CN105078701B - Lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism - Google Patents
Lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism Download PDFInfo
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- CN105078701B CN105078701B CN201510556834.5A CN201510556834A CN105078701B CN 105078701 B CN105078701 B CN 105078701B CN 201510556834 A CN201510556834 A CN 201510556834A CN 105078701 B CN105078701 B CN 105078701B
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Abstract
The invention discloses a kind of lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism, it is made up of parallel institution and two-dimensional force measurement mechanism two parts：Short connecting rod, motor, angular transducer and the rotary shaft that parallel institution is fixed by the parallel joining beam of Length discrepancy, an one end are constituted；Two-dimensional force measurement mechanism is made up of pedal and two groups of bridge circuits, wherein, angular transducer is connected by amplification interface circuit with computer, bridge circuit is connected by amplification interface circuit with computer, the control circuit connection of computer and motor, so, by amplifying, interface circuit is obtained computer and process angle sensor and two groups of bridge circuits survey data, obtain the rotation angle information of short connecting rod, foot is to the active force in pedal vertical direction and moves forward and backward the active force on direction, so as to by controlling circuit to control motor to rotate, it can realize that a motor drives knee joint and the rehabilitation exercise training in two joints of ankle-joint.
Description
Technical field
The invention belongs to rehabilitation medical instrument field, more particularly to one kind lower limb doublejointed rehabilitation is realized using parallel institution
Train and possess the lower limb doublejointed rehabilitation training mechanism of two-dimensional force measurement mechanism.
Background technology
Healing robot is the combination of engineering science and medical science of recovery therapy, is typical people-machine integrated system, is current rehabilitation
Medical science and the cutting edge technology of robot field, and lower limb rehabilitation mechanism is a master of the current mechanical field in medical science of recovery therapy field
Want research object.Robot-aided training obtains each as a kind of intelligent Rehabilitation Treatment Technique in the ascendant nearly ten years
The most attention of developed country.Recovery exercising robot not only can be one-to-one or even many-to-one heavy from doctors and patients by Physical Therapist
Freed in rehabilitation course, and can be to because of cerebral apoplexy（Apoplexy）With obstacle of limb movement caused by spinal cord injury etc.
Patient carries out safe and reliable, adaptive and with strong points rehabilitation training, by quantitative exercise, monitors can be carried for patient in real time
For the rehabilitation training pattern of more science, athletic rehabilitation therapy is tried out by automating rehabilitation equipment, for improving limb
The Quality of rehabilitation of body dyskinesia patient, the rehabilitation early for promoting patient, mitigation burden on society are significant.
The content of the invention
The technical problem to be solved in the invention is：In order to provide a kind of safe and effective lower limb doublejointed rehabilitation training
Mechanism is designed, and can provide the rehabilitation training of lower limb knee joint and ankle-joint to rehabilitation training person simultaneously, it is proposed that one kind is based on
The lower limb doublejointed rehabilitation training mechanism of parallel institution and two-dimensional force measurement mechanism.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：There is provided a kind of based on parallel institution and two dimension
The lower limb doublejointed rehabilitation training mechanism of force measuring machine, it is characterized in that this lower limb doublejointed rehabilitation training mechanism by parallel institution and
Two-dimensional force measurement mechanism two parts composition：This parallel institution is installed on the lower section of seat 1, is consolidated by the parallel joining beam of Length discrepancy, an one end
Fixed short connecting rod 2, motor 4, angular transducer 3 and rotary shaft 0 and 7 is constituted, and the parallel joining beam of Length discrepancy is rotatable by one
Long connecting rod 5 and a rotatable short connecting rod 6 constitute, the shaft of motor 4 and long connecting rod 5 are in the rotary shaft 0 close to the end of seat 1
It is connected, angular transducer 3 is arranged at the junction of two short connecting rods 2 and 6；This two-dimensional force measurement mechanism is by pedal and two groups of bridge-type electricity
Road is constituted, and pedal includes pedal 17, Left-side support beam 11, Right side support beam 12, front end fixing device and periphery 16, often
Group bridge circuit is made up of 4 foil gauges 14, for measuring bridge-type electricity of the foot to the active force in the vertical direction of pedal 17
4 foil gauges 14 of the route Left-side support beam 11 of pedal 17 and Right side support beam about 12 on totally four faces are constituted, and are used for
Measurement foot moves forward and backward the bridge circuit of active force on direction to pedal 17 by the Left-side support beam 11 of pedal 17 and right side
4 foil gauges 14 on forward and backward totally four faces of support beam 12 are constituted；Wherein, angular transducer 3 passes through interface circuit and computer
Bridge circuit in connection, two-dimensional force measurement mechanism is connected by interface circuit with computer, the control of computer and motor 4
Circuit is connected, and motor 4 can drive the long connecting rod 5 in the parallel joining beam of Length discrepancy to rotate, and then drives pedal and rotatable
The motion of short connecting rod 6, realizes that a motor drives knee joint and the rehabilitation exercise training in two joints of ankle-joint, angular transducer
3 rotational angle for measuring the rotatable short connecting rod 6 in the parallel joining beam of Length discrepancy, computer is obtained and located by interface circuit
Reason surveys data, so as to control the rotation of motor 4, passes through the comparison with threshold value, it is ensured that the safety of rehabilitation training person
With the safety of mechanism.
