CN104983543A - An intelligent lower limb rehabilitation training device - Google Patents
An intelligent lower limb rehabilitation training device Download PDFInfo
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- CN104983543A CN104983543A CN201510452488.6A CN201510452488A CN104983543A CN 104983543 A CN104983543 A CN 104983543A CN 201510452488 A CN201510452488 A CN 201510452488A CN 104983543 A CN104983543 A CN 104983543A
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- 210000004394 hip joint Anatomy 0.000 claims abstract description 20
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- 210000002683 foot Anatomy 0.000 claims abstract description 13
- 210000003423 ankle Anatomy 0.000 claims abstract description 10
- 210000002082 fibula Anatomy 0.000 claims abstract description 10
- 210000001624 hip Anatomy 0.000 claims abstract description 10
- 210000003414 extremity Anatomy 0.000 claims description 30
- 238000011084 recovery Methods 0.000 claims description 20
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- 208000020442 loss of weight Diseases 0.000 claims description 13
- 210000000689 upper leg Anatomy 0.000 claims description 10
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- 230000001769 paralizing effect Effects 0.000 claims description 5
- 230000002048 spasmolytic effect Effects 0.000 claims description 5
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Abstract
The invention relates to the technical field of medical rehabilitation instruments and provides an intelligent lower limb rehabilitation training device. The main structure comprises a control module, a power driving module, a detection module, an external skeleton and a balance device. The control module is in electrical information connection with the power driving module and the detection module. The power driving module and the detection module are connected to the external skeleton in an embedded manner. The control module comprises a computer, a servo controller, a control system and a control circuit. The power driving module comprises four groups of servo motors. The detection module comprises a muscle force sensor, a pressure sensor, a speed sensor and an angle sensor. The external skeleton is formed by connecting a joint frame comprising a hip joint, knee joints and ankle joints and a skeleton comprising a chest support, straps, a weight reduction support, a waist support, a thigh bone frame, a fibula frame, an ankle frame and a foot carrier in a mode of kinetic pair. The balance device comprises a hand cart, parallel bars and crutches. The intelligent lower limb rehabilitation training device fulfils a good rehabilitation training aiding function.
Description
Technical field:
The invention belongs to technical field of medical rehabilitation machinery, be specifically related to a kind of Intelligent lower limb rehabilitation training aids, the lower limb function that can be applicable to because a variety of causes causes is lost or occurs the patient of obstacle, has good rehabilitation training miscellaneous function.
Background technology:
Rehabilitation is one of important content of rehabilitation medicine, make the physically and mentally healthy important means with " functional rehabilitation " of disease, wound, residual person, also be an ingredient of disease, disability Comprehensive Treatment, in practice, the normal and clinical treatment such as pharmacotherapy, operative therapy of rehabilitation comprehensively carries out.Recovering physiotherapy is the important component part of rehabilitation, and recovering physiotherapy has gathered exercise therapy, Occupational therapy, speech therapy, naturopathy, acupuncture, dial tank, the multiple therapeutic modalities such as massage, the exercise therapy that rehabilitation center carries out is by passive exercise therapy, initiative kinesitherapy and resistive exercise therapy etc. play prevention to the dysfunction of patient body and hypofunction, a kind of specific treatment of improvement and restitution, the assistive device used has standing bed, shoulder joint is executed and is turned training aids, style lower extremity power vehicle, loss of weight gait training device, the tens of kinds of utensils such as ankle joint training device.
