CN101019800A - Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs - Google Patents
Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs Download PDFInfo
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- CN101019800A CN101019800A CN 200710067191 CN200710067191A CN101019800A CN 101019800 A CN101019800 A CN 101019800A CN 200710067191 CN200710067191 CN 200710067191 CN 200710067191 A CN200710067191 A CN 200710067191A CN 101019800 A CN101019800 A CN 101019800A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 22
- 239000000725 suspension Substances 0.000 claims abstract description 8
- 210000000689 upper leg Anatomy 0.000 claims description 25
- 210000001624 hip Anatomy 0.000 claims description 10
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 210000004394 hip joint Anatomy 0.000 claims description 6
- 210000000629 knee joint Anatomy 0.000 claims description 3
- 208000006011 Stroke Diseases 0.000 abstract description 9
- 230000005021 gait Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 5
- 238000000554 physical therapy Methods 0.000 abstract description 4
- 206010033799 Paralysis Diseases 0.000 abstract description 3
- 238000001584 occupational therapy Methods 0.000 abstract description 3
- 238000013016 damping Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000020431 spinal cord injury Diseases 0.000 description 3
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 208000021090 palsy Diseases 0.000 description 1
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Abstract
本发明涉及一种气动式多体位外骨骼下肢康复训练机器人，属于康复医疗器械领域。它包括机座、护栏、悬吊系统、外骨骼训练装置和计算机控制系统。该机器人通过对国际通用的Brunnstrom训练方法进行分析，结合对卒中病人瘫痪下肢的“物理疗法(PT)和作业疗法(OT)”，针对脑卒中病人不同阶段不同体位的康复训练要求，建立具有不同激励程度和多种训练模式的卒中病人下肢训练康复机器人。同时可以根据不同卒中患者在不同疗程中实现多种激励的训练模式，包括主动步态、被动力控制步态、被动阻尼可调步态等模式，从而达到最佳康复锻炼的效果。该系统可满足患者坐姿，站立和平躺三种训练状态，适用脑卒中患者的不同康复阶段下肢康复训练。
The invention relates to a pneumatic multi-position exoskeleton lower limb rehabilitation training robot, which belongs to the field of rehabilitation medical equipment. It includes machine base, guardrail, suspension system, exoskeleton training device and computer control system. Through the analysis of the international general Brunnstrom training method, combined with "physical therapy (PT) and occupational therapy (OT)" for stroke patients with paralyzed lower limbs, the robot has established different Lower limb training rehabilitation robot for stroke patients with incentive levels and multiple training modes. At the same time, according to different stroke patients, various incentive training modes can be realized in different courses of treatment, including active gait, passive force control gait, passive damping adjustable gait and other modes, so as to achieve the best effect of rehabilitation exercise. The system can meet the three training states of sitting, standing and lying down, and is suitable for lower limb rehabilitation training of stroke patients at different rehabilitation stages.
Description
Technical field
The present invention relates to a kind of Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs, belong to the rehabilitation medical instrument field.Be applicable to cerebro-vascular diseases patient and spinal cord injury patient's lower limb rehabilitation training.
Background technology
Increase along with the aging of modern society and traffic, industrial accident, progressively become a kind of common colony of modern society as cardiovascular patients such as apoplexy and spinal cord injury patient, this class patient is except Drug therapy or operative treatment, and the rehabilitation training of science improves extremely important for suffering from the limb motor function.Usually by doing and illustrating paralyses patient is adopted the specific muscle group of selectivity manual stretch by doctor, PT teacher, OT teacher at present, use standing bed and carry out standing exercise gradually.The rehabilitation training of this passive type, working strength is big, and can't satisfy more patients' demand.Training effect and medical teacher's skills involved in the labour are closely related, keep the concordance of rehabilitation training action at different patients with being difficult to accurately put in place.Therefore developing at present much to replace the doctor independently to train the rehabilitation of patients robot.But these healing robots generally can only be trained the patient of independent position, can not satisfy different rehabilitation stage patients' rehabilitation training requirement simultaneously.
Summary of the invention
The purpose of this invention is to provide a kind of Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs that can help cerebro-vascular diseases patient and spinal cord injury patient to carry out rehabilitation training.
Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs of the present invention comprises support, guardrail, suspension system, ectoskeleton training devices and computer control system;
Support: comprise the chassis of carrying entire machine, treadmill and support, treadmill place on the chassis, are fixed with support in the rear end on chassis;
Guardrail: form by vertical rod, cross bar and handrail, be installed on the stationary holder of treadmill;
Suspension system: comprise load-bearing camisole, the hanger rope that is connected with camisole, counterweight and be arranged on pulley on the support, the hanger rope rope is wound on the pulley, and an end of hawser links to each other with hanger rope, and the other end links to each other with counterweight;
Ectoskeleton training devices: comprise the seat that ectoskeleton lower limb, medicated cushion and backrest are hinged, the parallelogram connecting rod and the antivibrator of four limit hinges, the vertical edge and the backrest of parallelogram connecting rod are fixed, another vertical edge and support are fixed, one end of antivibrator and the last rod hinge connection of parallelogram connecting rod, the other end and the support of antivibrator are hinged; The ectoskeleton lower limb comprise hip bar, thigh bar and shank bar, the hinged formation hip joint of hip bar and thigh bar, the hinged formation knee joint of thigh bar and shank bar, the piston rod of hinged first cylinder of thigh bar upper end hip joint, the cylinder barrel of first cylinder and hip rod rear end are hinged, have the extension bar perpendicular to thigh bar on the thigh bar, the piston rod of the lower end of shank bar and second cylinder is hinged, and the cylinder barrel of second cylinder and the extension bar of thigh bar are hinged;
Computer control system: comprise main frame, display screen and controller, controller is installed on the cross bar of guardrail, and display screen is fixed on the chassis.
At the patient who is in the different rehabilitation training stage, the present invention can come the speed of regulating piston bar by the flow of adjustments of gas, and the moment of cylinder creates different rehabilitation environments with the attitude of mechanical body, makes the rehabilitation of patients training more targeted.
The present invention is by analyzing international Brunnstrom training method, in conjunction with " physiotherapy (PT) and occupational therapy (OT) " to the patients with stroke palsy lower limb, at the rehabilitation training requirement of the different positions of cerebral apoplexy patient different phase, set up patients with stroke leg training healing robot with different incentive degrees and multiple training mode.Can in different course, realize simultaneously the training mode of multiple excitation according to different apoplexy patients, comprise initiatively gait,, thereby reach the effect of optimal rehabilitation exercise by power control gait, passive damping is adjustable gait isotype.
Description of drawings
Fig. 1 is the structural representation of Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs;
Fig. 2 is parallel-crank mechanism figure;
Fig. 3 is the structural representation of ectoskeleton lower limb.
The specific embodiment
Below in conjunction with description of drawings the present invention.
Referring to Fig. 1, Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs comprises support, guardrail, suspension system, ectoskeleton training devices and computer control system.
Support: comprise the chassis 4 of carrying entire machine, treadmill 3 and support 1, treadmill 3 place on the chassis 4, and 4 rear end is fixed with support 1 on the chassis.
Guardrail: form by vertical rod 7, cross bar 6 and handrail 5, be installed on the stationary holder of treadmill 3;
Suspension system: the hanger rope 9 that comprise load-bearing camisole 10, is connected, counterweight 2 and be arranged on pulley 8 on the support 1 with camisole, the hanger rope rope is wound on the pulley 8, and an end of hawser links to each other with hanger rope 9, and the other end links to each other with counterweight 2.Suspension system is used to suspend in midair the patient to keep the balance of health, when the patient puts on camisole, when carrying out the rehabilitation training under the standing state, by regulating the balancing weight on the Weighting system, strains hanger rope, makes patient be in suspended state, to keep balance.
Ectoskeleton training devices: comprise ectoskeleton lower limb 18, the seat that medicated cushion 17 and backrest 15 are hinged, the parallelogram connecting rod 16 of four limit hinges and antivibrator 19, vertical edge of parallelogram connecting rod 16 and backrest 15 are fixing, another vertical edge and support 1 are fixing, one end of antivibrator 19 and the last rod hinge connection of parallelogram connecting rod 16, the other end of antivibrator and support 1 hinged (as shown in Figure 2), because when standing ambulation training, patient body can be along with the fluctuation alternately and up and down of gait, antivibrator can play buffered effect, also can play the effect of part body support simultaneously.Ectoskeleton lower limb 18 (as shown in Figure 3) comprise hip bar 20, thigh bar 23 and shank bar 24, hip bar 20 and thigh bar 23 hinged formation hip joints, thigh bar 23 and shank bar 24 hinged formation knee joints, the piston rod of hinged first cylinder 22 of thigh bar 23 upper end hip joints, the cylinder barrel of first cylinder 22 and hip bar 20 rear ends are hinged, has extension bar 21 on the thigh bar 23 perpendicular to thigh bar, the piston rod of the lower end of shank bar 24 and second cylinder 25 is hinged, and the cylinder barrel of second cylinder and the extension bar of thigh bar 21 are hinged.
