CN110652428A - Wearable lower limb rehabilitation robot - Google Patents
Wearable lower limb rehabilitation robot Download PDFInfo
- Publication number
- CN110652428A CN110652428A CN201911000719.4A CN201911000719A CN110652428A CN 110652428 A CN110652428 A CN 110652428A CN 201911000719 A CN201911000719 A CN 201911000719A CN 110652428 A CN110652428 A CN 110652428A
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- China
- Prior art keywords
- supporting plate
- rod
- shank
- thigh
- plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 13
- 210000000689 upper leg Anatomy 0.000 claims abstract description 39
- 230000003139 buffering effect Effects 0.000 claims abstract description 28
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 22
- 210000002683 foot Anatomy 0.000 claims abstract description 17
- 210000003423 ankle Anatomy 0.000 claims abstract description 16
- 210000003127 knee Anatomy 0.000 claims abstract description 16
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 4
- 210000000629 knee joint Anatomy 0.000 claims description 4
- 230000002787 reinforcement Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 3
- 210000002414 leg Anatomy 0.000 description 11
- 230000005021 gait Effects 0.000 description 3
- 239000003351 stiffener Substances 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000007996 neuronal plasticity Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
Images
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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a wearable lower limb rehabilitation robot which comprises a foot bottom plate, a shank rod and a thigh rod, wherein the end part of the foot bottom plate is fixedly connected with a first supporting plate, the shank rod is fixedly connected with a second supporting plate, an ankle buffering part is arranged between the first supporting plate and the second supporting plate, and two ends of the ankle buffering part are respectively hinged with the first supporting plate and the second supporting plate; the end part of the shank rod is fixedly connected with a third supporting plate, the shank rod is fixedly connected with a fourth supporting plate, a knee buffering component is arranged between the third supporting plate and the fourth supporting plate, and two ends of the knee buffering component are respectively hinged with the third supporting plate and the fourth supporting plate; the back of the thigh rod is connected with a reinforcing diagonal rod, and the end part of the reinforcing diagonal rod is connected with a supporting roller. In the activity process, ankle buffering part, knee buffering part can play the effect of fine buffering helping hand, and the enhancement down tube can be dismantled for the thigh pole, are fit for the shank load requirement in recovered person's training initial stage and training later stage.
Description
Technical Field
The invention relates to the field of lower limb rehabilitation training, in particular to a wearable lower limb rehabilitation robot.
Background
The rehabilitation training robot is developed for recovering injured parts of patients, and according to the neural plasticity theory, the rehabilitation training robot for repairing the injured parts is provided for patients who cannot walk due to cerebral apoplexy, spinal cord injury and the like to perform rehabilitation training. When the patient moves with gait, the joint movement drives the muscle of the whole body to move, thereby gradually activating the whole body movement system, and the rehabilitation training robot can help the injured part to recover.
The existing rehabilitation training robots are various in types and all adopt the structure of the exoskeleton robot, the exoskeleton robot comprises a wearable type and a fixed support type, all support plates on the exoskeleton robot are hinged, the support plates are bound and fixed with thighs and shanks of people through bridles, the buffer supporting force of the support plates to the legs of the people is poor when the support plates rotate relatively, and therefore the problem that the legs of a rehabilitee are too heavy to eat is easily caused, and even secondary injury occurs. In addition, because the supporting plates of the exoskeleton robot are hinged, when a rehabilitee carries out leg rehabilitation training by wearing the exoskeleton robot, if the rehabilitee is in the early rehabilitation stage, the leg joint part needs to be greatly supported, otherwise, the problem of excessive leg force is easily caused, the supporting plate of the existing wearable exoskeleton robot is hinged, the mechanical joint part has certain buffer force through the torsion of a spring, but the problem of excessive leg force of the rehabilitee in the early rehabilitation training process can not be avoided, the upper limit of leg force load of the rehabilitee in the early rehabilitation training stage and the later rehabilitation training stage is different, and the traditional wearable exoskeleton robot can not simultaneously meet the requirements of the rehabilitee in the early rehabilitation training stage and the later rehabilitation training stage.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a wearable lower limb rehabilitation robot.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a wearable lower limb rehabilitation robot comprises a foot base plate, a shank rod hinged with the foot base plate and a thigh rod hinged with the shank rod, wherein a machine ankle joint is formed at the hinged part of the foot base plate and the shank rod, and a machine knee joint is formed at the hinged part of the shank rod and the thigh rod;
the end part of the sole plate is fixedly connected with a first supporting plate, the shank rod is fixedly connected with a second supporting plate, an ankle buffering part is arranged between the first supporting plate and the second supporting plate, and two ends of the ankle buffering part are respectively hinged with the first supporting plate and the second supporting plate;
the end part of the shank rod is fixedly connected with a third supporting plate, the shank rod is fixedly connected with a fourth supporting plate, a knee buffering component is arranged between the third supporting plate and the fourth supporting plate, and two ends of the knee buffering component are respectively hinged with the third supporting plate and the fourth supporting plate;
the back of the thigh rod is connected with a reinforcing diagonal rod, and the end part of the reinforcing diagonal rod is connected with a supporting roller; an arc shank fixing plate is fixed on the shank rod, and an arc thigh fixing plate is fixed on the thigh rod.
