CN107874984A - Improved structure of multifunctional lower limb gait rehabilitation and walking assisting machine - Google Patents

Abstract

The invention discloses an improved structure of a multifunctional lower limb gait rehabilitation and walking assisting machine device, a user can support the weight by a suspension unit to reduce the bearing capacity of the leg of the user, and the walking rehabilitation training of the lower limb can be carried out under different weight loads to achieve the optimal training effect; in addition, the exoskeleton rehabilitation device can be a single-leg exoskeleton rehabilitation device which is formed by mixing and driving the hip joint linear actuator, the knee joint linear actuator, the first actuator, the second actuator, the third actuator and the fourth actuator, so that the safety, the comfort, the reliability, the practicability and the operation convenience are greatly improved; in addition, the indoor and outdoor navigation auxiliary device can be used as a blind guiding vehicle, and the navigation positioning system of the display unit displays the position of the user in the virtual map and the positioning point to be moved to in the corresponding actual operation environment.

Description

Structural improvement of multifunctional lower extremity gait rehabilitation and walking aid device

technical field

The present invention provides an exoskeleton rehabilitation device for lower limbs rehabilitation, especially a multi-functional lower limbs gait rehabilitation and walking aid device structure improvement.

Background technique

By the way, with the advancement of science and technology and the improvement of living standards, many countries are entering an aging society, and various health problems accompanied by aging have attracted increasing attention. There are a large number of patients with neurological diseases or cerebrovascular diseases among the elderly population , such as: central nervous system damage caused by stroke, spinal cord injury, cerebral palsy or impaired brain function, multiple sclerosis, and Parkin's disease, which also lead to different degrees of motor function in the patient's limbs In severe cases, the symptoms of total paralysis or hemiplegia will appear. At the same time, due to the situation of traffic accidents, the number of injured people who are injured by nerves or upper limbs/lower limbs is also increasing. However, the walking function of the lower limbs is an important indicator of mobility. It is a necessary condition to ensure a normal and independent life. Therefore, the daily life of most traffic accident patients is affected, and it brings certain burdens and challenges to the family.

However, most patients with central nervous system damage can recover to the level of independent walking after surgery or drug treatment, but most patients will be accompanied by some sequelae, such as: decreased motor control ability, joint stiffness and walking Symptoms of abnormal posture lead to the decline of the patient's balance function, which seriously affects the mobility, the ability to perceive the surrounding environment, and the quality of life; and the theory of rehabilitation medicine and clinical experiments show that in addition to early surgery and drug treatment, patients can Scientific rehabilitation training plays a very important role in the recovery and improvement of motor function. The earlier a patient engages in rehabilitation training after the acute phase, the better the effect of functional recovery. Among them, the theoretical basis of exercise rehabilitation therapy is the plasticity of the brain. Relevant medical research has shown that although damaged nerve cells cannot regenerate, nerve tissue can restore the lost function through functional reorganization or compensation. That is, the brain has plastic properties. Both animal and human experiments have shown that for limbs Active or passive repetitive correct gait training with specific functions can stimulate the proprioceptors to change the central nervous system mapping area, and promote the plasticity of the brain and spinal cord to relearn the walking action function; Relying on manual work, both the rehabilitation personnel and the patients have to spend a lot of time and physical strength, which seriously limits the efficiency and effectiveness of rehabilitation training, and the equipment of rehabilitation medical treatment is relatively simple, which cannot meet the needs of patients for gradual and focused rehabilitation. .

With the development of intelligent robot technology and the expansion of the rehabilitation medical market, rehabilitation training combined with robot technology can effectively solve the related problems in the traditional rehabilitation training process. Therefore, a safe, quantitative, effective and repeatable training is designed. The multifunctional limb rehabilitation training system has become one of the urgent problems to be solved in modern rehabilitation medicine and treatment. Therefore, rehabilitation robots have also emerged and provided important medical evidence. Rehabilitation robots are an important branch of medical robots. The research integrates many fields of rehabilitation medicine, biomechanics, mechanical mechanics, material mechanics, mechanism, electronics, computer science and robotics. The difference between a rehabilitation robot and an industrial robot is that it must be in direct contact with the human body, and with The patient works in the same working space, so that the patient and the rehabilitation training device perform an overall and coordinated movement. The rehabilitation robot is controlled by a computer, and its device has corresponding sensors and safety systems, which can be adjusted according to the actual operation status of different patients. Automatically adjust training parameters to achieve the best rehabilitation effect. Therefore, rehabilitation robots help patients relearn and improve rehabilitation motivation and effectiveness, making training movements closer to a healthy state, and at the same time reducing the heavy training of rehabilitation therapists tasks, so that more energy can be devoted to rehabilitation-related research.

