flexion and extension motor is connected with the elbow flexion and extension bevel gear assembly, the forearm fixed plate is connected with the elbow flexion and extension bevel gear assembly and bound with the patient’s forearm, the elbow joint rotation motor is connected with the forearm fixed plate, and the elbow joint rotation link is rotated with the elbow joint The motor is connected, the wrist joint flexion and extension motor is connected with the elbow joint rotation link, the palm stopper is connected with the wrist joint flexion and extension motor and fixed with the palm of the patient, the palm opening grip motor is fixed with the palm stopper, the four-finger opening grip bevel gear assembly is connected with the palm stopper The four-finger grip motor is connected with the four-finger grip bevel gear assembly, and the four-finger bar is connected with the four-finger grip bevel gear assembly and fixed with the patient's four fingers. 2. The exoskeleton wearable rehabilitation robot according to claim 1, wherein the shoulder exoskeleton comprises: side extension motor parts, shoulder joint connection parts, flexion and extension motor parts, wherein: side extension motor parts It is connected with the shoulder joint connection part, and the flexion and extension motor part is connected with the shoulder joint connection part.

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