Optimization, above-mentioned front end fixing device, rear end fixing device can be respectively the fixing device of elasticity, and the angle is passed
Sensor 3 is to be connected by amplifying interface circuit with computer by bus, and the bridge circuit in two-dimensional force measurement mechanism is by amplification
Interface circuit is connected with computer by bus, and the front and back end of the pedal sets front end Fuliang 9, rear end Fuliang 15 to be used to respectively
Firm pedal.
In addition, the lower limb doublejointed rehabilitation training mechanism of the present invention based on parallel institution and two-dimensional force measurement mechanism makes
With method, it is comprised the following steps that：
Step 1：Pass through computer predetermined threshold value using preceding, threshold angle,Respectively foot is to the pressure threshold described in pedal 17 on four direction, unit N,Respectively
For the forward and backward rotational angle threshold value of rotatable short connecting rod 6, unit：Degree；
Step 2：Rehabilitation training person takes seat 1 and using the front end elastic fixing device 10 and rear end bullet on pedal 17
Rehabilitation training person foot is fixed on pedal 17 by property fixing device 13；
Step 3：Each several part power supply is opened after rehabilitation training person is ready to, mechanism is to start working；
Step 4：The rotational angle of rotatable short connecting rod 6 in the measurement parallel joining beam of Length discrepancy of angular transducer 3, computer
Obtained by amplifying interface circuit and handle surveyed data and with the threshold value of settingCompare, it is ensured that rehabilitation training person and
The safety of mechanism；
Step 5：Two bridge circuits measurement foot that foil gauge 14 is constituted is in the vertical direction of pedal 17 and to foot-operated
Plate 17 moves forward and backward the active force to pedal 17 on direction, and computer obtains the output of bridge circuit by amplifying interface circuit
Data, and then with Real Time Observation to rehabilitation training person foot stressing conditions and rehabilitation training strategy can be adjusted, by with set threshold
ValueCompare, it is ensured that the safety of rehabilitation training person；
Step 6：Computer is when the angle-data and stress data acquired in confirmation meet given threshold requirement, by driving
Dynamic circuit control motor 4 is rotated, and driving long connecting rod 5 is rotated, and drives the motion of pedal and rotatable short connecting rod 6, rehabilitation instruction
White silk person starts the rehabilitation training of lower limb doublejointed；
Step 7：Lower limb health doublejointed rehabilitation training terminates, and computer controls motor 4 to revolve by drive circuit, drives
Long connecting rod goes to initial position, and nursing staff helps rehabilitation training person to unload equipment, pass hull closure power supply safely.
Compared with prior art, the invention has the advantages that：
（1）The present invention uses parallel institution, and the cooperation of the parallel joining beam of Length discrepancy and pedal therein can be simply and effectively
The rehabilitation training of lower limb knee joint and ankle-joint is realized, angular transducer therein can be with feedback mechanism posture, it is ensured that rehabilitation is instructed
White silk person and the safety of mechanism；
（2）Two-dimensional force measurement mechanism in the present invention, rehabilitation training person foot can be monitored in real time to pedal vertical direction
On active force and move forward and backward the active force on direction, can be effectively ensured rehabilitation training person's with the help of given threshold
While safe, rehabilitation exercise strategy can also be adjusted, rehabilitation exercise security, scientific and efficiency is improved；
（3）Pedal uses left and right sides support beam in the present invention, the design of front and rear Fuliang, make pedal structure more firmly,
While being hardly damaged, front and rear Fuliang design will not be caused to the measurement result of two in the support beam of left and right group bridge-type measuring circuit
Large effect, the function of not interfering with bridge circuit is realized；
（4）The present invention is continuous by simplifying effective control method, control process, and real-time is good, and computer can basis
Obtain and analyze and process the angle information that measures and by force information, programming controls motor to rotate to realize by drive circuit
Recovery training method such as knee joint and the rehabilitation exercise of ankle-joint according to certain rules is in this lower limb doublejointed rehabilitation training mechanism
On application.
