CN111643316A - A disc motor ectoskeleton for rehabilitation training - Google Patents

Abstract

The invention discloses a disk-type motor exoskeleton for rehabilitation training, comprising a waist strap, a flexible hip joint of the exoskeleton, a thigh link, a calf link and a foot-correcting spring traction mechanism. The disk-type motor exoskeleton of the invention Combined with a mobile weight-reducing platform, it allows hemiplegic patients to move freely indoors or on flat surfaces without being constrained by a fixed site, which can stimulate patients' enthusiasm for training. The present invention is provided with a stepless adjustment mechanism on the orthopedic parts of the hip joint, the thigh and the sole of the foot, which can satisfy a wide range of users. Different from general exoskeletons, by adding a spring mechanism to the hip joint, the self-gravity of the disc motor exoskeleton can be balanced, making it more comfortable for patients to wear.

Description

A disc motor exoskeleton for rehabilitation training

technical field

The invention relates to the technical field of rehabilitation robots, in particular to a disk-type motor exoskeleton used for rehabilitation training.

Background technique

my country has gradually entered an aging society, and the elderly population is increasing. The number of people with lower extremity disability caused by stroke and hemiplegia is also increasing, and there are also lower extremity injuries caused by traffic accidents. At present, although domestic tertiary hospitals basically have rehabilitation departments, they lack relevant professional rehabilitation training equipment. Rehabilitation medicine research shows that for people with lower extremity disability caused by neurological damage such as stroke, rehabilitation training and exercise can re-establish the channel with the central nervous system to a certain extent and help patients restore their ability to walk.

At present, the equipment used in hospitals mainly includes more traditional equipment such as standing balance beds and training bicycles. Standing balance beds can only gradually change the support force of the human legs by changing the angle between the person and the ground, and restore the perception of the muscles of the lower limbs. The training bicycle mainly drives the human legs to perform reciprocating movements to exercise the lower limbs. Some hospitals are equipped with weight loss rehabilitation training equipment with fixed treadmills and lower extremity exoskeletons. The lower limb support force of the patient can be reduced through the suspension weight loss system, and the lower limb exoskeleton can perform lower limb auxiliary training, so that the patient can stand for walking training.

However, the traditional rehabilitation equipment can only carry out a relatively single training mode, and cannot let the patient experience the feeling of walking training. At the same time, it can only perform functional training on the lower limb muscles of the patient in the early stage to prevent muscle atrophy. In the process of walking training, manual labor is still required. Support balance training. Rehabilitation training equipment for weight loss with fixed treadmills can provide patients with weight loss, but it is bulky and expensive. Most hospitals can only have one set, the training place is fixed, the exoskeleton is troublesome to wear, and the exoskeleton leg length adjustment is mostly The fixed value adjustment method cannot perform stepless adjustment, and the adjustable range is limited; and the exoskeleton has three degrees of freedom, two degrees of freedom of the hip joint up and down, flexion and extension; one degree of freedom of the knee joint, responsible for flexion and extension. Most of the hip joints have only one degree of freedom of flexion and extension, or flexion and extension plus the degree of freedom in the horizontal left and right directions. There is no degree of freedom in the up and down direction. The walking is unnatural, the range of motion is limited, and the user will be uncomfortable wearing it; let the exoskeleton experience worse.

SUMMARY OF THE INVENTION

In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a new type of disc motor exoskeleton for rehabilitation training, which can cooperate with a mobile weight loss platform to perform free walking exercise in a hospital room or on a flat road. , to help patients recover.

The concrete technical scheme that the present invention takes is:

A disc motor exoskeleton for rehabilitation training, comprising a waist strap, an exoskeleton flexible hip joint, a thigh link, a calf link, and a foot-correcting spring traction mechanism, wherein the exoskeleton flexible hip joint includes a mobile slider. A table, a connecting piece, and a hip joint connecting plate, the moving slide table is used to install the disk-type motor exoskeleton on the moving platform, and the connecting piece is connected with the side of the moving slide table; the hip joint connecting plate is provided with an A end , B end, C end, the hip joint connecting plate is connected with the waist strap at the B end, the hip joint connecting plate is connected with the upper end of the thigh link at the C end, and the hip joint motor is installed, and the hip joint motor is used to drive the movement of the thigh link. The hip joint connecting plate is connected with the connecting piece through a bearing at the A end, and a spring is installed between the connecting piece and the hip joint connecting plate, the upper end of the spring is connected with the connecting piece, and the lower end of the spring is connected with the hip joint connecting plate; The knee joint motor is connected with the upper end of the calf link and is installed with a knee joint motor. The knee joint motor is used to drive the movement of the calf link. There are multiple legging brackets installed.