The main cause of gait disorder in stroke patients is that brain damage leads to damage to motor cells and motor conduction, which leads to weakened active control ability, changes in muscle tone and functional decline, resulting in abnormal gait or inability to walk in patients, and their behavior is manifested as walking Slow, laborious and poor stability. In terms of rehabilitation training, traditional single-action training has a certain effect on improving the patient's limb function and walking ability, but it does not emphasize early overall walking training, and it takes more energy and time to help patients gradually complete the movement from the bed, the center of gravity Transfer to training for maintaining balance; while walking with crutches, walkers, or parallel poles for lower-limb load-sharing walking training cannot effectively correct the patient's gait, and will increase the output of the upper limbs and lead to abnormal walking posture. Body Weight Support Treadmill Training (BWSTT) is currently one of the most effective methods of rehabilitation training for patients with weakened lower limbs and hemiplegia. Its rehabilitation training effect has been recognized by domestic and foreign medical experts. Weight-bearing is the foundation of normal walking, but the lower limbs of patients with weakened lower limbs and hemiplegia have reduced load-bearing capacity, which makes it difficult to shift the center of gravity, which will affect the balance of the body and reduce the quality of walking. Weight-loss walking training can reduce the burden on the legs, so that patients with insufficient lower limb muscle strength can safely carry out gait training, which can promote the establishment of normal gait patterns and help the recovery of walking function. During the training process, the rehabilitation therapist can appropriately increase the weight training according to the improvement of the patient's walking ability and gait pattern, gradually reduce the weight loss, and finally achieve full weight-bearing walking. Currently, the weight loss methods used in rehabilitation are walking in water and using canes and crutches. Walking in water requires a swimming pool. The general public does not have a swimming pool, so it causes great inconvenience to patients' rehabilitation; and using crutches (hands) The power-assisted device of the cane is only to transfer the weight that the lower limbs originally need to bear to the shoulder joint. The extra load on the shoulder joint will easily cause fatigue, resulting in short training time and prone to abnormal gait. The lack of a balance adjustment function can easily cause patients to fall and be injured. In addition, conventional walking assistance robots have the problems of too little weight reduction and lack of gait balance functions. The hardware equipment is relatively bulky and must be limited to a fixed space and location operation.

In view of this, our inventors are concentrating on further research on lower limb gait rehabilitation and walking aid machines, and proceed to research and development and improvement, hoping to solve the above problems with a better design, and after continuous testing and modification, there are The advent of the present invention.

Contents of the invention

Yes, the purpose of the present invention is to solve the inconvenience caused by the bulky rehabilitation equipment, the limitation of the rehabilitation site and the weight reduction method used in rehabilitation, and the conventional walking assist robot has too little weight reduction assistance and lack of gait maintenance. The problem of balance function; and the invention allows patients to move indoors and outdoors to operate in reality, helping to relieve the discomfort of rehabilitation, and improve the motivation and effectiveness of rehabilitation.

In order to achieve the above purpose, our inventors provide a structural improvement of a multifunctional lower limb gait rehabilitation and walking aid device, including: an exoskeleton rehabilitation device, which is equipped with a hip joint assembly, the The hip joint assembly is pivotally provided with a thigh frame, the hip joint assembly is pivotally provided with a first actuator, and the thigh frame is pivotally provided with a second actuator, the first actuator and the second actuator A hip joint linear actuator is coupled, and the first actuator and the second actuator are coupled to a processing unit. The thigh frame body is provided with a knee joint assembly at one end opposite to the hip joint assembly. The knee joint assembly For connecting the thigh frame and the calf frame, the knee joint assembly is pivotally provided with a third actuator, and the calf frame is pivotally provided with a fourth actuator, the third actuator and the fourth The actuator is coupled to a knee joint linear actuator, and the third actuator and the fourth actuator are coupled to the processing unit, and the processing unit makes the first actuator and the second actuator respectively drive the hip joint linear actuator, and make the third actuator and the fourth actuator drive the knee joint linear actuator respectively; the hip joint assembly and the thigh frame are controlled by a first non-contact The angle sensors are mutually pivoted and sense a perpendicular angle between the thigh frame and the ground. The knee joint assembly and the calf frame are pivoted to each other by a second non-contact angle sensor and sense a vertical angle between the calf frame and the ground. angles perpendicular to each other, and the first non-contact angle sensor and the second non-contact angle sensor are coupled to the processing unit; the first non-contact angle sensor and the second non-contact angle sensor capture the hip joint in the walking cycle component and the angular displacement signal of the knee joint component, so as to transmit each signal to the processing unit, and control the first actuator, the second actuator, the third actuator and the The action of the fourth actuator; in addition, the exoskeleton rehabilitation device is linked to a weight support system, the weight support system is provided with at least one suspension unit, and the suspension units are respectively sensed by a tension sensing unit Gravity, and the weight support system is provided with four weight-reducing linear actuators, the weight-reducing linear actuators are respectively coupled to the tension sensing unit, so as to stabilize the center of gravity and a gravity of the weight support system; and the The suspension unit is provided with a kit, and the kit is provided with a board, and the board is provided with a reflective part, and at least one moving device is provided at the bottom of the weight supporting system.

According to the improvement in the structure of the multifunctional lower limb gait rehabilitation and walking aid device, the exoskeleton rehabilitation device is respectively provided with at least one adjustment component, and the adjustment component is tied to the user's leg, thereby adjusting The tightness of the assembly is adjusted, and the thigh frame body is provided with a thigh length adjustment mechanism, and the calf frame body is provided with a calf length adjustment mechanism.