Brief description of the drawings
Fig. 1 is the structural representation of parallel institution in the present invention；
Fig. 2 is the structural representation of pedal in the present invention；
Fig. 3 is the top view of pedal front end in the present invention；
Fig. 4 is the oblique view of pedal front end in the present invention；
Fig. 5 is the motion morphology schematic diagram of parallel institution in the present invention；
In accompanying drawing marked as：0. rotary shaft；1. seat；2. the short connecting rod that one end is fixed；3. angular transducer；4. driving electricity
Machine；5. long connecting rod；6. rotatable short connecting rod；7. rotary shaft；8. pedal front end；9. front end Fuliang；10. front end flexible fastening is filled
Put；11. Left-side support beam；12. Right side support beam；13. rear end elastic fixing device；14. foil gauge；15. rear end Fuliang；
16. periphery；17. pedal.
Embodiment：
Below by taking the structural representation of the structural representation of Fig. 1 parallel institutions and Fig. 2 pedals as an example, before Fig. 3 pedals
Top view, the oblique view of Fig. 4 pedals front end and the motion morphology schematic diagram of Fig. 5 parallel institutions at end illustrate the specific reality of the present invention
Apply step：
The invention discloses a kind of lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism, its
It is characterized in that this lower limb doublejointed rehabilitation training mechanism is made up of parallel institution and two-dimensional force measurement mechanism two parts：This parallel institution is pacified
Loaded on the lower section of seat 1, short connecting rod 2, motor 4, the and of angular transducer 3 fixed by the parallel joining beam of Length discrepancy, an one end
Rotary shaft 0 and 7 is constituted, and the parallel joining beam of Length discrepancy is made up of a rotatable long connecting rod 5 and a rotatable short connecting rod 6, is driven
Dynamic rotary shaft 0 of the shaft of motor 4 with long connecting rod 5 close to the end of seat 1 is connected, and angular transducer 3 is arranged at two short connecting rods 2 and 6
Junction；This two-dimensional force measurement mechanism is made up of pedal and two groups of bridge circuits, and pedal is by pedal 17, front end Fuliang 9, rear end
Fuliang 15, Left-side support beam 11, Right side support beam 12, front end elastic fixing device 10, rear end elastic fixing device 13 and periphery
Part 16 is constituted, and every group of bridge circuit is made up of 4 foil gauges 14, for measuring foot to the work in the vertical direction of pedal 17
4 piece foil gauges 14 of the bridge circuit firmly by the Left-side support beam 11 of pedal 17 and Right side support beam about 12 on totally four faces
Composition, and be used to measuring foot the bridge circuit of active force on direction is moved forward and backward to pedal 17 by the Left-side support of pedal 17
4 foil gauges 14 on beam 11 and forward and backward totally four faces of Right side support beam 12 are constituted；Wherein, angular transducer 3 connects by amplification
Mouth circuit is connected with computer by bus, and the bridge circuit in two-dimensional force measurement mechanism leads to by amplification interface circuit with computer
Bus connection is crossed, computer is connected with the control circuit of motor 4.Motor 4 can be driven in the parallel joining beam of Length discrepancy
Long connecting rod 5 rotate, and then drive the motion of pedal and rotatable short connecting rod 6, realize that a motor drives knee joint to be closed with ankle
The rehabilitation exercise training in two joints is saved, angular transducer 3 is used to measure the rotatable short connecting rod 6 in the parallel joining beam of Length discrepancy
Rotational angle, computer is obtained by amplifying interface circuit and handles surveyed data, so as to control the rotation of motor 4, is led to
Cross the comparison with threshold value, it is ensured that the safety of rehabilitation training person and the safety of mechanism.Utilize Left-side support beam in pedal 17
11 and a bridge circuit of 4 piece foil gauges 14 composition of the Right side support beam about 12 on totally four faces can measure foot to pin
Active force in the vertical direction of pedal 17, and on the Left-side support beam 11 of pedal 17 and forward and backward totally four faces of Right side support beam 12
A bridge circuit of 4 foil gauges 14 composition can measure foot to the active force in the direction of motion of pedal 17, calculate
Machine obtains the output data of bridge circuit by amplifying interface circuit, and then can be with Real Time Observation to rehabilitation training person foot stress
Situation simultaneously adjusts rehabilitation training strategy, and the safety of rehabilitation training person can be ensured by threshold value setting.