When rehabilitation training, can make seat upright by the linear actuator that is installed in below medicated cushion and the backrest, be fit to the training of patient's stance, also can make seat become " chaise longue ", the lie low training of posture of suitable patient, under the seat state, the training when being fit to patient in sitting.By the conversion of posture, many position training have been realized.People's thigh and shank are separately fixed on thigh bar 23 and the shank bar 24 during rehabilitation training, and when air cylinder driven thigh bar 23 and shank bar 24 moved, the lower limb that just can drive the patient carried out rehabilitation training.
Computer control system: comprise main frame, display screen 12 and controller 11, controller 11 is installed on the cross bar 6 of guardrail 2, and display screen 12 is fixed on the chassis 3.Computer control system is used to control all drive system, can control the cylinder that is positioned on ectoskeleton hip bar and the thigh bar, and is positioned at the linear actuator below backrest and the medicated cushion.Display screen can allow the patient clearly see the various situations that oneself is trained.Controller can be controlled the conversion of " sit, stand, lie " three positions, regulates the speed of training and the size of cylinder moment.When patient's standing exercise, controller can be placed on the guardrail handrail, when patient in sitting is trained and lie low training, can be placed on controller on the armrest.
Claims (1)
1. a Pheumatic polyposture exoskeleton robot for rehabilition training of lower limbs is characterized in that comprising support, guardrail, suspension system, ectoskeleton training devices and computer control system;
Support: comprise the chassis (4) of carrying entire machine, treadmill (3) and support (1), treadmill (3) place on the chassis (4), and the rear end of (4) is fixed with support (1) on the chassis;
Guardrail: form by vertical rod (7), cross bar (6) and handrail (5), be installed on the stationary holder of treadmill (3);
Suspension system: the hanger rope (9) that comprise load-bearing camisole (10), is connected, counterweight (2) and be arranged on pulley (8) on the support (1) with camisole, the hanger rope rope is wound on the pulley (8), one end of hawser links to each other with hanger rope (9), and the other end links to each other with counterweight (2);
Ectoskeleton training devices: comprise ectoskeleton lower limb (18), medicated cushion (17) and the hinged seat of backrest (15), the parallelogram connecting rod (16) of four limit hinges and antivibrator (19), vertical edge of parallelogram connecting rod (16) and backrest (15) are fixing, another vertical edge and support (1) are fixing, the last rod hinge connection of one end of antivibrator (19) and parallelogram connecting rod (16), the other end of antivibrator and support (1) are hinged; Ectoskeleton lower limb (18) comprise hip bar (20), thigh bar (23) and shank bar (24), hip bar (20) and the hinged formation hip joint of thigh bar (23), thigh bar (23) and the hinged formation knee joint of shank bar (24), the piston rod of thigh bar (23) upper end hinged first cylinder of hip joint (22), the cylinder barrel of first cylinder (22) and hip bar (20) rear end are hinged, has extension bar (21) on the thigh bar (23) perpendicular to thigh bar, the piston rod of the lower end of shank bar (24) and second cylinder (25) is hinged, and the cylinder barrel of second cylinder and the extension bar of thigh bar (21) are hinged;
Computer control system: comprise main frame, display screen (12) and controller (11), controller (11) is installed on the cross bar (6) of guardrail (2), and display screen (12) is fixed on the chassis (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710067191A CN100591314C (en) | 2007-02-06 | 2007-02-06 | A pneumatic multi-position exoskeleton lower limb rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710067191A CN100591314C (en) | 2007-02-06 | 2007-02-06 | A pneumatic multi-position exoskeleton lower limb rehabilitation training robot |
Publications (2)