Furthermore, the arc shank fixing plate, the arc thigh fixing plate and the foot bottom plate are provided with bridles.
Further, the ankle buffering part and the knee buffering part are air cylinders or air springs.
Further, the bottom of the supporting roller is flush with the bottom of the sole plate.
Furthermore, the reinforcing inclined rod is fixedly connected with the thigh rod through a bolt, and the reinforcing inclined rod is detachable relative to the thigh rod.
The invention has the beneficial effects that: the end part of a sole plate of the wearable robot is fixedly connected with a first supporting plate, a shank rod is fixedly connected with a second supporting plate, an ankle buffering part is arranged between the first supporting plate and the second supporting plate, and two ends of the ankle buffering part are respectively hinged with the first supporting plate and the second supporting plate; the end part of the shank rod is fixedly connected with a third supporting plate, the shank rod is fixedly connected with a fourth supporting plate, a knee buffering part is arranged between the third supporting plate and the fourth supporting plate, and two ends of the knee buffering part are respectively hinged with the third supporting plate and the fourth supporting plate, wherein the ankle buffering part and the knee buffering part are air cylinders or air springs;
in addition, the back of the thigh rod is connected with a reinforcing inclined rod, the end part of the reinforcing inclined rod is connected with a supporting roller, the bottom of the supporting roller is flush with the bottom of the foot bottom plate, the reinforcing inclined rod is fixedly connected with the thigh rod through a bolt, the reinforcing inclined rod is detachable relative to the thigh rod, when a rehabilitee is in an initial training stage, the reinforcing inclined rod and the supporting roller are installed through bolts, and the reinforcing inclined rod and the supporting roller play a strong supporting role on the thigh of the rehabilitee, so that the stress degree of the leg of the rehabilitee is reduced, and the rehabilitee is prevented from being injured due to excessive stress during training; in the rehabilitation training later stage, unscrew the bolt and demolish the gait rehabilitation training that can carry out great intensity with stiffener and supporting roller to satisfy the load requirement in rehabilitation later stage, this wearable robot is fit for the shank load requirement in rehabilitation person's training initial stage and training later stage, and training effect is good.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Detailed Description
As shown in fig. 1, a wearable lower limb rehabilitation robot comprises a foot base plate 1, a shank rod 2 hinged to the foot base plate 1, and a thigh rod 3 hinged to the shank rod 2, wherein a machine ankle joint 4 is formed at the hinged part of the foot base plate 1 and the shank rod 2, and a machine knee joint 5 is formed at the hinged part of the shank rod 2 and the thigh rod 3;
the end part of the sole plate 1 is fixedly connected with a first supporting plate 6, the shank rod 2 is fixedly connected with a second supporting plate 7, an ankle buffering part 8 is arranged between the first supporting plate 6 and the second supporting plate 7, and two ends of the ankle buffering part 8 are respectively hinged with the first supporting plate 6 and the second supporting plate 7;
the end part of the shank rod 2 is fixedly connected with a third supporting plate 9, the upper leg rod 3 is fixedly connected with a fourth supporting plate 10, a knee buffering part 11 is arranged between the third supporting plate 9 and the fourth supporting plate 10, and two ends of the knee buffering part 11 are respectively hinged with the third supporting plate 9 and the fourth supporting plate 10;
furthermore, the back of the thigh rod 3 is connected with a reinforcing diagonal rod 12, and the end part of the reinforcing diagonal rod 12 is connected with a supporting roller 13; an arc shank fixing plate 14 is fixed on the shank rod 2, and an arc thigh fixing plate 15 is fixed on the thigh rod 3. The arc-shaped lower leg fixing plate 14, the arc-shaped upper leg fixing plate 15 and the sole plate 1 are provided with bridles 16.
In the present invention, the ankle cushioning member 8 and the knee cushioning member 11 are air cylinders or air springs. The bottom of the supporting roller 13 is flush with the bottom of the sole plate 1. The diagonal reinforcement rod 12 is fastened and connected with the thigh rod 3 through a bolt 17, and the diagonal reinforcement rod 12 is detachable relative to the thigh rod 3.