At present, common recovery training appliance for recovery is roughly divided into sleeping seat training device according to purposes, standing exercise utensil, invalid aids, posture correction prevents the training device of deformity, joint motion training device, balance coordination training aids, basic motion training utensil, training auxiliary implement, training of activity of daily living utensil etc., and most popular be extremity recovery training appliance for recovery, but all there is use inconvenience in all kinds of upper and lower extremities of the prior art or extremity auxiliary trainer, automaticity is low, the problems such as care-giver's labor intensity is large, such as a kind of recovery training appliance for recovery lower limbs disclosed in Chinese patent 98218683.5, it by arranging guide rail and holder carries out lower limb exercise training to help patient on bed body, a kind of recovery training appliance for recovery lower limbs disclosed in Chinese patent 201510016404.4, it drives drive link assembly to realize thigh bar by driving element to be connected with shank bar and to link, to simulate leg walking movement and to realize the interlock of each joint of lower limb, a kind of Neurology Department recovery training appliance for recovery lower limbs disclosed in Chinese patent 201420041470.8, it is bolted the upper mounted plate and bottom plate that be arranged in parallel, and be furnished with band pedal stretcher cleat, hand crank, motor, hang the parts such as knee support, knee pad, with facilitate patient on one's sick bed or other positions carry out the rehabilitation training in each stage, not only occupation mode limitation is larger for recovery training appliance for recovery lower limbs in above-mentioned patented technology, and without available protecting function, easily secondary injury etc. is caused to patient during use, therefore inventor is through to concentrate on studies for many years and relate to, invent a kind of Intelligent lower limb rehabilitation training aids, paraplegia training and training hemiparalysis are united two into one, and there is spasmolytic protecting control and emergency button defencive function, there is intelligent, automaticity and health giving quality preferably.
Summary of the invention:
The object of the invention is to the shortcoming overcoming prior art existence, design a kind of Intelligent lower limb rehabilitation training aids, gathered robotics, rehabilitation engineering, computer technology and sensing technology etc., be suitable for multiclass patient and carry out rehabilitation training and walk help.
To achieve these goals, the Intelligent lower limb rehabilitation training aids agent structure of the present invention's design comprises control module, power drive module, detection module, ectoskeleton and bascule, control module is connected with power drive module and detection module electrical information respectively, power drive module and detection module is embedded is connected on ectoskeleton, bascule discharge or be placed in ectoskeletal periphery and maintain balance for user; Control module comprises computer, servo controller, control system and control circuit, controls and Information Collecting & Processing for carrying out operation to whole training aids; Power drive module comprises four groups of servomotors, can drive the joint frame in ectoskeleton and skeleton under control module control action respectively; Detection module comprises muscular strength sensor, pressure transducer, velocity sensor and angular transducer, can carry out detection transmission to the movable information in training aids use procedure and patient physiological information; Ectoskeleton is that the joint frame that is made up of hip joint, knee joint and ankle joint is connected to form by the mode of kinematic pair with the skeleton be made up of chest support, braces, loss of weight support, waist bracket, femur frame, fibula frame, ankle frame and foot holder, for support limbs of patient and assisted movement; Bascule comprises hand steered go-cart, parallel bars and crutches, for maintaining the balance of patient's health when training.
Further, described ectoskeletal agent structure comprises chest support, braces, loss of weight support, waist bracket, hip joint, femur frame, knee joint, fibula frame, ankle joint, ankle frame and foot holder, the weight that loss of weight support can alleviate lower body when training aids is dressed is provided with between chest support and waist bracket, chest support being provided with the braces that can stretch to be convenient to fix when patient dresses, loss of weight support being provided with angular transducer for detecting the movable information of trainer; Hip joint, knee joint and ankle joint respectively symmetrical formula are arranged, be connected respectively by the femur frame of telescopic structure and fibula frame between hip joint with knee joint and between knee joint and ankle joint, the below of ankle joint is connected with foot holder by ankle frame, foot holder is provided with pressure transducer for detecting the movable information of trainer; All with one group of servomotor in each hip joint and knee joint, each hip joint being provided with velocity sensor for detecting the movable information of trainer, each knee joint being provided with muscular strength sensor for detecting the physiologic information of trainer.
Preferably; described Intelligent lower limb rehabilitation training aids has spasmolytic protecting control function; when the active force that muscular strength sensor in detection module detects between limbs of patient and ectoskeleton reaches the setting value preset in control module; training aids deconditioning, drives limbs of patient towards the motion of spasm direction to avoid causing secondary injury simultaneously.
Preferably, described Intelligent lower limb rehabilitation training aids has exercise intensity controlling functions, and ectoskeleton drives the movement velocity of limbs of patient and amplitude to regulate by the control system preset in control module, needs according to patient's difference the adjustment realizing exercise intensity.
