CN110051502A - A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback - Google Patents

Abstract

The invention discloses a lower limb rehabilitation training robot based on plantar pressure evaluation and feedback, comprising a training table, a display screen, a pedal device and a console; the pedal device includes a pedal, a detection board, a first piston rod, and a second piston Rod, bearing housing, first motor, first gear set, third piston rod, slide rail and slider. When the patient performs rehabilitation training, the servo motor drives the slider to move on the slide rail, and the piston rod can also adjust the position and angle of the pedal through telescopic and rotational movements, so as to realize the rehabilitation training movement. At the same time, the plantar pressure monitoring device installed above the pedal will collect the plantar pressure information of the patient during exercise in real time, transmit it to the computer, and evaluate the patient's rehabilitation training effect through the built evaluation model. In addition, the pressure data can also be fed back to the control system to adjust the motion parameters of the rehabilitation robot. The invention also has the advantages of simple structure, convenient operation and easy implementation.

Description

A lower limb rehabilitation training robot based on plantar pressure assessment and feedback

technical field

The invention relates to the field of lower limb rehabilitation training equipment, in particular to a lower limb rehabilitation training robot based on plantar pressure evaluation and feedback.

Background technique

In recent years, due to diseases and limb injuries, a large number of patients have a certain degree of motor dysfunction, which brings a lot of inconvenience to daily life. Relevant research and clinical studies have shown that the central nervous system of the human body has certain recovery ability and plasticity after damage. Through timely and effective rehabilitation training, most patients can restore their walking ability. Therefore, various types of lower limb rehabilitation training robots have been widely used in rehabilitation medical institutions to help patients with rehabilitation training. However, most of the current lower limb rehabilitation training robots lack the functions of rehabilitation evaluation and feedback control. Not only can patients not obtain the evaluation of the rehabilitation effect of the training, but also it is difficult to adjust the exercise parameters reasonably during the training process, and individualized training cannot be realized, thus affecting the rehabilitation training of patients. positivity and science.

Plantar pressure is a very important biomechanical characteristic parameter of the human body, and its size and distribution can reflect the health of the human body's feet, legs, and spine. At present, with the development of biometric processing technology, the analysis of human physiological state through plantar pressure has become one of the research hotspots in the field of rehabilitation. The plantar pressure information can provide parameter basis for feedback control, adjust the motion parameters of the rehabilitation training robot in real time, and ensure the safety of rehabilitation training. At the same time, the plantar pressure information can evaluate the effect of rehabilitation training in real time, improve the patient's enthusiasm for training, and timely correct irregular rehabilitation training movements, so as to formulate a scientific and reasonable rehabilitation training plan.

Therefore, the existing technology needs to be further improved and perfected.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the shortcomings of the prior art and provide a lower limb rehabilitation training robot based on plantar pressure evaluation and feedback.

The object of the present invention is achieved through the following technical solutions:

A lower limb rehabilitation training robot based on plantar pressure evaluation and feedback, the robot mainly includes a training table, a display screen for displaying feedback information and evaluation results, a pedal device for training, and a console for controlling the pedal device . The training platform is fixed on the ground. The display screen is arranged in front of the training platform. The pedal devices are arranged in two groups, which are installed on the training platform side by side and symmetrically.

Specifically, the pedal device includes a pedal for supporting the weight of the body, a detection board for monitoring the pressure of the sole of the foot, a first piston rod and a second piston rod for jointly supporting the up and down movement of the pedal, and a first piston rod for supporting the first piston rod. and the bearing seat of the second piston rod, the first motor and the first gear group that drive the piston rod to swing back and forth, and the third piston rod, slide rails and sliders that drive the pedal to move back and forth. The sliding rail is fixedly installed on the training platform, and the sliding block is arranged on the sliding rail. The third piston rod is fixedly arranged on one side of the slide rail, and its piston end is fixedly connected with the slider, which drives the slider to slide back and forth on the slide rail. The bearing seat is fixedly mounted on the slider. One end of the first piston rod is mounted on the bearing seat and is hinged with the bearing seat, and the piston end of the first piston rod is hinged with the front end of the pedal to drive the pedal to swing up and down. One end of the second piston rod is mounted on the first piston rod and is hinged with the first piston rod. The piston end is hinged with the rear end of the pedal, and cooperates with the first piston rod to drive the pedal to swing up and down. The first motor is mounted on the slider and is electrically connected to the console, and its output end is connected to the first piston rod through the first gear set, and drives the first piston rod to swing back and forth along the bearing seat fulcrum. The detection board is fixedly arranged on the top of the pedal, is electrically connected with the console, and is in contact with the sole of the foot.

