CN109172257A - Lower limb constant speed force feedback training system - Google Patents
Lower limb constant speed force feedback training system Download PDFInfo
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- CN109172257A CN109172257A CN201810768167.0A CN201810768167A CN109172257A CN 109172257 A CN109172257 A CN 109172257A CN 201810768167 A CN201810768167 A CN 201810768167A CN 109172257 A CN109172257 A CN 109172257A
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- 238000012549 training Methods 0.000 title claims abstract description 69
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 7
- 210000003205 muscle Anatomy 0.000 claims description 7
- 230000003321 amplification Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 abstract description 15
- 238000011084 recovery Methods 0.000 abstract description 5
- 210000001188 articular cartilage Anatomy 0.000 abstract description 4
- 238000004088 simulation Methods 0.000 abstract description 3
- 208000006735 Periostitis Diseases 0.000 abstract description 2
- 239000008280 blood Substances 0.000 abstract description 2
- 210000004369 blood Anatomy 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract description 2
- 230000001926 lymphatic effect Effects 0.000 abstract description 2
- 210000003460 periosteum Anatomy 0.000 abstract description 2
- 210000001519 tissue Anatomy 0.000 abstract description 2
- 230000029663 wound healing Effects 0.000 abstract description 2
- 210000003414 extremity Anatomy 0.000 description 13
- 210000002683 foot Anatomy 0.000 description 11
- 230000002490 cerebral effect Effects 0.000 description 7
- 208000006011 Stroke Diseases 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 description 4
- 208000007101 Muscle Cramp Diseases 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 4
- 101000911390 Homo sapiens Coagulation factor VIII Proteins 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 102000057593 human F8 Human genes 0.000 description 3
- 229940047431 recombinate Drugs 0.000 description 3
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 230000001684 chronic effect Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 230000003716 rejuvenation Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002316 cosmetic surgery Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 231100000518 lethal Toxicity 0.000 description 1
- 230000001665 lethal effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Physics & Mathematics (AREA)
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- Pain & Pain Management (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Rehabilitation Therapy (AREA)
- Dentistry (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of lower limb constant speed force feedback training systems, including the force feedback training device being installed on above bottom bracket, adjustable seat chair is additionally provided on the bottom bracket, the force feedback training device includes the operation slide unit being installed on bottom bracket, force feedback foot pedal is connected on the operation slide unit, the force feedback foot pedal is equipped with force transducer for sole of foot and current sensor.The present invention is based on intelligent force feedback rehabilitation training functions, pass through simulation human body natural's movement, the natural recuperability of exciting human, play tissue compensation, carry out joint of lower extremity functional recovery training, in clinical application with safe and practical, no pain, patient is willing to accept, range is big freely for joint motion, effectively eliminate synarthrophysis and downright bad joint survives, improves local blood Lymphatic Circulation, wound healing and detumescence, promotes itself repairing for articular cartilage destruction, be converted to transparent articular cartilage conducive to periosteum is transplanted.
Description
Technical field
The present invention relates to intelligent rehabilitation training system more particularly to a kind of lower limb constant speed force feedback training systems.
Background technique
Chinese population is numerous, the aged, disabled population, chronic's quantity cumulative year after year, the demand of rehabilitation medical
It is increasing, and form sharp contrast with potential rehabilitation demands and be supplied with the relatively gloomy of end.It is later due to developing, China
Supply falls short of demand for rehabilitation medical mechanism and bed.Shown according to the data of Zhong Yan think tank, 2015, General Hospital in China rehabilitation department and
Rehabilitation training mechanism number is about 4000, accounts for the 14.50% of hospital's sum；Rehabilitation bedspace 12.93 ten thousand, account for hospital bed digit
2.43%.In general, China not yet forms system, complete, sufficient rehabilitation medical delivery system.