According to the structural improvement of the multifunctional lower limb gait rehabilitation and walking aid device, the processing unit is further coupled to an indoor and outdoor navigation auxiliary device, and the indoor and outdoor navigation auxiliary device is provided with an armrest device. There is at least one pressure sensor, the pressure sensor is coupled to the processing unit, and the indoor and outdoor navigation aid device is further coupled to a navigation and positioning system and a mobile unit, the navigation and positioning system and the mobile unit are respectively coupled to the processing unit , the navigation and positioning system is provided with a virtual map corresponding to the actual operating environment, and the exoskeleton rehabilitation device is positioned at a position point on the virtual map, and the navigation and positioning system sets a position point so that the processing unit controls the movement The unit moves from the position point displayed on the virtual map to the positioning point through the navigation and positioning system, and the indoor and outdoor navigation auxiliary device is further coupled to a front searchlight.

According to the structural improvement of the multi-functional lower limb gait rehabilitation and walking aid device mentioned above, the indoor and outdoor navigation aid is linked to a remote monitoring system, and the remote monitoring system remotely monitors the position of the indoor and outdoor navigation aid , and the remote monitoring system is to receive the first non-contact angle sensor and the second non-contact angle sensor to pick up the signals of the angular displacement of the hip joint assembly and the knee joint assembly during the walking cycle.

According to the structural improvement of the multifunctional lower limb gait rehabilitation and walking aid device described above, the processing unit is further coupled to a camera and a laser range finder, and the processing unit uses the camera and the laser range finder The moving track of the object is analyzed to detect the relative position of the obstacle in front, and the moving unit is used for displacement to guide the exoskeleton rehabilitation device away from the obstacle.

According to the structural improvement of the multifunctional lower limb gait rehabilitation and walking aid device described above, the indoor and outdoor navigation aid device is further coupled to a display unit, and the display unit is correspondingly presenting the virtual map, location points and positioning points, And the navigation and positioning system can plan the route from the location point to the anchor point on the virtual map, and display it on the display unit.

According to the structural improvement of the multifunctional lower limb gait rehabilitation and walking aid device described above, the indoor and outdoor navigation aid device is further coupled to an ultrasonic sensing unit, and the processing unit is determined by the ultrasonic sensing unit A distance value between the exoskeleton rehabilitation device and the indoor navigation aid device, which is used to control the moving speed of the indoor and outdoor navigation aid device using the mobile unit.

According to the structural improvement of the multifunctional lower limb gait rehabilitation and walking aid device described above, the ultrasonic sensing unit is further coupled to a filter, and the filter is the distance value detected by the ultrasonic sensing unit Noise is filtered through this filter.

By the above description and setting, it is obvious that the present invention mainly has the following advantages and effects, which are detailed as follows one by one:

1. The user can use the suspension unit to support the body weight, so as to reduce the bearing capacity of the user's legs, reduce the burden of supporting the weight of the lower limbs, and provide walking rehabilitation training for the lower limbs under different weight loads, and provide users with Legs can move more freely during training to achieve the best training effect.

2. Compared with the conventional gait rehabilitation training system, the present invention is equipped with an exoskeleton rehabilitation device, and the hip joint linear actuator and the knee joint linear actuator communicate with the first actuator and the second actuator. A single-leg exoskeleton rehabilitation device driven by a mixture of actuators, third actuators, and fourth actuators, which greatly improves safety, comfort, reliability, practicability, and ease of operation. There are fewer components, the mechanism is simple rather than complicated, and it is easy to maintain. In addition, the exoskeleton rehabilitation device allows users to walk directly on flat ground without using a treadmill. The information of the foot state controls the coordination between the present invention and the user, so that the user can obtain the best practice gait training, and then achieve the effect of correct walking gait and balance control.

3. The indoor and outdoor navigation auxiliary device installed in the present invention can be used as a blind guide vehicle, and can also be used in the corresponding actual operating environment through the navigation and positioning system through the menu of the display unit, the position of the exoskeleton rehabilitation device on the virtual map and The positioning point to go to, and use the processing unit to plan the route from the position point in the virtual map to the positioning point, so that the user can clearly understand the position. In addition, the indoor and outdoor navigation aids are processed by the ultrasonic sensing unit Unit, and filter the distance value detected by the ultrasonic sensing unit to filter the noise, so as to calculate the forward speed and steering speed of safe operation, and use the camera and laser rangefinder to detect the obstacles in front by the processing unit for Dodge in real time to avoid collisions. In addition, the indoor and outdoor navigation aids transmit the speed information, coordinates, and location on the map to the remote monitoring system through the wireless local area network, which can remotely monitor the real-time position of the user in real time, and walk outdoors at night At the same time, since the kit is equipped with a reflective board, the safety of the user when walking at night can be improved, and the user can also turn on the front searchlight to observe the state of the front movement.

4. The user can hold the armrest device, because the pressure sensor of the present invention is compared with the conventional pressure sensor, and can directly and without difference know that the walking information obtained by the pressure sensor of the present invention is the pressure magnitude or pressure distribution. When the user exerts force on the pressure sensor, the walking information of the obtained pressure magnitude or pressure distribution is transmitted to the processing unit, and the processing unit analyzes the walking information and then makes the mobile unit rotate.