Preferably, described Intelligent lower limb rehabilitation training aids has anti-controlling functions of falling, when angular transducer in detection module detects that the body inclination of patient reaches predetermined angle, in control module, control system sends deconditioning order and produces alarm signal to point out related personnel.
Preferably, described Intelligent lower limb rehabilitation training aids has safety control function, be respectively equipped with in control module, power drive module, detection module, ectoskeleton and bascule that software limit, electronic limit, parameter are spacing, mechanical position limitation and emergency button, reach above-mentioned arbitrary spacing when training aids uses, control system in control module all can send deconditioning order to close training aids, or sufferers themselves closes training aids by the emergency button that bascule is arranged.
Further, described Intelligent lower limb rehabilitation training aids in use, or is worn on paralytic patient limbs, drives limbs to carry out passive type rehabilitation training under the effect of control system; Or be worn on hemiplegic patient's limbs, make patient carry out active, passive type and/or the rehabilitation training of resistance formula by control system.
The present invention compared with prior art, the passive type rehabilitation training of paralytic patient can be applicable to, the active of hemiplegic patient can be applicable to again, passive and resistance formula is trained, can according to the requirement of lower limb rehabilitation training, complete lower limb hip joint flexing, abduction, kneed stretching, extension, dorsiflex/the balance of standing of ankle joint, Walking, Reduction of Students' Study Load Walking etc., and spasmolytic protecting control is all had in training, movement velocity, the equal size of motion amplitude is adjustable, mechanical position limitation is provided with in training process, software limit, electronic limit and emergency button defencive function, and there is anti-control of falling, warning function, information gathering and Function of Evaluation etc.
Accompanying drawing illustrates:
Fig. 1 is the Intelligent lower limb rehabilitation training aids nucleus module schematic diagram that the present invention relates to.
Fig. 2 is ectoskeletal agent structure principle schematic in the Intelligent lower limb rehabilitation training aids that the present invention relates to.
Detailed description of the invention:
Also by reference to the accompanying drawings the present invention is described further below by embodiment.
Embodiment:
The Intelligent lower limb rehabilitation training aids agent structure (as shown in Figure 1) that the present embodiment relates to comprises control module 1, power drive module 2, detection module 3, ectoskeleton 4 and bascule 5, control module 1 is connected with power drive module 2 and detection module 3 electrical information respectively, power drive module 2 and detection module 3 is embedded is connected on ectoskeleton 4, bascule 5 discharges or is placed in ectoskeletal periphery and maintains balance for user; Control module 1 comprises computer, servo controller, control system and control circuit, controls and Information Collecting & Processing for carrying out operation to whole training aids; Power drive module 2 comprises four groups of servomotors, can drive the joint frame in ectoskeleton 4 and skeleton under control module 1 control action respectively; Detection module 3 comprises muscular strength sensor, pressure transducer, velocity sensor and angular transducer, can carry out detection transmission to the movable information in training aids use procedure and patient physiological information; Ectoskeleton 4 is connected to form by the mode of kinematic pair by joint frame and skeleton, the support to limbs of patient and assisted movement can be realized, joint frame comprises hip joint 10, knee joint 12, ankle joint 14, and skeleton comprises chest support 6, braces 7, loss of weight support 8, waist bracket 9, femur frame 11, fibula frame 13, ankle frame 15 and foot holder 16; Bascule 5 comprises hand steered go-cart, parallel bars and crutches, for maintaining the balance of patient's health when training, and bascule 5 is provided with emergency button can the startup/closedown of controlled training device; When described Intelligent lower limb recovery training appliance for recovery uses, entirety is worn on paralytic patient limbs, under the effect of control system, drive limbs to carry out passive type rehabilitation training, or be worn on hemiplegic patient's limbs, make patient carry out active, passive type and/or the rehabilitation training of resistance formula by control system.