Latest data shows, Chinese residents cerebral apoplexy high recurrence rate, cause every year because of Stroke Death number about 2,000,000
Residual rate is high, and the disease is in rejuvenation trend in recent years in addition, so that the situation is tense for Chinese cerebral apoplexy prevention and control.In 2016 held recently
In Chinese cerebral apoplexy conference and the 6th national cardiovascular and cerebrovascular diseases forum, participant expert is emphasized, chronic sufferer is made a definite diagnosis by current China
About 2.6 hundred million people of person, cerebrovascular disease is listed in the first lethal cause of disease, and the disease incidence of Chinese cerebral apoplexy is just with annual 8.7%
Speed rises.Meanwhile undesirable life style and living habit, make it in rejuvenation trend.Therefore, in advance preventing brain stroke and
Correct emergency aid and treatment mode after the onset can play crucial work to life security, Rehabilitation, postoperative life and quality of life
With.
Lower extremity motor function impaired patients are continuously increased, and all bring heavy bear to sufferers themselves, family and society
Load.There are many kinds for the treatment of methods at present, but no matter take which kind of method, all be unable to do without and carry out exercise rehabilitation training to suffering limb.
Theory of medicine and clinical rehabilitation practice have shown that, exercise rehabilitation training to restore central nervous system function, prevent muscular atrophy from having
Important meaning.
In recent years, research institution both domestic and external had developed recovery exercising robot in succession, such as German company development
MOTOmed rehabilitation equipment, it can be realized the functions such as passive movement, active movement and assist exercise.Univ Michigan-Ann Arbor USA is ground
The lower limb rehabilitation robot studied carefully realizes the impedance control training of limbs.Domestic Harbin Engineering University's electromechanical integration experiment
A kind of lower limbs rehabilitation training robot of room exploitation, it can carry out patient by the motion profile of simulation normal person's walking
Training.But these training systems support technology limited, partial function is incomplete, is still in development phase, did not received also
Clinical test.
Summary of the invention
Goal of the invention: it is an object of the present invention to provide a kind of lower limb constant speed force feedback training systems, can be realized multi-motion
Training mode accelerates the rehabilitation of patient.
Technical solution: the present invention includes the force feedback training device being installed on above bottom bracket, the bottom bracket
On be additionally provided with adjustable seat chair, the force feedback training device includes the operation slide unit being installed on bottom bracket, described
Operation slide unit on connect force feedback foot pedal, the force feedback foot pedal be equipped with force transducer for sole of foot and current sense
Device.
The invention also includes the Muscle tensility sensor for being connected to human leg, the Muscle tensility sensor can obtain people
The motor message of body provides the foundation for judging whether that muscle cramp occurs.
The force transducer for sole of foot and the signal of current sensor detection are transmitted after amplification filtering by A/D interface
Intelligent moment detection system is given, the control based on force feedback and current feedback is realized.
The force feedback foot pedal is connect by connecting rod with driving mechanism.
The driving mechanism includes motor and conveyer belt, is equipped with encoder on the motor, can be force feedback
The position signal of motion of foot feeds back to system, realizes position-force control.
The force feedback training device can be realized four kinds of training modes, including passive movement mode, power-assist move mould
Formula, active movement mode and resistance mode.
Operating system and display screen are also connected on the force feedback training device.
The operating system is able to record the individual training archives of patient, and can recycle access, according to the parameter of record
Treatment data analysis assessment is carried out to lower limb function, is incorporated into one with analysis for trained.
The display screen can be configured training parameter, and display screen is equipped with game mode, provide for patient more
The goal orientation training of sample, so that cerebral function be stimulated to recombinate, and then remolds limbs basic function.
The utility model has the advantages that, by simulation human body natural's movement, exciting people the present invention is based on intelligent force feedback rehabilitation training function
The natural recuperability of body plays tissue compensation, carries out joint of lower extremity functional recovery training, has safety in clinical application
Practical, no pain, patient are willing to accept, range is big freely for joint motion, effectively eliminate synarthrophysis and downright bad joint survives, changes
Kind local blood Lymphatic Circulation, wound healing and detumescence, itself for promoting articular cartilage destruction are repaired, and transplanting periosteum conversion is conducive to
At transparent articular cartilage.