Description of drawings

Fig. 1 is a schematic perspective view of this embodiment.

Fig. 2 is a schematic view of the use state in the embodiment.

Fig. 3 is a schematic block diagram of the pivoting of the hip joint assembly and the knee joint assembly in the embodiment.

Fig. 4 is a schematic block diagram of navigation walking in this embodiment.

Fig. 5 is a schematic diagram of the display unit displaying the simulated planning path of the navigation and positioning system in this implementation.

Detailed ways

With regard to the technical means of our inventors, several preferred embodiments will be described in detail below in conjunction with the drawings, so as to provide an in-depth understanding and recognition of the present invention.

Please refer to FIG. 1 first. The present invention is a structural improvement of a multifunctional lower limb gait rehabilitation and walking aid device, including: an exoskeleton rehabilitation device 1, and the exoskeleton rehabilitation device 1 is provided with a hip joint assembly 11 , the hip joint assembly 11 is pivotally provided with a thigh frame 12, the thigh frame 12 is provided with a thigh length adjustment mechanism 121, the hip joint assembly 11 is pivotally provided with a first actuator 13a, and the thigh frame 12 is pivotally provided with There is a second actuator 13b, the first actuator 13a and the second actuator 13b are coupled to a hip joint linear actuator 14a, and the first actuator 13a and the second actuator 13b Coupled with a processing unit 141, the hip joint assembly 11 and the thigh frame 12 are pivoted to each other by a first non-contact angle sensor 15a and sense a perpendicular angle between the thigh frame 12 and the ground, the thigh frame 12 is provided with a knee joint assembly 16 opposite to the end of the hip joint assembly 11, and the knee joint assembly 16 is used to connect the thigh frame body 12 and the calf frame body 17, and the calf frame body 17 is provided with a calf length adjustment mechanism 171, the knee The joint assembly 16 is pivotally provided with a third actuator 13c, and the lower leg frame 17 is pivotally provided with a fourth actuator 13d, the third actuator 13c and the fourth actuator 13d are coupled to a knee joint a linear actuator 14b, and the third actuator 13c and the fourth actuator 13d are coupled to the processing unit 141;

The knee joint assembly 16 and the calf frame 17 are mutually pivoted by a second non-contact angle sensor 15b and sense a perpendicular angle between the calf frame 17 and the ground, and the processing unit 141 respectively makes the first actuation The device 13a and the second actuator 13b drive the hip joint linear actuator 14a, and the processing unit 141 respectively makes the third actuator 13c and the fourth actuator 13d drive the knee joint linear actuator 14b, and the first non-contact angle sensor 15a and the second non-contact angle sensor 15b are coupled to the processing unit 141, the first non-contact angle sensor 15a and the second non-contact angle sensor 15b capture the The signals of the angular displacement of the hip joint assembly 11 and the knee joint assembly 16 are used to transmit each signal to the processing unit 141, and the first actuator 13a and the second actuator 13b are controlled by the processing unit 141 , the actions of the third actuator 13c and the fourth actuator 13d;

At least one adjustment component 2, which is installed on the exoskeleton rehabilitation device 1, the adjustment component 2 is tied to the leg of the user 8, so as to adjust the tightness of the adjustment component 2 according to the needs of the user 8;

A weight support system 3, which is connected to the exoskeleton rehabilitation device 1, the weight support system 3 is provided with at least one suspension unit 31, and the suspension unit 31 senses gravity through at least one tension sensing unit 311, and the In one embodiment, the weight support system 3 is provided with four weight-reducing linear actuators 312, and the weight-reducing linear actuators 312 are respectively coupled to the tension sensing unit 311; and the suspension unit 31 is provided with a kit 32. In another embodiment, after the user 8 puts the kit 32, the tension sensing unit 311 of the suspension unit 31 senses a Z-axis and downward gravity, thereby utilizing the tension sensing unit After 311 senses the gravity of the user 8, use the weight reduction linear actuator 312 to apply an upward pull force of 30% to 40% of the gravity on the Z axis, thereby reserving 60% to 70% of the gravity for the user 8 Rehabilitation; and the kit 32 is provided with a plate body 321, the plate body 321 is provided with a reflective part, and the bottom end of the weight support system 3 is further provided with at least one mobile device 33;

An indoor and outdoor navigation aid device 5 is coupled to the processing unit 141. The indoor and outdoor navigation aid device 5 is further coupled to a navigation and positioning system 51 and a mobile unit 56. In one embodiment, the mobile unit 56 is coupled to A drive unit 561; the navigation and positioning system 51 and the mobile unit 56 are respectively coupled to the processing unit 141, the navigation and positioning system 51 is provided with a virtual map 511 corresponding to the actual operating environment (not shown in the figure), and locates the The exoskeleton rehabilitation device 1 is at a position point 511a of the virtual map 511, and the navigation and positioning system 51 sets a position point 511b, so that the processing unit 141 controls the mobile unit 56 to view the virtual map through the navigation and positioning system 51 511 shows that the position point 511a moves to the positioning point 511b. The processing unit 141 is further coupled to a camera 52 and a laser range finder 53. The processing unit 141 analyzes the motion of an object through the camera 52 and the laser range finder 53. track to detect the position of the obstacle in front, and control the mobile unit 56 to avoid the obstacle in the moving process, and the indoor and outdoor navigation aid device 5 is further coupled to an ultrasonic sensing unit 54, the processing unit 141 A distance value is determined by the ultrasonic sensing unit 54. In one embodiment, the ultrasonic sensing unit 54 measures the distance between the user 8 wearing the exoskeleton rehabilitation device 1 and the indoor and outdoor navigation aid device 5. to control the moving speed of the indoor and outdoor navigation aid device 5, and the indoor and outdoor navigation aid device 5 is further coupled to a front searchlight 55; and the indoor and outdoor navigation aid device 5 is further provided with a handrail device 57, the handrail The device 57 is provided with at least one pressure sensor 571 coupled to the processing unit 141;

