CN105943312B - Hip joint rehabilitation auxiliary device based on sensing and driving integration - Google Patents

Abstract

The invention discloses a hip joint rehabilitation auxiliary device based on sensing and driving integration, which comprises a seat device, a connecting device, a hip joint driving mechanism, a sensing device and a lower limb rod device, wherein the seat device is clamped on the connecting device, the hip joint driving mechanism is fixedly connected with the connecting device and the sensing device, the lower limb rod device is movably connected with the sensing device, the sensing device comprises a synchronous driving plate, a hip joint shaft, a magnet and a Hall sensor, one end of the hip joint shaft is fixedly arranged in the synchronous driving plate, the other end of the hip joint shaft is movably arranged in the connecting device, the magnet is embedded in the hip joint shaft along the radial direction of the hip joint shaft, the Hall sensor is arranged in the connecting device, and the synchronous driving plate is connected with the hip joint driving mechanism. The invention can provide rehabilitation training modes such as walking, bicycles, family chairs, medical wheelchairs and the like for lower limb hemiplegia patients, and provides gait rehabilitation auxiliary motion for the lower limb at the handicapped side by using the gait of the lower limb at the healthy side of the patient.

Description

An auxiliary device for hip joint rehabilitation based on sensor-driven integration

technical field

The invention belongs to the field of rehabilitation medical equipment and power-assisted equipment, and in particular relates to a hip joint rehabilitation auxiliary device based on sensor-driven integration.

Background technique

With the intensification of the aging society, patients with lower extremity hip muscle atrophy and hip hemiplegia are increasing, and patients have a strong demand for rehabilitation training and normal walking. At the same time, due to the frequent occurrence of daily traffic accidents, the number of patients with lower limb paralysis continues to increase, and the tasks of sports rehabilitation such as hip replacement surgery are becoming more and more serious. The existing human lower limb hip joint rehabilitation auxiliary training is mainly to make an appointment with a physical therapist to perform hand-to-hand limb movement in the rehabilitation department of the hospital based on personal experience. This kind of rehabilitation method: on the one hand, the time and place are very limited, and it is limited to the training on the hospital bed or parallel bars, which has low work efficiency, high labor intensity, high medical costs, and is not suitable for large-scale clinical application; on the other hand, physical therapists The subjectivity of personal experience is high, the repetitiveness of each rehabilitation movement is low, the walking habits of the individual patient are not considered enough, there is no historical database of normal walking and training rehabilitation in the early stage to refer to, and the rehabilitation method is not scientific. However, unlike walking difficulties, some patients with lower limb hemiplegia can ride relatively normally on bicycles, and many patients with lower limb hemiplegia also prefer to move around on family-style seats or perform rehabilitation exercises on medical wheelchairs.

Contents of the invention

The technical problem to be solved by the present invention is to provide an auxiliary device for hip joint rehabilitation based on sensor-driven integration that is easy to install and more scientifically provides auxiliary motion for hip joint rehabilitation.

In order to solve the above technical problems, the present invention takes the following technical solutions:

A hip joint rehabilitation auxiliary device based on sensor-driven integration, including a seat device, a connecting device, a hip joint driving mechanism, a sensing device and a lower limb rod device, the seat device is clamped on the connecting device, and the hip joint driving mechanism The connecting device and the sensing device are connected and fixed, and the lower limb rod device is movably connected with the sensing device.

The sensing device includes a synchronous transmission plate, a hip joint shaft, a magnet and a Hall sensor, one end of the hip joint shaft is fixedly installed in the synchronous transmission plate, and the other end is movably installed in the connection device, and the magnet moves along the radial direction of the hip joint shaft. Embedded in the hip joint shaft, the Hall sensor is installed in the connecting device, and the synchronous transmission plate is connected with the hip joint driving mechanism.

The sensing device also includes an inertial measurement module installed in the lower limb bar device.