When the wearable robot is used for training, a foot plate of a person is fixed on a foot bottom plate 1 through a binding belt 16, a shank and a thigh are respectively fixed on a shank rod 2 and a thigh rod 3 through the binding belt 16, when the person walks, ankle joints and knee joints move, and in the moving process, the ankle buffer part 8 and the knee buffer part 11 can play a good role in buffering assistance, so that the impact force on the injured part of the leg of the person is reduced, and the leg is prevented from being injured for the second time;
in addition, the back of the thigh rod 3 is connected with a reinforcing inclined rod 12, the end part of the reinforcing inclined rod 12 is connected with a supporting roller 13, the bottom of the supporting roller 13 is flush with the bottom of the foot bottom plate 1, the reinforcing inclined rod 12 is fixedly connected with the thigh rod 3 through a bolt 17, the reinforcing inclined rod 12 is detachable relative to the thigh rod 3, the reinforcing inclined rod 12 and the supporting roller 13 are installed through the bolt 17 when a rehabilitee is in an initial training stage, the reinforcing inclined rod 12 and the supporting roller 13 play a strong supporting role on the thigh of the rehabilitee, the stress degree of the leg of the rehabilitee is reduced, and the rehabilitee is prevented from being injured due to excessive stress during the training; in the rehabilitation training later stage, unscrew bolt 17 and demolish stiffener 12 and supporting roller 13 and can carry out the gait rehabilitation training of great intensity to satisfy the load requirement in rehabilitation later stage, this wearable robot is fit for the shank load requirement in rehabilitation person's training initial stage and training later stage, and training effect is good.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A wearable lower limb rehabilitation robot comprises a foot bottom plate, a shank rod hinged with the foot bottom plate and a thigh rod hinged with the shank rod, and is characterized in that a machine ankle joint is formed at the hinged position of the foot bottom plate and the shank rod, and a machine knee joint is formed at the hinged position of the shank rod and the thigh rod;
the end part of the sole plate is fixedly connected with a first supporting plate, the shank rod is fixedly connected with a second supporting plate, an ankle buffering part is arranged between the first supporting plate and the second supporting plate, and two ends of the ankle buffering part are respectively hinged with the first supporting plate and the second supporting plate;
the end part of the shank rod is fixedly connected with a third supporting plate, the shank rod is fixedly connected with a fourth supporting plate, a knee buffering component is arranged between the third supporting plate and the fourth supporting plate, and two ends of the knee buffering component are respectively hinged with the third supporting plate and the fourth supporting plate;
the back of the thigh rod is connected with a reinforcing diagonal rod, and the end part of the reinforcing diagonal rod is connected with a supporting roller; an arc shank fixing plate is fixed on the shank rod, and an arc thigh fixing plate is fixed on the thigh rod.
2. The wearable lower limb rehabilitation robot according to claim 1, wherein the arc-shaped shank fixing plate, the arc-shaped thigh fixing plate and the foot bottom plate are provided with belts.
3. The wearable lower limb rehabilitation robot according to claim 2, wherein the ankle and knee cushioning members are air cylinders or air springs.
4. The wearable lower limb rehabilitation robot according to claim 3, wherein the bottom of the support rollers and the bottom of the footplate are flush.
5. The wearable lower limb rehabilitation robot according to claim 3, wherein the reinforcement diagonal bar is connected with the thigh bar in a fastening manner through a bolt, and the reinforcement diagonal bar is detachable relative to the thigh bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000719.4A CN110652428A (en) | 2019-10-21 | 2019-10-21 | Wearable lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000719.4A CN110652428A (en) | 2019-10-21 | 2019-10-21 | Wearable lower limb rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110652428A true CN110652428A (en) | 2020-01-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911000719.4A Pending CN110652428A (en) | 2019-10-21 | 2019-10-21 | Wearable lower limb rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110652428A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111135020A (en) * | 2020-01-09 | 2020-05-12 | 郭继相 | Exoskeleton auxiliary treatment rehabilitation device |
| CN112315735A (en) * | 2020-10-27 | 2021-02-05 | 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) | Electronic multi-functional rehabilitation training frame of integration |
| CN112451321A (en) * | 2020-12-03 | 2021-03-09 | 张琳 | Traditional Chinese medicine orthopedic lower limb fracture auxiliary walking device and use method thereof |
| CN112975914A (en) * | 2021-03-16 | 2021-06-18 | 北京工业大学 | Sole control type lower limb energy storage boosting mechanism |
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| CN112451321A (en) * | 2020-12-03 | 2021-03-09 | 张琳 | Traditional Chinese medicine orthopedic lower limb fracture auxiliary walking device and use method thereof |
| CN112975914A (en) * | 2021-03-16 | 2021-06-18 | 北京工业大学 | Sole control type lower limb energy storage boosting mechanism |
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Application publication date: 20200107 |
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