A filter 541, which is coupled to the ultrasonic sensing unit 54, the filter 541 is to filter the noise from the distance value detected by the ultrasonic sensing unit 54 through the filter 541;

A remote monitoring system 6, which is linked to the indoor and outdoor navigation auxiliary device 5, the remote monitoring system 6 remotely monitors the position of the indoor and outdoor navigation auxiliary device 5, and the remote monitoring system 6 receives the first non-contact angle The sensor 15a and the second non-contact angle sensor 15b are used to pick up the signals of the angular displacement of the hip joint assembly 11 and the knee joint assembly 16 during the walking cycle; and

A display unit 7, which is coupled to the indoor and outdoor navigation aid device 5, the display unit 7 correspondingly presents the virtual map 511, the location point 511a and the positioning point 511b, and the navigation positioning system 51 can be displayed on the virtual map 511 The route from the location point 511a to the positioning point 511b is planned and displayed on the display unit 7 . In this way, please refer to Figure 1 and Figure 2. After the user 8 is inserted into the kit 32, the suspension unit 31 provides a displacement in the Z-axis direction through the weight-reducing linear actuator 312, and the weight-reducing linear actuator 312 is consistent. The single design of the actuator 312 can withstand 120 kg. Therefore, the weight-reducing linear actuator 312 is relatively safe for other screws to move in the Z-axis direction, and the amount of displacement depends on the height and weight of the user 8. Judgment, for example: the height of user 8 is 180 centimeters and the weight is 85 kilograms, and the body weight is sensed by the tension sensing unit 311; according to the theory of rehabilitation medicine, in the process of rehabilitation training, it is the most optimal to provide user 8 with a constant weight reduction force. One of the effective rehabilitation methods. The weight loss standard generally adopted in the world is 30% to 40% of the body weight of the user 8. Therefore, during the rehabilitation training process, the weight loss support of the user 8 will not exceed 40% (inclusive) of his body weight, which means It is not to fully support the weight of the user 8; the present invention is for the user 8 to apply some strength for rehabilitation. In one embodiment, since the weight of the user 8 is 85 kg, the tension sensing unit 311 displays a value It is 25.5 to 34 kilograms; but it is not limited to this, and the tension parameter of the tension sensing unit 311 can be adjusted according to the needs of the lower limbs of the user 8; for the rehabilitation of the lower limbs of the user 8 under different weight loads, and the weight The support system 3 is equipped with a mobile device 33, so it can perform walking rehabilitation training, and can track the up and down movement of the center of gravity of the human body during the walking rehabilitation process, providing constant support and weight reduction for the user 8, and realizing movable active support and weight reduction. Emphasis on function, in order to achieve the best training effect, so as to achieve the purpose of complete rehabilitation. The joints of the lower limbs bear more pressure in the standing posture than in the sitting posture. If the elderly and those with weakened lower limbs have any internal or external environmental changes, they may fall due to insufficient leg muscle strength. The weight support system 3 can help the user 8 reduce part of the body weight during walking, reduce the load on the lower limbs, maintain a correct upright position, and provide a certain amount of support to provide the user 8 with a sense of security, eliminating the fear of falling while walking. Nervous and fearful, in order to maintain normal walking over long distances. In addition, the kit 32 can be adjusted according to the waist size of the user 8, and the weight of the lower limbs can also be supported by the kit 32, so as to achieve the convenience of use. Furthermore, since the kit 32 is provided with a board body 321, and the board body 321 There is a reflective part, so the safety of the user 8 when walking at night can be improved.