Further, in order to enable the user to obtain a better balance effect on the training robot, the front end of the training platform of the present invention is further provided with an armrest for support. The handrail is connected by a horizontal bar and a vertical bar and is fixed on the training platform.

Further, in order to obtain a better recovery effect, the surface of the detection board of the present invention is provided with bumps for relieving the plantar nerve, the bumps are fixedly arranged on the detection board, and are designed integrally with the detection board.

Specifically, the detection board includes a pressure sensor, a wireless network module, and a battery module. The battery modules are respectively electrically connected with the pressure sensor and the wireless network module. The wireless network module communicates with the console through wireless signals. The pressure sensor is located under the sole of the foot, and sends the pressure signal to the console through the wireless network module.

Further, in order to limit the displacement of the sole of the foot on the pedal and try to prevent the sole of the foot from stepping out of the pedal position, the front and rear edges of the pedal of the present invention are further provided with raised edges, which are integrally designed with the pedal.

Further, in order to further limit the displacement of the sole of the foot on the pedal, the pedal of the present invention is further provided with a fixing belt for restricting the movement of the sole of the foot. The straps extend from one side of the pedal to the other and secure the ball of the foot.

As a preferred solution of the present invention, in order to improve the limiting effect of the fixing straps, the fixing straps of the present invention are set to two, which are respectively arranged on the front and rear sides of the pedal.

The working process and principle of the present invention are as follows: the lower limb rehabilitation training robot system for plantar pressure evaluation and feedback provided by the present invention is mainly composed of a pedal device, a plantar pressure monitoring system and a feedback control system. When the patient is undergoing rehabilitation training, the servo motor drives the slider to move on the slide rail, and the piston rod can also adjust the position and angle of the pedal through telescopic and rotational movements, so as to realize the rehabilitation training movement. At the same time, during rehabilitation training, the plantar pressure monitoring device installed above the pedal will collect the plantar pressure information of the patient during exercise in real time, transmit it to the computer, and evaluate the patient's rehabilitation training effect through the built evaluation model. In addition, the pressure data can also be fed back to the control system to adjust the motion parameters of the rehabilitation robot. The invention also has the advantages of simple structure, convenient operation and easy implementation.

Compared with the prior art, the present invention also has the following advantages:

(1) The lower extremity rehabilitation training robot based on plantar pressure evaluation and feedback provided by the present invention can collect the plantar pressure data of the patient during the rehabilitation training process in real time, and use the visualization technology to present the magnitude and magnitude of the plantar pressure in different regions. By comparing and analyzing the plantar pressure data of healthy people, the rehabilitation training effect of patients can be evaluated.

(2) The lower limb rehabilitation training robot based on plantar pressure evaluation and feedback provided by the present invention can also use the plantar pressure data as the parameter basis for feedback adjustment, and adjust the motion parameters of the lower limb rehabilitation robot in real time through the feedback control system, and formulate more scientific Reasonable rehabilitation training program.

(3) The lower limb rehabilitation training robot based on plantar pressure evaluation and feedback provided by the present invention can collect the plantar pressure data of the patient during the rehabilitation training process in real time, and transmit it to the computer, and evaluate the rehabilitation training effect of the patient through the evaluation model .

Description of drawings

FIG. 1 is a schematic structural diagram of a lower limb rehabilitation training robot based on plantar pressure evaluation and feedback provided by the present invention.

FIG. 2 is a partial schematic diagram of a lower limb rehabilitation training robot based on plantar pressure evaluation and feedback provided by the present invention.

FIG. 3 is a partial perspective view of a lower limb rehabilitation training robot based on plantar pressure evaluation and feedback provided by the present invention.

FIG. 4 is a control flow chart of the lower limb rehabilitation training robot based on plantar pressure evaluation and feedback provided by the present invention.

FIG. 5 is a top view of the detection board provided by the present invention.