In the Intelligent lower limb recovery training appliance for recovery related in the present embodiment, the agent structure (as shown in Figure 2) of ectoskeleton 4 comprises chest support 6, braces 7, loss of weight support 8, waist bracket 9, hip joint 10, femur frame 11, knee joint 12, fibula frame 13, ankle joint 14, ankle frame 15 and foot holder 16, the weight that loss of weight support 8 can alleviate lower body when training aids is dressed is provided with between chest support 6 and waist bracket 9, chest support 6 is provided with telescopic braces 7 to be convenient to fix when patient dresses, loss of weight support 8 is provided with angular transducer for detecting the movable information of trainer, hip joint 10, knee joint 12 and ankle joint 14 respectively symmetrical formula are arranged, be connected respectively by the femur frame 11 of telescopic structure and fibula frame 13 between hip joint 10 with knee joint 12 and between knee joint 12 and ankle joint 14, the below of ankle joint 14 is connected with foot holder 16 by ankle frame 15, foot holder 16 is provided with the pressure transducer being placed in ground, all with one group of servomotor in each hip joint 10 and knee joint 12, each hip joint 10 being provided with velocity sensor for detecting the movable information of trainer, each knee joint 12 being provided with muscular strength sensor for detecting the physiologic information of trainer, overall ectoskeleton 4 can drive patient's lower extremity movement under the effect of control module 1.
The Intelligent lower limb rehabilitation training aids that the present embodiment relates to, also there is spasmolytic protecting control function, exercise intensity controlling functions, anti-fall controlling functions and safety control function, when the active force that muscular strength sensor in detection module 3 detects between limbs of patient and ectoskeleton 4 reaches the default setting value of control module 1 Chinese physician, training aids deconditioning, drives limbs of patient towards the motion of spasm direction to avoid causing secondary injury simultaneously; Ectoskeleton 4 drives the movement velocity of limbs of patient and amplitude to regulate by the control system preset in control module 1, to need the size realizing exercise intensity adjustable according to patient's difference; When in detection module 3, angular transducer detects that the body inclination of patient reaches predetermined angle, in control module 1, control system sends deconditioning order and produces alarm signal to point out associated care personnel; Be respectively equipped with in control module 1, power drive module 2, detection module 3, ectoskeleton 4 and bascule 5 that software limit, electronic limit, parameter are spacing, mechanical position limitation and emergency button, reach above-mentioned arbitrary spacing when training aids uses, control system in control module 1 all can send deconditioning order to close training aids, or sufferers themselves closes training aids by the emergency button on bascule 5.
The training of described passive type refer to paralytic patient and/or hemiplegic patient limbs without muscular strength or muscular strength less time, make each joint frame in ectoskeleton 4 and skeleton under the driving of power drive module 2 by the control system in control module 1, drive limbs of patient to do flexing, abduction, stretching, extension, dorsiflex respectively, stand, the training such as walking; In addition for hemiplegic patient, passive type training is also comprised the parameter of the healthy limb motion detected by pressure transducer in detection module 3 and controls the training campaign that ill limbs do same action; Passive type training can stimulate the reconstruction of patient moving nerve, to reach auxiliary treatment object.
Described active training refers to the movable information first being detected limbs of patient by muscular strength sensor in detection module 3, then starts ectoskeleton 4 with assisting patients's limb motion after control system analysis in control module 1, judgement, thus strengthens patient's muscular strength consciously; This kind of training method is applicable to the hemiplegic patient that muscular strength reaches 2-3 level; The training of described resistance formula refers to when patient's muscular strength reaches more than 3 grades, and on the basis of active training, in control module 1, control system applies certain resistance by startup ectoskeleton 4 pairs of limbs of patients and carries out assisted movement, to improve the muscular strength of patient further.
Claims (7)
1. an Intelligent lower limb rehabilitation training aids, it is characterized in that agent structure comprises control module, power drive module, detection module, ectoskeleton and bascule, control module is connected with power drive module and detection module electrical information respectively, power drive module and detection module is embedded is connected on ectoskeleton, bascule discharge or be placed in ectoskeletal periphery and maintain balance for user; Control module comprises computer, servo controller, control system and control circuit, controls and Information Collecting & Processing for carrying out operation to whole training aids; Power drive module comprises four groups of servomotors, can drive the joint frame in ectoskeleton and skeleton under control module control action respectively; Detection module comprises muscular strength sensor, pressure transducer, velocity sensor and angular transducer, can carry out detection transmission to the movable information in training aids use procedure and patient physiological information; Ectoskeleton is that the joint frame that is made up of hip joint, knee joint and ankle joint is connected to form by the mode of kinematic pair with the skeleton be made up of chest support, braces, loss of weight support, waist bracket, femur frame, fibula frame, ankle frame and foot holder, for support limbs of patient and assisted movement; Bascule comprises hand steered go-cart, parallel bars and crutches, for maintaining the balance of patient's health when training.