The hip joint driving mechanism includes a motor, a motor support, a torque sensor, a synchronous pulley and a synchronous belt, the motor support is fixed on the connecting device, the motor is installed on the motor support, and the synchronous pulley is sleeved on the output shaft of the motor , the torque sensor is set on the output shaft of the motor, the synchronous belt is set on the synchronous pulley and the synchronous belt is fixedly connected with the synchronous transmission plate.

The synchronous belt is connected with the synchronous pulley in a meshing manner.

The lower limb rod device includes a hip joint hinge, a hinge connecting plate, a thigh rod and a thigh strap, the hip joint movable leaf is fixedly connected with the synchronous transmission plate, a rotating shaft is installed in the hip joint hinge, and the upper end of the loose-leaf connecting plate is movable on the rotating shaft , the thigh bar is connected with the loose-leaf connecting plate, the thigh strap is installed on the thigh bar, and the inertial measurement module is installed in the thigh bar.

The thigh rod is composed of a thigh upper rod and a thigh lower rod, the upper end of the thigh upper rod is connected with a loose-leaf connecting plate, and the lower part of the thigh upper rod is inserted into the thigh lower rod and fixedly connected.

The connecting device includes an upper motor connecting seat and a lower motor connecting seat, the upper motor connecting seat is installed on the lower motor connecting seat, the hip joint shaft is movably installed in the lower motor connecting seat, and the Hall sensor is installed on the lower connecting seat of the motor. seat.

The connection device also includes a bicycle seat plate connected with the seat device, and the bicycle seat plate is provided with a connection hole.

The seat device comprises a human body waist strap, a seat strap, a seat and a crossbeam, one end of the seat strap is fixedly connected with the seat, and the other end is fixedly connected with the human body waist strap, the seat is installed on the crossbeam, and the crossbeam It is installed between the upper connection seat of the motor and the lower connection seat of the motor, and the bicycle seat board is installed on the crossbeam.

The beneficial effects of the present invention are: when a healthy human body walks, rides a bicycle, or moves on a family seat or a medical wheelchair, it senses the swing angles of the left and right hip joints in the sagittal plane and the frontal plane, and establishes the hip joints in the healthy period of the human body. The gait database provides a scientific basis for rehabilitation assistance when the human hip joint is diseased. When the hemiplegic patient walks, rides a bicycle, or performs rehabilitation training on a family seat or a medical wheelchair, monitor the sagittal gait of the hip joint on the healthy side of the hemiplegic patient in real time, and delay half a gait based on the healthy side gait Periodically drive the hip joint on the disabled side of the patient, copy the gait of the hip joint on the healthy side to the hip joint on the disabled side, and realize the gait coordination of the lower limbs on both sides. The torque sensor controls and detects the motor drive torque of the hip joint on the disabled side of the patient, and perceives and evaluates the rehabilitation effect of the patient. At the same time, this device can be mounted on the vertical beam of the bicycle seat or on the beam of the family seat, medical wheelchair, etc., and can be locked and unloaded conveniently and safely, providing auxiliary movement for the disabled side of the hemiplegic patient.

Description of drawings

Accompanying drawing 1 is the three-dimensional structure schematic diagram of the present invention;

Accompanying drawing 2 is the disassembled state structure schematic diagram after removing seat device of the present invention;

Accompanying drawing 3 is the three-dimensional structure schematic diagram of the bicycle seat plate of the present invention.

Detailed ways

In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figures 1 to 3, the present invention discloses a sensor-driven integrated hip joint rehabilitation auxiliary device, including a seat device 1, a connecting device 2, a hip joint drive mechanism 3, a sensor device 4 and a lower limb The rod device 5 and the seat device 1 are clamped on the connecting device 2 , the hip joint driving mechanism 3 is connected and fixed with the connecting device 2 and the sensing device 4 , and the lower limb rod device 5 is movably connected with the sensing device 4 .