Please refer to Fig. 3, the user 8 can use the exoskeleton rehabilitation device 1 to rehabilitate in a normal gait style, and the gait trajectory of a normal person is set according to the system, and the corresponding gait parameters, such as step length and step Speed parameters are output by the processing unit 141 and control the commands of each joint to guide the user 8 to carry out the reconstructed gait trajectory movement. Therefore, in the active training mode of the exoskeleton rehabilitation device 1, the master-slave tracking control method is used. , wherein, for the large range of motion of the hip joint assembly 11 and the knee joint assembly 16, it is realized by the hip joint linear actuator 14a and the knee joint linear actuator 14b, and for a small range of motion such as the hip joint assembly 11 Adduction and abduction are realized by using the first actuator 13a, the second actuator 13b, the third actuator 13c and the fourth actuator 13d, therefore, by the hip joint linear actuator 14a and The knee joint linear actuator 14b is mixed with the first actuator 13a, the second actuator 13b, the third actuator 13c and the fourth actuator 13d to form and drive the structure of the single-leg exoskeleton rehabilitation device 1, All greatly improve safety, comfort, reliability, practicability and ease of operation, and the required driving components are less, making the mechanism of the present invention simple and easy to assemble. In addition, the exoskeleton rehabilitation device 1 can be used by users 8 Repeatedly train the walking movement with the correct gait, you can walk directly on the flat ground without the aid of a treadmill, to approximate the gait track of the human body walking on the ground, so as to realize the sports training of each joint, the active and passive of the leg muscles Rehabilitation training for self-adaptive and neurological functions. Moreover, the first non-contact angle sensor 15a and the second non-contact angle sensor 15b can be used to capture the signals of the states of the joints and feet of the user 8 during the walking cycle and use the processing unit 141 Send to the remote monitoring system 6, and use the remote monitoring system 6 to monitor in real time the exoskeleton rehabilitation device driven by the first actuator 13a, the second actuator 13b, the third actuator 13c and the fourth actuator 13d 1. Coordination with the state of human body movement. In addition, the user can adjust the length of the thigh length adjustment mechanism 121 and the calf length adjustment mechanism 171 respectively according to the needs, so that the user 8 can obtain the best rehabilitation training and improve the user's 8 leg strength. The quality of rehabilitation for functional impairment.

Please refer to Fig. 1 and Fig. 2 again, the user 8 can grasp the armrest device 57 by holding the handrail device 57, and because the pressure sensor 571 of this case is compared with the conventional pressure sensor, the pressure sensor 571 of this case can be directly and unambiguously known. The walking information refers to the pressure magnitude or pressure distribution status. Therefore, when the user 8 exerts force on the pressure sensor 571, the obtained walking information on the pressure magnitude or pressure distribution status is transmitted to the processing unit 141, and the processing unit 141 analyzes the walking information. Immediately afterwards, the mobile unit 56 is rotated; for example, when the user 8 applies pressure to the armrest device 57 of the right hand, the pressure sensor 571 transmits the detected pressure value to the processing unit 141, and the processing unit 141 determines the position of the right armrest device 57. The pressure value is greater than the pressure value 35 of the left armrest device, so that the mobile unit 56 is rotated to the right, so that this case can achieve the direction of rotation and travel, thereby controlling the movement of the indoor and outdoor navigation auxiliary device 5; and the user 8 can adjust the armrest device 57 according to needs the height.

4 and 5, the user 8 can use the indoor and outdoor navigation aid device 5 to locate the exoskeleton on the virtual map 511 corresponding to the actual operating environment through the navigation and positioning system 51 through the menu of the display unit 7. The rehabilitation device 1 is at the position point 511a of the virtual map 511, and the navigation and positioning system 51 sets the positioning point 511b, and the navigation and positioning system 51 moves to the positioning point 511a in the virtual map 511 by the processing unit 141. The route at point 511b is moved by the mobile unit 56, and then drives the exoskeleton rehabilitation device 1 worn by the user 8, and the display unit 7 correspondingly presents a virtual map 511, a location point 511a and an anchor point 511b for the user 8 The scope of action is expanded, not limited to the rehabilitation room; moreover, at night, the user 8 can turn on the front searchlight 55 in order to observe the state of the front movement. The external navigation auxiliary device 5 starts the navigation function, and the display unit 7 plans the walking path first, so that the user 8 can walk to the positioning point 511b with a smooth trajectory. In addition, by installing the remote monitoring system 6, the speed information, The coordinates and the location on the map are transmitted to the remote monitoring system 6 in real time via a wireless communication system (for example: GPRS), thereby remotely monitoring the location of the user 8 .

Please refer to Fig. 5, the display unit 7 and the remote monitoring system 6 can be modified with the movement of the indoor and outdoor navigation aids 5, for example: map replacement, correction of map parameters and correction of coordinates to match the new map, so that the indoor and outdoor navigation aids 5 After moving to a new space, the user 8 can still clearly understand the orientation of the new environment.

Please refer to Fig. 5 again, the indoor and outdoor navigation aid 5 can also be used as a blind guide vehicle, and the user 8 can borrow the indoor and outdoor navigation aid 5 from the processing unit system 141 through the camera 52, the laser rangefinder 53 or The infrared sensor (not shown in the figure) captures a sequence of continuous images of the front environment area, analyzes the movement trajectory of the object to detect the position of the obstacle in front, and uses the mobile unit 56 to guide the exoskeleton rehabilitation device 1 to dodge during the movement The obstacles in front, in addition, use the ultrasonic sensing unit 54 installed behind the indoor and outdoor navigation aid device 5 to detect the distance between the user 8 wearing the exoskeleton rehabilitation device 1 and the indoor and outdoor navigation aid device 5 The processing unit 141 uses the distance value measured by the ultrasonic sensing unit 54 to control the moving speed of the indoor and outdoor navigation aid device 5, so as to obtain the distance between the user 8 and the indoor and outdoor navigation aid device 5, and The area of the front environment and the distance between the user 8 and the indoor and outdoor navigation aid device 5 are output to the indoor and outdoor navigation aid device 5 through the processing unit 141 and the appropriate moving speed is controlled. For example, when the user 8 walks slowly, it will slow down The moving speed of the indoor and outdoor navigation aid device 5 is to match the pace of the user 8; and when the user 8's pace is faster, the indoor and outdoor navigation aid device 5 will accelerate to match the pace of the user 8; but when the space ahead is narrow, although the user 8. It is relatively close to the indoor and outdoor navigation aid device 5, and cannot accelerate or maintain a relatively high speed. Therefore, when encountering an obstacle ahead, adjust the speed and turn away from the obstacle in front to avoid collision accidents; thereby, control indoor and outdoor The moving speed of the navigation aid device 5 is mainly adjusted according to the width of the front space and the distance to the rear user 8, so as to meet the walking needs and safety of the user 8.