| Publication Number | Publication Date |
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| CN101019800A true CN101019800A (en) | 2007-08-22 |
| CN100591314C CN100591314C (en) | 2010-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200710067191A Expired - Fee Related CN100591314C (en) | 2007-02-06 | 2007-02-06 | A pneumatic multi-position exoskeleton lower limb rehabilitation training robot |
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| CN101766524A (en) * | 2008-12-31 | 2010-07-07 | 上海连能机电科技有限公司 | Multi-position health-care machine |
| CN101810533A (en) * | 2010-03-08 | 2010-08-25 | 上海交通大学 | Walking aid exoskeleton rehabilitation robot |
| CN101862256A (en) * | 2010-06-13 | 2010-10-20 | 上海交通大学 | Vehicle-mounted mobile walking exoskeleton rehabilitation robot |
| CN102038491A (en) * | 2009-10-19 | 2011-05-04 | 上海理工大学 | Intellectualized passive lower-limb function testing and training method |
| CN102335086A (en) * | 2011-06-10 | 2012-02-01 | 东北大学 | Six degree-of-freedom foot/leg type lower limb rehabilitation training robot and control method thereof |
| CN101273946B (en) * | 2008-05-12 | 2013-06-12 | 张国权 | Device for recovery of paralyzed limbs |
| CN104688486A (en) * | 2015-02-10 | 2015-06-10 | 三峡大学 | Lower limbs rehabilitation robot motion control system |
| CN105380771A (en) * | 2014-08-25 | 2016-03-09 | 丰田自动车株式会社 | Gait training apparatus and control method therefor |
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| CN108392777A (en) * | 2018-05-05 | 2018-08-14 | 安庆和敏智能科技有限公司 | A kind of novel gait rehabilitation robot |
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| CN101273946B (en) * | 2008-05-12 | 2013-06-12 | 张国权 | Device for recovery of paralyzed limbs |
| CN101766524B (en) * | 2008-12-31 | 2013-04-10 | 上海连能机电科技有限公司 | Multi-position health-care machine |
| CN101766524A (en) * | 2008-12-31 | 2010-07-07 | 上海连能机电科技有限公司 | Multi-position health-care machine |
| CN102038491A (en) * | 2009-10-19 | 2011-05-04 | 上海理工大学 | Intellectualized passive lower-limb function testing and training method |
| CN102038491B (en) * | 2009-10-19 | 2013-06-19 | 上海理工大学 | Intellectualized passive lower-limb function testing and training method |
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| CN108392777A (en) * | 2018-05-05 | 2018-08-14 | 安庆和敏智能科技有限公司 | A kind of novel gait rehabilitation robot |
| CN108970030A (en) * | 2018-09-11 | 2018-12-11 | 瑞安市永久亮无障碍设施有限公司 | One kind is exempted to install rehabilitation handrail |
| CN109620641A (en) * | 2018-12-25 | 2019-04-16 | 郑州大学第附属医院 | A kind of orthopedic rehabilitation training system and method |
| CN111631921A (en) * | 2019-03-02 | 2020-09-08 | 杭州程天科技发展有限公司 | A kind of walking follow rehabilitation training equipment and automatic follow control method |
| CN110947158A (en) * | 2019-12-12 | 2020-04-03 | 上海理工大学 | A walking aid training device based on elliptical motion |
| CN111888125A (en) * | 2020-07-21 | 2020-11-06 | 中南大学湘雅医院 | Nursing bed for assisting lower limb rehabilitation training of patient |
| CN111888125B (en) * | 2020-07-21 | 2021-10-29 | 中南大学湘雅医院 | A nursing bed for assisting patients with lower limb rehabilitation training |
| CN111938996A (en) * | 2020-08-24 | 2020-11-17 | 四川大学华西医院 | Auxiliary rehabilitation equipment for lower limb paralysis patient |
| CN112206471A (en) * | 2020-11-14 | 2021-01-12 | 南京浙溧智能制造研究院有限公司 | A gait rehabilitation training device for Parkinson's patients |
| CN112619094A (en) * | 2020-12-14 | 2021-04-09 | 湖北大学 | A device for wushu single-foot equilibrant training |
| CN114225310A (en) * | 2021-12-10 | 2022-03-25 | 周使敏 | Recovered branch of academic or vocational study is with having walking exercise equipment of preventing falling effect |
| CN114927196A (en) * | 2022-04-27 | 2022-08-19 | 中国康复研究中心 | Evaluation system for gait training under assistance of child robot |
| CN116059086A (en) * | 2022-12-08 | 2023-05-05 | 北京科技大学 | Lower limb rehabilitation robot capable of realizing sitting posture and standing posture switching |
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| CN100591314C (en) | 2010-02-24 |
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