Detailed description of the invention
Fig. 1 is system diagram of the invention.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
The present invention includes the force feedback training device being installed on above bottom bracket, is additionally provided with adjustable seat on bottom bracket
Position chair, force feedback training device includes the operation slide unit being installed on bottom bracket, and it is foot-operated to run connection force feedback on slide unit
Plate, force feedback foot pedal are equipped with force transducer for sole of foot and current sensor, and the signal of detection passes through A/ after amplification filtering
D interface is transferred to Intelligent moment detection system and handles and apply, and realizes the control based on force feedback and current feedback.Human leg
Portion is also connected with Muscle tensility sensor, for obtaining human motion signal, provides the foundation for judging whether that muscle cramp occurs.
Force feedback foot pedal is connect by connecting rod with driving mechanism, and driving mechanism includes motor and conveyer belt, is pacified on motor
Equipped with encoder, the position signal of force feedback motion of foot can be fed back to system, realize position-force control.Power is anti-
Operating system and display screen are also connected on feedback training device.Operating system is able to record the individual training archives of patient, and energy
Circulation is consulted, and is carried out treatment data analysis assessment to lower limb function according to the parameter of record, is incorporated into one with analysis for trained.
Display screen can be configured training parameter, and display screen is equipped with game mode, provide the goal orientation of multiplicity for patient
Training so that cerebral function be stimulated to recombinate, and then remolds limbs basic function.
Patient, into healing process, can undergo different Restoration stages from morbidity, realize that multi-motion pattern pair is suffered from
The rehabilitation of person is of great significance.In response to this, healing robot of the invention provides passive movement mode, power-assist fortune
A variety of training modes such as dynamic model formula, active movement mode and resistance mode.
(1) passive movement refers to the training that patient fully relies on the help of external force to complete, and at the initial stage of rehabilitation training, suffers from
Limb loss of muscle strength oneself can not move, and passive exercise can be effectively facilitated the recovery of limb function.In passive exercise
In, robot can not only carry out simple track training to patient, but also the flexibility training based on force feedback may be implemented.In list
When pure track is trained, patient is in the state loosened, and foot pedal drives patient's lower extremity movement with certain track and speed.Into
When the training of row flexibility, vola power is detected by force snesor and force feedback link is added in control and realizes compliance control,
The comfort level for meeting patient requires and improves the safety of rehabilitation training.
(2) when the muscle of patient has certain strength, but is not enough to carry out daily routines, power-assist movement is it can be found that simultaneously
Enhance the remaining strength of patient, improves patient's confidence.Power-assist training is realized by providing power-assisted or resistance for suffering limb.Resistance or
The size of resistance is adjusted according to the severity of conditions of patients.
(3) in the rehabilitation later period, patient, which has had been provided with, fully relies on oneself strength to complete the ability of movement.At this moment suffer from
Person can carry out active movement, and for patient in training in robot, robot does not provide resistance or power-assisted, only to exercise data
Play the role of measurement and record.
(4) the work against resistance mode that active movement and passive movement combine for patient unilateral side suffering limb occur lesion or
The different situation of two sides suffering limb lesion degree.The side suffering limb of patient does active movement, and other side suffering limb is driven to do passive movement.
The proportionate relationship of power between them is adjusted by the vola power of perception active and passive movement suffering limb.
The detection of muscle cramp is of great significance to the treatment of patient.During rehabilitation training, if patient sends out
Raw muscle cramp, the robot can be detected and be made a response in time, certain measure be taken, to protect the safety of patient.Together
When, for the different parts of patient's sufferer, which can carry out simple joint and multi-joint training to lower limb respectively, such as to ankle
The rehabilitation training in joint, the training of hip and knee and rehabilitation training carried out simultaneously to hip knee ankle-joint.