Description of the symbols in the above drawings:

1-training table, 2-display screen, 3-pedal device, 4-console, 5-pedal, 6-test plate, 7-first piston rod, 8-second piston rod, 9-bearing seat, 10- Slide rail, 11-slider, 12-armrest, 13-knurling.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer and clearer, the present invention will be further described below with reference to the accompanying drawings and examples.

Example 1:

As shown in FIGS. 1 to 5 , this embodiment discloses a lower limb rehabilitation training robot based on plantar pressure evaluation and feedback. The robot mainly includes a training platform 1 , a display screen 2 for displaying feedback information and evaluation results, A pedal device 3 for training, and a console 4 for controlling the pedal device 3 . The training platform 1 is fixed on the ground. The display screen 2 is arranged in front of the training platform 1 . The pedal devices 3 are arranged in two groups, which are installed on the training platform 1 in parallel and symmetrically.

Specifically, the pedal device 3 includes a pedal 5 for supporting the weight of the body, a detection board 6 for monitoring the pressure of the sole of the foot, a first piston rod 7 and a second piston rod 8 for jointly supporting the pedal 5 to move up and down. In the bearing seat 9 supporting the first piston rod 7 and the second piston rod 8, the first motor and the first gear group that drive the piston rod to swing back and forth, and the third piston rod, the slide rail 10 and the slide rail that drive the pedal 5 to move back and forth. Block 11. The sliding rail 10 is fixedly installed on the training platform 1 , and the sliding block 11 is arranged on the sliding rail 10 . The third piston rod is fixedly arranged on one side of the slide rail 10 , and its piston end is fixedly connected with the slider 11 , which drives the slider 11 to slide back and forth on the slide rail 10 . The bearing seat 9 is fixedly mounted on the sliding block 11 . One end of the first piston rod 7 is mounted on the bearing seat 9 and is hinged with the bearing seat 9 , and the piston end of the first piston rod 7 is hinged with the front end of the pedal 5 to drive the pedal 5 to swing up and down. One end of the second piston rod 8 is mounted on the first piston rod 7, and is hinged with the first piston rod 7, and its piston end is hinged with the rear end of the pedal 5, and cooperates with the first piston rod 7 to drive the pedal 5 to swing up and down. . The first motor is mounted on the slider 11 and is electrically connected to the console 4 , and its output end is connected to the first piston rod 7 through the first gear set to drive the first piston rod 7 to swing back and forth along the fulcrum of the bearing seat 9 . The detection board 6 is fixedly arranged on the top of the pedal 5, is electrically connected with the console 4, and is in contact with the sole of the foot.

Further, in order for the user to obtain a better balance effect on the training robot, the front end of the training platform 1 of the present invention is further provided with a handrail 12 for supporting. The armrest 12 is connected by a horizontal bar and a vertical bar and is fixed on the training platform 1 .

Further, in order to obtain a better recovery effect, the surface of the detection board 6 of the present invention is provided with bumps for relieving the plantar nerve, the bumps are fixedly arranged on the detection board 6 and are designed integrally with the detection board 6 .

Specifically, the detection board 6 includes a pressure sensor, a wireless network module, and a battery module. The battery modules are respectively electrically connected with the pressure sensor and the wireless network module. The wireless network module communicates with the console 4 through wireless signals. The pressure sensor is located under the sole of the foot, and sends the pressure signal to the console 4 through the wireless network module.

Further, in order to limit the displacement of the sole of the foot on the pedal 5 and try to prevent the sole of the foot from stepping out of the position of the pedal 5, the front and rear edges of the pedal 5 of the present invention are also provided with a raised edge 13, and the raised edge 13 and the pedal 5 are integrally designed. .

Further, in order to further limit the displacement of the sole of the foot on the pedal 5, the pedal 5 of the present invention is further provided with a fixing belt for restricting the movement of the sole of the foot. The straps extend from one side of the pedal 5 to the other and secure the soles of the feet.

As a preferred solution of the present invention, in order to improve the limiting effect of the fixing straps, the fixing straps of the present invention are set to two, which are respectively arranged at the front and rear positions of the pedal 5 .