It is comprised the following steps that：
Step 1：Pass through computer predetermined threshold value using preceding, threshold angle,Respectively foot is to the pressure threshold described in pedal 17 on four direction, unit N,Respectively
For the forward and backward rotational angle threshold value of rotatable short connecting rod 6, unit：Degree；
Step 2：Rehabilitation training person takes seat 1 and using the front end elastic fixing device 10 and rear end bullet on pedal 17
Rehabilitation training person foot is fixed on pedal 17 by property fixing device 13；
Step 3：Each several part power supply is opened after rehabilitation training person is ready to, mechanism is to start working；
Step 4：The rotational angle of rotatable short connecting rod 6 in the measurement parallel joining beam of Length discrepancy of angular transducer 3, computer
Obtained by amplifying interface circuit and handle surveyed data and with the threshold value of settingCompare, it is ensured that rehabilitation training person and
The safety of mechanism；
Step 5：Two bridge circuits measurement foot that foil gauge 14 is constituted is in the vertical direction of pedal 17 and to foot-operated
Plate 17 moves forward and backward the active force to pedal 17 on direction, and computer obtains the output of bridge circuit by amplifying interface circuit
Data, and then with Real Time Observation to rehabilitation training person foot stressing conditions and rehabilitation training strategy can be adjusted, by with set threshold
ValueCompare, it is ensured that the safety of rehabilitation training person；
Step 6：Computer is when the angle-data and stress data acquired in confirmation meet given threshold requirement, by driving
Dynamic circuit control motor 4 is rotated, and driving long connecting rod 5 is rotated, and drives the motion of pedal and rotatable short connecting rod 6, rehabilitation instruction
White silk person starts the rehabilitation training of lower limb doublejointed；
Step 7：Lower limb health doublejointed rehabilitation training terminates, and computer controls motor 4 to revolve by drive circuit, drives
Long connecting rod goes to initial position, and nursing staff helps rehabilitation training person to unload equipment, pass hull closure power supply safely.
Fig. 3 and Fig. 4 present the schematic construction of pedal front end 8 with depression angle and strabismus angle respectively, and Fig. 5 (a) shows
Meaning rehabilitation training person travels forward under mechanism drive reach before to threshold valueWhen state, (b) signal mechanism setting
Original state, (c) illustrates rehabilitation training person after motion reaches backward under mechanism drives to threshold valueWhen state, in figure
IndicatedThe forward and backward rotational angle threshold value of respectively rotatable short connecting rod 6,I.e. rehabilitation training person's ankle close
The rehabilitation training angle of section, as can be seen from the figure its angle change.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
1. a kind of lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism, it is characterized in that this lower limb is double
Joint rehabilitation training mechanism is made up of parallel institution and two-dimensional force measurement mechanism two parts：This parallel institution is installed on saddle
Below formula seat (1), short connecting rod (2), motor (4), the angular transducer fixed by the parallel joining beam of Length discrepancy, an one end
(3) and rotary shaft (0) and (7) composition, the parallel joining beam of Length discrepancy is by a rotatable long connecting rod (5) and a rotatable short company
Bar (6) is constituted, and motor (4) shaft is connected with long connecting rod (5) in the rotary shaft (0) held close to seat (1), angular transducer
(3) it is arranged at the junction of two short connecting rods (2) and (6)；This two-dimensional force measurement mechanism is made up of pedal and two groups of bridge circuits, is stepped on
Plate includes pedal (17), Left-side support beam (11), Right side support beam (12), front end fixing device and periphery (16), often
Group bridge circuit is made up of 4 foil gauges (14), for measuring bridge of the foot to the active force in pedal (17) vertical direction
4 piece foil gauges (14) of the formula circuit by pedal (17) Left-side support beam (11) and Right side support beam (12) up and down on totally four faces
Composition, and be used to measuring foot and the bridge circuit of active force on direction is moved forward and backward to pedal (17) on the left of pedal (17)
4 foil gauges (14) composition in support beam (11) and forward and backward totally four faces of Right side support beam (12)；Wherein, angular transducer
(3) it is connected by interface circuit with computer, the bridge circuit in two-dimensional force measurement mechanism is connected by interface circuit with computer,
Computer is connected with the control circuit of motor (4), and motor (4) can drive the long connecting rod in the parallel joining beam of Length discrepancy
(5) rotate, and then drive the motion of pedal and rotatable short connecting rod (6), realize that a motor drives knee joint and ankle-joint two
The rehabilitation exercise training in individual joint, angular transducer (3) is used to measure the rotatable short connecting rod (6) in the parallel joining beam of Length discrepancy
Rotational angle, computer is obtained by interface circuit and handles surveyed data, so as to control the rotation of motor (4), is passed through
With the comparison of threshold value, it is ensured that the safety of rehabilitation training person and the safety of mechanism.