By the above description and setting, it is obvious that the present invention mainly has the following advantages and effects, which are detailed as follows one by one:

1. The user 8 can support the body weight through the suspension unit 31 to reduce the load on the legs of the user 8, reduce the burden on the lower limbs to support the weight, and provide the lower limbs for walking rehabilitation training under different weight loads, and provide Perform walking rehabilitation training for the lower limbs under different weight loads to achieve the best training effect and reduce the burden on the lower limbs to support the weight.

2. Compared with the conventional gait rehabilitation training system, the exoskeleton rehabilitation device 1 installed in the present invention uses the hip joint linear actuator 14a, the knee joint linear actuator 14b and the first actuator 13a, the second actuator 13b, the third actuator 13c, and the fourth actuator 13d are combined and driven by a single-leg exoskeleton rehabilitation device 1, which greatly improves safety, comfort, reliability, and practicability and ease of operation, and requires fewer components to be driven, and the mechanism is simple rather than complicated. In addition, the exoskeleton rehabilitation device 1 can allow the user 8 to repeatedly train the movement of walking with the correct gait, without the need for a treadmill. Walking on a flat ground, similar to the gait trajectory of the human body walking on the ground, realizes the sports training of each joint, the active and passive adaptation of the leg muscles and the rehabilitation training of the nerve function. Furthermore, through the first non-contact angle The sensor 15a and the second non-contact angle sensor 15b capture information about the state of each joint and both feet of the user 8 during the walking cycle, so as to transmit each signal to the processing unit 141 to control the coordination between the exoskeleton rehabilitation device 1 and the user 8 It is for the user 8 to obtain the best rehabilitation training, improve the rehabilitation quality of the user 8's leg function damage, and then achieve the effect of rehabilitation walking.

3. The indoor and outdoor navigation auxiliary device 5 installed in the present invention can be used as a blind guide vehicle, and can also be positioned on the virtual map 511 corresponding to the actual operating environment through the navigation and positioning system 51 through the menu of the display unit 7, and position the exoskeleton rehabilitation The device 1 is on the location point 511a of the virtual map 511 and the positioning point 511b to go to, and the navigation positioning system 51 plans the route from the location point 511a to the positioning point 511b in the virtual map 511 through the processing unit 141, so that the user 8 can clearly In addition, the indoor and outdoor navigation aid device 5 uses the ultrasonic sensing unit 54, the camera 52, the laser range finder 53 and the infrared sensor to calculate the forward speed and the turning speed, and to avoid obstacles in front Avoid collisions. Furthermore, the indoor and outdoor navigation aid 5 transmits the speed information, coordinates and position on the map to the remote monitoring system 6 through the wireless local area network, and can remotely monitor the position of the user 8 in real time, and walk at night At this time, since the kit 32 is provided with a plate body 321, and the plate body 321 is provided with a reflective portion, the safety of the user 8 when walking at night can be improved. In addition, the user 8 can also turn on the front searchlight 55 so as to observe the front trending state.

4. The user 8 can grasp the armrest device 57, because the pressure sensor 571 of the present invention is compared with the conventional pressure sensor, and can directly and without difference know that the walking information obtained by the pressure sensor 571 of the present invention is pressure magnitude or pressure distribution Therefore, when the user 8 exerts force on the pressure sensor 571, the walking information of the obtained pressure magnitude or pressure distribution is transmitted to the processing unit 141, and the processing unit 141 analyzes the walking information and then makes the mobile unit 56 rotate .

In summary, the technical means disclosed in the present invention can effectively solve the conventional problems and achieve the expected purpose and effect, and it has not been published in publications before application, has not been publicly used, and has long-term progress. The invention stated in the Patent Law is correct, and I have filed an application according to the law. I sincerely pray for the detailed examination and approval of the invention patent. I am very grateful to Dexin.

But the above are only several preferred embodiments of the present invention, and should not limit the scope of the present invention with this, that is, all equivalent changes and modifications made according to the patent scope of the present invention and the content of the description of the invention are all Should still belong to the scope covered by the patent of the present invention.