The working process and principle of the present invention are as follows: the lower limb rehabilitation training robot system for plantar pressure evaluation and feedback provided by the present invention is mainly composed of a pedal device 3, a plantar pressure monitoring system and a feedback control system. When the patient performs rehabilitation training, the servo motor drives the slider 11 to move on the slide rail 10, and the piston rod can also adjust the position and angle of the pedal 5 through telescopic and rotational movements, so as to realize the rehabilitation training movement. At the same time, during rehabilitation training, the plantar pressure monitoring device installed above the pedal 5 will collect the plantar pressure information of the patient during exercise in real time, and transmit it to the computer to evaluate the rehabilitation training effect of the patient through the built evaluation model. . In addition, the pressure data can also be fed back to the control system to adjust the motion parameters of the rehabilitation robot. The invention also has the advantages of simple structure, convenient operation and easy implementation.

The above-mentioned embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, The simplification should be equivalent replacement manners, which are all included in the protection scope of the present invention.

Claims (7)

1. a lower extremity rehabilitation training robot based on plantar pressure assessment and feedback, is characterized in that, comprises training platform, the display screen for displaying feedback information and evaluation result, the pedal device for training, and for controlling pedal device The training platform is fixedly arranged on the ground; the display screen is arranged in front of the training platform; the pedal devices are set as two groups, which are installed on the training platform side by side and symmetrically; The pedal device includes a pedal for supporting the weight of the body, a detection board for monitoring the pressure of the sole of the foot, a first piston rod and a second piston rod for jointly supporting the up and down movement of the pedal, and a first piston rod and a second piston rod for supporting the first and second piston rods. The bearing seat of the piston rod, the first motor and the first gear group that drive the piston rod to swing back and forth, and the third piston rod, slide rail and slider that drive the pedal to move back and forth; the slide rail is fixedly installed on the training platform, so The sliding block is arranged on the sliding rail; the third piston rod is fixedly arranged on one side of the sliding rail, and its piston end is fixedly connected with the sliding block, and the sliding block is driven to slide back and forth on the sliding rail; the bearing seat is fixedly installed on the sliding rail. one end of the first piston rod is mounted on the bearing seat and is hinged with the bearing seat, and the piston end is hinged with the front end of the pedal to drive the pedal to swing up and down; one end of the second piston rod is mounted on the first piston The rod is hinged with the first piston rod, the piston end of which is hinged with the rear end of the pedal, and cooperates with the first piston rod to drive the pedal to swing up and down; the first motor is installed on the slider, electrically connected with the console, and its output The end is connected with the first piston rod through the first gear set, and drives the first piston rod to swing back and forth along the bearing seat fulcrum; the detection board is fixedly arranged on the top of the pedal, is electrically connected with the console, and is in contact with the sole of the foot. 2. The lower limb rehabilitation training robot based on plantar pressure assessment and feedback according to claim 1, wherein the front end of the training platform is further provided with a handrail for support; the handrail is connected by a horizontal bar and a vertical bar And fixed on the training table. 3 . The lower limb rehabilitation training robot based on plantar pressure evaluation and feedback according to claim 1 , wherein the surface of the detection board is provided with bumps for relieving the plantar nerve, and the bumps are fixedly arranged on the detection plate. 4 . It is integrated with the detection board. 4. The lower extremity rehabilitation training robot based on plantar pressure assessment and feedback according to claim 1, wherein the detection board comprises a pressure sensor, a wireless network module, and a battery module; the battery module is respectively connected with the pressure sensor The wireless network module is electrically connected with the wireless network module; the wireless network module is communicated and connected with the console through wireless signals; the pressure sensor is located under the sole of the foot, and sends the pressure signal to the console through the wireless network module. 5 . The lower limb rehabilitation training robot based on plantar pressure evaluation and feedback according to claim 1 , wherein the front and rear edges of the pedal are further provided with raised edges, and the raised edges and the pedal are integrally designed. 6 . 6 . The lower limb rehabilitation training robot based on plantar pressure evaluation and feedback according to claim 1 , wherein the pedal is further provided with a fixed belt for restricting the movement of the sole of the foot; the fixed belt extends from one side of the pedal. 7 . Extend to the other side and secure the ball of the foot. 7 . The lower limb rehabilitation training robot based on plantar pressure assessment and feedback according to claim 6 , wherein the fixing straps are set as two, which are respectively set at the front and rear positions of the pedal. 8 .