2. a kind of lower limb doublejointed rehabilitation trainer based on parallel institution and two-dimensional force measurement mechanism according to claim 1
Structure, it is characterised in that：The pedal is additionally provided with rear end fixing device and fixed further to strengthen foot.
3. a kind of lower limb doublejointed rehabilitation trainer based on parallel institution and two-dimensional force measurement mechanism according to claim 2
Structure, it is characterised in that：The front end fixing device, rear end fixing device are respectively elastic fixing device.
4. a kind of lower limb doublejointed rehabilitation trainer based on parallel institution and two-dimensional force measurement mechanism according to claim 1
Structure, it is characterised in that：The angular transducer (3) is to be connected by amplifying interface circuit with computer by bus, and two dimension is surveyed
Bridge circuit in force mechanisms is connected by amplification interface circuit with computer by bus.
5. a kind of lower limb doublejointed rehabilitation trainer based on parallel institution and two-dimensional force measurement mechanism according to claim 1
Structure, it is characterised in that：The front and back end of the pedal sets front end Fuliang (9), rear end Fuliang (15) to be used to firm pedal respectively.
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| CN201510556834.5A CN105078701B (en) | 2015-09-02 | 2015-09-02 | Lower limb doublejointed rehabilitation training mechanism based on parallel institution and two-dimensional force measurement mechanism |
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| CN105078701B true CN105078701B (en) | 2017-08-04 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106131112A (en) * | 2016-06-14 | 2016-11-16 | 上海电气集团股份有限公司 | A kind of rehabilitation training apparatus monitoring method and rehabilitation training of upper limbs equipment |
| CN108056898B (en) * | 2017-12-21 | 2020-11-20 | 东南大学 | Virtual scene interactive rehabilitation training robot based on lower limb connecting rod model and force sense information and control method thereof |
| CN112315735B (en) * | 2020-10-27 | 2023-12-29 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Integrated electric multifunctional rehabilitation training frame |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007229440A (en) * | 2006-02-06 | 2007-09-13 | Takehiro Takemura | Lower limb exercise chair |
| CN201500118U (en) * | 2009-09-28 | 2010-06-09 | 上海理工大学 | Visual feedback type dynamic balance evaluating and training system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1101671C (en) * | 1995-12-07 | 2003-02-19 | 杨晓梅 | Psychosomatic disease therapeutic device |
| CN2384605Y (en) * | 1999-08-23 | 2000-06-28 | 焦集群 | Wheel chair and lower limbs motion recovery dual purpose device |
| CN200991390Y (en) * | 2006-12-30 | 2007-12-19 | 武汉理工大学 | Leg recovering device |
| CN100515324C (en) * | 2007-12-18 | 2009-07-22 | 东南大学 | Dynamic pedal device of human body balance function testing system |
| JP2013072729A (en) * | 2011-09-27 | 2013-04-22 | Equos Research Co Ltd | Load sensor and walking support device |
| JP2013075126A (en) * | 2011-09-30 | 2013-04-25 | Panasonic Corp | Motion trainings device and motion trainings system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007229440A (en) * | 2006-02-06 | 2007-09-13 | Takehiro Takemura | Lower limb exercise chair |
| CN201500118U (en) * | 2009-09-28 | 2010-06-09 | 上海理工大学 | Visual feedback type dynamic balance evaluating and training system |
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