2. Intelligent lower limb rehabilitation training aids according to claim 1, it is characterized in that ectoskeletal agent structure comprises chest support, braces, loss of weight support, waist bracket, hip joint, femur frame, knee joint, fibula frame, ankle joint, ankle frame and foot holder, the weight that loss of weight support can alleviate lower body when training aids is dressed is provided with between chest support and waist bracket, chest support being provided with the braces that can stretch to be convenient to fix when patient dresses, loss of weight support being provided with angular transducer for detecting the movable information of trainer; Hip joint, knee joint and ankle joint respectively symmetrical formula are arranged, be connected respectively by the femur frame of telescopic structure and fibula frame between hip joint with knee joint and between knee joint and ankle joint, the below of ankle joint is connected with foot holder by ankle frame, foot holder is provided with pressure transducer for detecting the movable information of trainer; All with one group of servomotor in each hip joint and knee joint, each hip joint being provided with velocity sensor for detecting the movable information of trainer, each knee joint being provided with muscular strength sensor for detecting the physiologic information of trainer.
3. Intelligent lower limb rehabilitation training aids according to claim 1; it is characterized in that there is spasmolytic protecting control function; when the active force that muscular strength sensor in detection module detects between limbs of patient and ectoskeleton reaches the setting value preset in control module; training aids deconditioning, drives limbs of patient towards the motion of spasm direction to avoid causing secondary injury simultaneously.
4. Intelligent lower limb rehabilitation training aids according to claim 1, it is characterized in that there is exercise intensity controlling functions, ectoskeleton drives the movement velocity of limbs of patient and amplitude to regulate by the control system preset in control module, needs according to patient's difference the adjustment realizing exercise intensity.
5. Intelligent lower limb rehabilitation training aids according to claim 1, it is characterized in that there is anti-controlling functions of falling, when angular transducer in detection module detects that the body inclination of patient reaches predetermined angle, in control module, control system sends deconditioning order and produces alarm signal to point out related personnel.
6. Intelligent lower limb rehabilitation training aids according to claim 1, it is characterized in that there is safety control function, be respectively equipped with in control module, power drive module, detection module, ectoskeleton and bascule that software limit, electronic limit, parameter are spacing, mechanical position limitation and emergency button, reach above-mentioned arbitrary spacing when training aids uses, control system in control module all can send deconditioning order to close training aids, or sufferers themselves closes training aids by the emergency button that bascule is arranged.
7. Intelligent lower limb rehabilitation training aids according to claim 1, when it is characterized in that using, is worn on Intelligent lower limb recovery training appliance for recovery on paralytic patient limbs, drives limbs to carry out passive type rehabilitation training under the effect of control system; Or Intelligent lower limb recovery training appliance for recovery is worn on hemiplegic patient's limbs, make patient carry out active, passive type and/or the rehabilitation training of resistance formula by control system.
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| CN107261325A (en) * | 2017-07-17 | 2017-10-20 | 长安大学 | A kind of anti-hyperextension method and device of hemiplegic patient's Walking |
| CN107736982A (en) * | 2017-10-20 | 2018-02-27 | 浙江睿索电子科技有限公司 | A kind of active-passive rehabilitation robot |
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| CN111084706A (en) * | 2019-12-07 | 2020-05-01 | 宿州学院 | Active-motion man-machine interaction system with joint rotation angle appointed |
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| CN111449899A (en) * | 2020-03-26 | 2020-07-28 | 浙江大学 | Control method for rehabilitation training of pelvis correction rehabilitation training robot |
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