The sensing device 4 includes a synchronous transmission plate 44, a hip joint shaft 41, a magnet 43 and a Hall sensor 42, one end of the hip joint shaft 41 is fixedly installed in the synchronous transmission plate 44, and the other end is movably installed in the connecting device 2, The magnet 43 is embedded in the hip joint shaft 41 along the radial direction of the hip joint shaft 41 , the Hall sensor 42 is installed in the connecting device 2 , and the synchronous transmission plate 44 is connected with the hip joint driving mechanism 3 . The hip joint shaft 41 rotates in the connecting device 2, thereby driving the synchronous transmission plate to rotate. Since the magnet is embedded in the hip joint shaft, the magnet rotates with the rotation of the hip joint shaft. The Hall sensor is arranged in the area close to the magnet , the Hall sensor is used to detect the magnitude of the magnetic induction when the magnet rotates so as to measure the sagittal plane rotation angle of the hip joint. The sensing device 4 also includes an inertial measurement module 45 installed in the lower limb bar device 5 . The inertial measurement module is used to measure the frontal plane rotation angle of the hip joint.

The hip joint driving mechanism 3 includes a motor 32, a motor support 31, a torque sensor 33, a synchronous pulley 35 and a synchronous belt 34, the motor support 31 is fixed on the connecting device 2, and the motor 32 is installed on the motor support 31, The synchronous pulley 35 is sleeved on the output shaft of the motor 32 , the torque sensor 33 is sleeved on the output shaft of the motor 32 , the synchronous belt 34 is sleeved on the synchronous pulley 35 and the synchronous belt 34 is fixedly connected with the synchronous transmission plate 44 . The synchronous belt 34 is connected with the synchronous pulley 35 in a meshing manner. The synchronous pulley 35 and the torque sensor 33 are sequentially sleeved on the output shaft of the motor 32 from outside to inside. The torque sensor is used to detect the output torque of the motor. One end of the synchronous belt is fixedly connected to the synchronous transmission plate. When the synchronous pulley rotates, the synchronous belt drives the synchronous transmission plate to rotate with the hip joint axis as the rotation center, so that the synchronous transmission plate rotates at a certain angle. The torque sensor controls and detects the motor drive torque of the patient's disabled hip joint, and senses and evaluates the patient's rehabilitation effect.

The lower limb bar device 5 includes a hip hinge 51, a hinge connecting plate 52, a thigh bar and a thigh strap 55, the hip hinge 51 is fixedly connected with the synchronous transmission plate 44, and the hip joint hinge 51 is specifically installed and fixed on the synchronous transmission plate 44. The bottom surface of the hip joint 51 is equipped with a rotating shaft, the upper end of the loose-leaf connecting plate 52 is movably set on the rotating shaft, the thigh bar is connected with the loose-leaf connecting plate 52, the thigh strap 55 is installed on the thigh bar, and the inertial measurement module 45 is installed on the thigh inside the pole. Thigh rod is made up of thigh upper rod 53 and thigh lower rod 54, and thigh upper rod 53 upper ends are connected with loose-leaf connecting plate 52, and thigh upper rod 53 bottoms are inserted in thigh lower rod 54 and fixedly connected. The inertial measurement unit is usually snapped into the upper port position of the upper thigh rod. The hinged connecting plate rotates relative to the rotating shaft, thereby driving the movement of the lower limb rod device and the inertial measurement module in the direction of the frontal plane.

The connecting device 2 includes an upper motor connecting seat 21 and a lower motor connecting seat 22, the upper motor connecting seat 21 is mounted on the lower motor connecting seat 22, the hip joint shaft 41 is movably installed in the lower motor connecting seat 22, and Hall The sensor 42 is installed in the lower connecting seat 22 of the motor, and the bicycle seat plate 23 connected with the seat device 1 is fixed, and the bicycle seat plate 23 is provided with a connecting hole 231, through which the connecting hole 231 can be easily connected with the bicycle seat plate 23. It is more convenient to lock and disassemble when clamping on the vertical beam or on the beam of equipment such as family chairs and medical chairs. A through hole for installing the hip joint shaft and a slot for installing the Hall sensor can be provided on the lower connecting seat 22 of the motor for easy installation. The synchronous transmission plate 44 is arranged in the lower connection seat 22 of the motor, and the synchronous transmission plate 44 is connected with the lower connection seat 22 of the motor through the hip joint shaft 41 . The synchronous transmission plate 44 is driven by the synchronous belt 34 to swing in the sagittal plane, that is, in the front-back direction. Since one end of the hip joint shaft 41 is fixedly installed on the synchronous transmission plate 44, and the other end is movably installed in the lower connecting seat 22 of the motor, therefore The hip joint shaft 41 can rotate in the lower connecting seat 22 of the motor, and a through hole can be set in the lower connecting seat 22 of the motor in advance, and the hip joint shaft is movably installed in the through hole. Similarly, a mounting slot can be provided on the lower connecting seat of the motor, and the Hall sensor is snapped into the mounting slot.