Further, the thigh link includes a hip joint connector and a knee joint connector, the hip joint connector is equipped with a push-pull type quick clamp, the knee joint connector is provided with a long slot, and the push-pull type quick clamp is installed. The hip joint connector is connected with the hip joint connector through a long slot; the upper end of the hip joint connector is connected with the hip joint connecting plate at the C end of the hip joint connecting plate, and the lower end of the knee joint connector is connected with the upper end of the calf link connect.

Further, the orthopaedic spring traction mechanism includes an orthopedic moment arm, an adjustment belt and a connecting spring, the orthopedic moment arm is mounted on the lower leg link, the adjustment belt is mounted on the orthopedic moment arm, the An adjustment band is connected with the connecting spring.

Preferably, the spring is a Z-shaped spring.

Preferably, the bearing is a slewing bearing.

Preferably, a rubber sheet is provided between the knee joint connector and the hip joint connector.

Preferably, a fixing member is installed on the hip joint connecting member, and a certain gap is left between the fixing member and the hip joint connecting member, and the gap is used for placing the knee joint connecting member.

Preferably, an airbag sensor is installed on the inner side of the legging bracket.

The beneficial effects of the present invention are: the combination of the disc motor exoskeleton of the present invention and the mobile weight reduction platform can allow hemiplegia patients to move freely indoors or on a flat road without being restricted by a fixed site, and can stimulate patients' enthusiasm for training. The present invention is provided with a stepless adjustment mechanism on the orthopedic parts of the hip joint, the thigh and the sole of the foot, which can satisfy a wide range of users. Different from general exoskeletons, by adding a spring mechanism to the hip joint, the self-gravity of the disc motor exoskeleton can be balanced, making it more comfortable for patients to wear. An airbag sensor is installed on the inner side of the legging bracket, which can measure the interaction force between the human and the disc motor exoskeleton through the change of air pressure, so as to judge the intention of human movement.

Description of drawings

Figure 1 shows the structure of the disc motor exoskeleton;

Figure 2 shows a schematic diagram of the structure of the exoskeleton flexible hip joint;

Figure 3 shows a schematic diagram of the structure of the hip joint plate;

Figure 4 shows a schematic diagram of the structure of the Z-shaped spring.

Figure 5 shows the structure diagram of the thigh link;

Figure 6 shows a schematic structural diagram of a push-pull quick clamp;

Figure 7 shows the combination of the disc motor exoskeleton and the mobile weight reduction platform.

Detailed ways

In order to describe in detail the technical content, structural features, achieved objectives and effects of the technical solution, the following detailed description is given in conjunction with specific embodiments and accompanying drawings.

Referring to FIG. 1 , an embodiment of the present invention provides a disc motor exoskeleton for rehabilitation training, including a waist strap 1 , a flexible hip joint 2 of the exoskeleton, a thigh link 3 , a calf link 4 and a foot spring. The traction mechanism 5 , the thigh link 3 and the calf link 4 are each equipped with a plurality of legging brackets 6 , and an airbag sensor 61 is installed on the inner side of the legging bracket 6 . in:

As shown in FIG. 2 , the exoskeleton flexible hip joint 2 includes a moving slide 21 , a connecting piece 22 , and a hip joint connecting plate 23 (the structure is shown in FIG. 3 ). The moving slide 21 is used to connect the disc motor The exoskeleton is installed on the mobile platform, and the connecting piece 22 is connected with the side of the mobile sliding table 21; the hip joint connecting plate 23 is provided with an A end 231, a B end 232, and a C end 233, and the hip joint connecting plate 23 is at the B end 232 is connected to the waist strap 1, the hip joint plate 23 is connected to the connecting piece 22 at the A end 231 through a slewing bearing 24, and the slewing bearing 24 can release a rotational degree of freedom, so that the hip joint can follow the human body to move up and down during walking, And a Z-shaped spring 25 is installed between the connecting piece 22 and the hip joint connecting plate 23 (the structure is shown in Figure 4). Gravity, the upper end of the Z-shaped spring 25 is connected with the connector 22, and the lower end of the Z-shaped spring 25 is connected with the hip joint connecting plate 23;

As shown in FIG. 5 , the thigh link 3 includes a hip joint connector 31 and a knee joint connector 32 . The hip joint connector 31 is installed with a push-pull type quick clamp 33 (the structure is shown in FIG. The knee joint connector 32 is provided with a long slot 34, and the push-pull type quick clamp 33 connects the hip joint connector 31 and the hip joint connector 32 through the long slot 34; the hip joint connector 31 and the knee joint are connected The piece 32 is also provided with a rubber sheet 35, which is used to increase the frictional force of the connecting piece and play a certain role in fixing and stabilizing. A fixing member 36 is installed on the hip joint connecting member 31 , and a certain gap is left between the fixing member 36 and the hip joint connecting member 31 , and the gap is used for placing the knee joint connecting member 32 . The fixing member 36 fixes the hip joint connecting member 31 and the knee joint connecting member 32 to be connected together, and also plays a certain role in fixing and stabilizing. The upper end of the hip joint connecting piece 31 is connected with the hip joint connecting plate 23 at the C end 233 of the hip joint connecting plate and the hip joint motor is installed, and the lower end of the knee joint connecting piece 32 is connected with the upper end of the calf link 4 and the upper end of the calf link 4 A knee motor is installed.