Claims (8)

1. A multifunctional lower extremity gait rehabilitation and walking aid mechanical device structure improvement, characterized in that it comprises: an exoskeleton rehabilitation device, the exoskeleton rehabilitation device is provided with a hip joint assembly, and the hip joint assembly is pivoted There is a thigh frame, the hip joint assembly is pivotally provided with a first actuator, and the thigh frame is pivotally provided with a second actuator, the first actuator and the second actuator are coupled to a hip A joint linear actuator, and the first actuator and the second actuator are coupled to a processing unit, and the thigh frame is provided with a knee joint assembly at one end opposite to the hip joint assembly, and the knee joint assembly is used to connect the The thigh frame and the lower leg frame, the knee joint assembly is pivotally provided with a third actuator, and the calf frame is pivotally connected with a fourth actuator, the third actuator and the fourth actuator A knee joint linear actuator is coupled, and the third actuator and the fourth actuator are coupled to the processing unit, and the processing unit causes the first actuator and the second actuator to drive the hip joint linear actuator, and make the third actuator and the fourth actuator drive the knee joint linear actuator respectively; the hip joint assembly and the thigh frame are mutually connected by a first non-contact angle sensor pivoting and sensing the perpendicular angle between the thigh frame and the ground, the knee joint assembly and the calf frame are pivoted to each other by a second non-contact angle sensor and sensing the perpendicular angle between the calf frame and the ground, And the first non-contact angle sensor and the second non-contact angle sensor are coupled to the processing unit; the first non-contact angle sensor and the second non-contact angle sensor capture the hip joint assembly and the knee joint in the walking cycle signals of angular displacement of components, so that each signal is transmitted to the processing unit, and the first actuator, the second actuator, the third actuator and the fourth actuator are controlled by the processing unit the action of the device; and, the exoskeleton rehabilitation device is linked to a weight support system, the weight support system is provided with at least one suspension unit, and each of the suspension units senses gravity through a tension sensing unit, and the weight The support system is provided with four weight-reducing linear actuators, and the weight-reducing linear actuators are respectively coupled to the tension sensing unit, so as to stabilize the center of gravity and a gravity of the weight support system; and the suspension unit is provided with a kit , the kit is provided with a board body, the board body is provided with a reflective part, and at least one moving device is provided at the bottom of the weight support system. 2. The structural improvement of the multifunctional lower extremity gait rehabilitation and walking aid device according to claim 1, wherein the exoskeleton rehabilitation device is respectively provided with at least one adjustment component, and the adjustment component is tied to the user's The legs are used to adjust the tightness of the adjustment assembly, and the thigh frame body is provided with a thigh length adjustment mechanism, and the calf frame body is provided with a calf length adjustment mechanism. 3. The structural improvement of the multifunctional lower extremity gait rehabilitation and walking aid device according to claim 1, wherein the processing unit is further coupled to an indoor and outdoor navigation aid, and the indoor and outdoor navigation aid is provided with an An armrest device, the armrest device is provided with at least one pressure sensor, the pressure sensor is coupled to the processing unit, and the indoor and outdoor navigation auxiliary device is further coupled to a navigation and positioning system and a mobile unit, the navigation and positioning system and the mobile unit are respectively coupled to the processing unit, the navigation and positioning system is provided with a virtual map corresponding to the actual operating environment, and the exoskeleton rehabilitation device is positioned at a position point on the virtual map, and the navigation and positioning system sets a positioning point, so that The processing unit controls the mobile unit to move from the position point displayed on the virtual map to the positioning point through the navigation and positioning system, and the indoor and outdoor navigation auxiliary device is further coupled to a front searchlight. 4. The structural improvement of the multifunctional lower limb gait rehabilitation and walking aid device according to claim 3, characterized in that, the indoor and outdoor navigation auxiliary device is linked to a remote monitoring system, and the remote monitoring system remotely monitors the The position of the indoor and outdoor navigation aid device, and the remote monitoring system is to receive the first non-contact angle sensor and the second non-contact angle sensor to capture the signal of the angular displacement of the hip joint assembly and the knee joint assembly during the walking cycle By. 5. The structural improvement of the multifunctional lower extremity gait rehabilitation and walking aid device according to claim 3, wherein the processing unit is further coupled to a camera and a laser rangefinder, and the processing unit is composed of the camera and The laser range finder analyzes the moving track of the object to detect the relative position of the obstacle in front, and uses the moving unit to make a displacement to guide the exoskeleton rehabilitation device away from the obstacle. 6. The structural improvement of the multifunctional lower extremity gait rehabilitation and walking aid device according to claim 3, wherein the indoor and outdoor navigation aid device is further coupled to a display unit, and the display unit is corresponding to present the virtual map , a position point and an anchor point, and the navigation and positioning system can plan a path from the position point to the anchor point on the virtual map, and display it on the display unit. 7. The structural improvement of the multifunctional lower extremity gait rehabilitation and walking aid device according to claim 3, wherein the indoor and outdoor navigation aid device is further coupled to an ultrasonic sensing unit, and the processing unit is controlled by The ultrasonic sensing unit measures a distance value between the exoskeleton rehabilitation device and the indoor navigation auxiliary device, so as to control the moving speed of the indoor and outdoor navigation auxiliary device using the mobile unit. 8. The structural improvement of the multifunctional lower extremity gait rehabilitation and walking aid device according to claim 3, characterized in that, the ultrasonic sensing unit is further coupled to a filter, and the filter is the ultrasonic sensing unit. The distance value detected by the measuring unit passes through the filter to filter noise.