The present invention can effectively record the parameter in training process, and entire training and automated procedure can be allowed, which to assess, quantization
Data record patient's individual training archives, and can recycle access, carry out treatment data point to lower limb function according to the parameter of record
Analysis assessment is incorporated into one with analysis for trained, provides the goal orientation training of multiplicity by game mode for patient, thus
It stimulates cerebral function to recombinate, and then remolds limbs basic function.Patient can be covered comprehensively from the phase of collapsing from physical exhaustion to convalescent rehabilitation
Training, the record data for carrying out functional training to patient carry out intelligent evaluation, can give correspondence according to the practical active force of patient
Power-assisted, give full play to its being actively engaged in property, promote the recovery of patient, be suitable for orthopaedics, Neurology, neurosurgery, rehabilitation
Section, Burn and Plastic Surgery Dept. etc..
Claims (9)
1. a kind of lower limb constant speed force feedback training system, which is characterized in that including the force feedback instruction being installed on above bottom bracket
Practice device, adjustable seat chair is additionally provided on the bottom bracket, the force feedback training device includes being installed on bottom
Operation slide unit on bracket, force feedback foot pedal is connected on the operation slide unit, and the force feedback foot pedal is equipped with
Force transducer for sole of foot and current sensor.
2. lower limb constant speed force feedback training system according to claim 1, which is characterized in that further include being connected to human leg
The Muscle tensility sensor in portion, the Muscle tensility sensor can obtain the motor message of human body.
3. lower limb constant speed force feedback training system according to claim 1, which is characterized in that the force transducer for sole of foot with
The signal of current sensor detection is transferred to Intelligent moment detection system by A/D interface after amplification filtering.
4. lower limb constant speed force feedback training system according to claim 1, which is characterized in that the force feedback foot pedal
It is connect by connecting rod with driving mechanism.
5. lower limb constant speed force feedback training system according to claim 4, which is characterized in that the driving mechanism includes
Motor and conveyer belt are equipped with encoder on the motor, the position signal of force feedback motion of foot can be fed back to
System.
6. lower limb constant speed force feedback training system according to claim 1, which is characterized in that the force feedback training cartridge
It sets and can be realized four kinds of training modes, including passive movement mode, power-assist motor pattern, active movement mode and resistance mode.
7. lower limb constant speed force feedback training system according to claim 1 or 6, which is characterized in that the force feedback instruction
Practice and is also connected with operating system and display screen on device.
8. lower limb constant speed force feedback training system according to claim 7, which is characterized in that the operating system can
Record the individual training archives of patient.
9. lower limb constant speed force feedback training system according to claim 7, which is characterized in that the display screen can be right
Training parameter is configured, and display screen is equipped with game mode, provides the goal orientation training of multiplicity for patient.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810768167.0A CN109172257A (en) | 2018-07-13 | 2018-07-13 | Lower limb constant speed force feedback training system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810768167.0A CN109172257A (en) | 2018-07-13 | 2018-07-13 | Lower limb constant speed force feedback training system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109172257A true CN109172257A (en) | 2019-01-11 |
Family
ID=64936100
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810768167.0A Pending CN109172257A (en) | 2018-07-13 | 2018-07-13 | Lower limb constant speed force feedback training system |
Country Status (1)
| Country | Link |
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| CN (1) | CN109172257A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110292748A (en) * | 2019-07-02 | 2019-10-01 | 南方科技大学 | bilateral coordination training system and control method |
| WO2021249315A1 (en) * | 2020-06-09 | 2021-12-16 | 上海神泰医疗科技有限公司 | Method for operating rehabilitation robot, and rehabilitation robot and readable storage medium |
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| FR2597749A1 (en) * | 1986-04-24 | 1987-10-30 | Brisard Gerard | Dynamometric exerciser for the legs |
| CN2581000Y (en) * | 2002-09-09 | 2003-10-22 | 复旦大学附属华山医院 | Separated feedback type closed chain detecting exerciser for lower limb |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US11612803B2 (en) | 2019-07-02 | 2023-03-28 | Southern University Of Science And Technology | Bilateral limb coordination training system and control method |
| WO2021249315A1 (en) * | 2020-06-09 | 2021-12-16 | 上海神泰医疗科技有限公司 | Method for operating rehabilitation robot, and rehabilitation robot and readable storage medium |
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Application publication date: 20190111 |