As shown in FIG. 1 , the foot orthopedic spring traction mechanism 5 includes an orthopedic moment arm 51 , an adjustment strap 52 and a connecting spring 53 , the orthopedic moment arm 51 is installed on the lower leg link 4 , and the adjustment strap 52 is installed On the orthopedic moment arm 51 , the adjusting band 52 is connected with the connecting spring 53 .

As shown in FIG. 7 , the disc motor exoskeleton is connected to the mobile weight reduction platform 7 through the mobile sliding table 21 , and the weight reduction arm 71 installed on the mobile weight reduction platform suspends the patient to provide the weight loss value, and then adjust Adjust the mobile sliding table 21 to match the height of the patient's hip joint and waist width, fix the human leg and the disc motor exoskeleton together through the waist strap 1 and the legging bracket, and the legging bracket binds the human legs together through the belt. The quick clamp 33 makes the thigh link 3 match the patient, and there is an air bag sensor inside the legging bracket, which can be fixed more tightly by adjusting the air pressure. Then, the lower end of the connecting spring 53 is connected with the patient's shoe, and the magnitude of the orthopedic force is changed by adjusting the adjustment belt 52 . Then, by controlling the hip joint motor and the knee joint motor, the thigh and calf links 4 are driven to move, so as to control the walking of the human body. Because the center of mass of a person has a periodic up and down action during walking, the Z-shaped spring 25 can give a person a degree of freedom in the up and down direction when walking, and at the same time, the connecting piece 22 can support and fix the user's thigh.

Claims (8)

1. A disk-type motor exoskeleton for rehabilitation training, characterized in that it comprises a waist strap, an exoskeleton flexible hip joint, a thigh link, a calf link and a foot-correcting spring traction mechanism, wherein the exoskeleton The flexible hip joint includes a mobile sliding table, a connecting piece, and a hip joint connecting plate. The mobile sliding table is used to install the disk-type motor exoskeleton on the mobile platform, and the connecting piece is connected with the side of the mobile sliding table; The board is provided with A end, B end and C end, the hip joint connecting plate is connected with the waist strap at the B end, the hip joint connecting plate is connected with the upper end of the thigh link at the C end, and the hip joint motor is installed, and the hip joint connecting plate is at the upper end of the thigh link. The A end is connected with the connecting piece through a bearing, and a spring is installed between the connecting piece and the hip joint connecting plate, the upper end of the spring is connected with the connecting piece, and the lower end of the spring is connected with the hip joint connecting plate; the lower end of the thigh link is connected with the upper end of the calf link A knee joint motor is connected and installed, and the foot-correcting spring traction mechanism is installed on the lower leg link; a plurality of legging brackets are installed on the thigh link and the lower leg link. 2 . The disk-type motor exoskeleton for rehabilitation training according to claim 1 , wherein the thigh link comprises a hip joint connector and a knee joint connector, and the hip joint connector is provided with a push-pull connector. 3 . The knee joint connector is provided with a long slot, and the push-pull fast clip connects the hip joint connector and the hip joint connector through the long slot; the upper end of the hip joint connector is connected to the hip joint. The C end of the plate is connected with the hip joint connecting plate, and the lower end of the knee joint connecting piece is connected with the upper end of the lower leg link. 3. The disc motor exoskeleton used for rehabilitation training according to claim 1 or 2, wherein the orthopaedic spring traction mechanism comprises an orthopedic moment arm, an adjustment belt and a connecting spring, and the orthopedic moment arm Installed on the lower leg link, the adjustment band is installed on the orthopedic moment arm, and the adjustment band is connected with the connection spring. The disk motor exoskeleton for rehabilitation training according to claim 1 or 2, wherein the spring is a Z-shaped spring. The disk motor exoskeleton for rehabilitation training according to claim 1 or 2, wherein the bearing is a slewing bearing. 6 . The disk motor exoskeleton for rehabilitation training according to claim 2 , wherein a rubber sheet is provided between the knee joint connector and the hip joint connector. 7 . 7. A disc motor exoskeleton for rehabilitation training according to claim 2, wherein the hip joint connector is provided with a fixing piece, and a certain gap is left between the fixing piece and the hip joint connecting piece. The void is used to place the knee connector. 8 . The disk-type motor exoskeleton for rehabilitation training according to claim 1 or 2 , wherein an airbag sensor is installed on the inner side of the legging bracket. 9 .

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