The seat device 1 includes a human body waist strap 11, a seat strap 12, a seat 13 and a beam 14, one end of the seat strap 12 is fixedly connected with the seat 13, and the other end is fixedly connected with the human body waist strap 11, The seat 13 is installed on the crossbeam 14, and the crossbeam 14 is installed between the upper connecting seat 21 and the lower connecting seat 22 of the motor. The bicycle seat plate 23 is fixedly installed on the crossbeam 14 .

In addition, in the present invention, two sensing devices and two lower limb rod devices are arranged symmetrically, corresponding to the left and right thighs of the human body.

The invention utilizes the motor and various sensors to form an integrated structural design, realizes better control, and assists rehabilitation training.

In the present invention, when the human body walks, it is only necessary to tie the waist strap of the human body to the waist of the human body, and the thigh strap to the thigh of the human body. When a person rides a bicycle or a device such as a family seat or a medical seat, the bicycle seat plate is installed on the corresponding beams of the bicycle vertical beam, the family seat, the medical seat, etc., and the connecting hole on the bicycle seat plate is used to Can be installed and removed relatively easily. The person sits on the seat, the leg straps of the human body are tied to the legs of the person, and the feet of the person pass through the thigh straps, and the thigh straps are tied to the thighs of the person, so that the device of the present invention is assembled with the human body . Or directly tie the device of the present invention to the human body without being connected with bicycles, family chairs or medical chairs.

When a healthy person walks, rides a bicycle, or moves on a family seat, medical seat, etc., the thigh swings back and forth, and the motor outputs an appropriate torque according to the swing amplitude. When the motor runs, it drives the synchronous pulley to rotate, and the synchronous pulley drives The belt is driven, and then drives the synchronous transmission plate to swing back and forth with the hip joint axis as the central axis, and the torque sensor detects the output torque of the motor in real time. When the hip joint rotates, the magnet radially embedded in the hip joint shaft also rotates, and the Hall sensor detects the magnetic induction intensity when the magnet rotates, so as to measure the sagittal plane rotation angle of the hip joint, and measure the inertia in the thigh rod. The module retrieves the rotation angle of the frontal plane of the hip joint with the back and forth swing of the thigh rod, thereby establishing a hip joint gait database during the healthy period of the human body, and providing scientific basis for rehabilitation assistance when the human hip joint is diseased.

When the hemiplegic patient wears the device of the present invention and walks, rides a bicycle, or performs rehabilitation training on a family seat or a medical wheelchair, the hip joint sagittal plane movement gait of the healthy side of the hemiplegic patient is also monitored in real time according to the Hall sensor, and the inertial measurement The module monitors the frontal plane rotation angle of the hip joint in real time, based on the gait of the healthy side, drives the hip joint movement of the disabled side by delaying half a gait cycle, and copies the gait of the hip joint of the healthy side to the hip joint of the disabled side. To achieve gait coordination of the lower limbs on both sides. The torque sensor controls and detects the motor drive torque of the hip joint on the disabled side of the patient, and perceives and evaluates the rehabilitation effect of the patient.

It should be noted that the above description is not a limitation to the technical solution of the invention, and any obvious replacements are within the protection scope of the invention without departing from the inventive concept of the invention.

Claims (7)

1. A hip joint rehabilitation auxiliary device based on sensor-driven integration, including a seat device, is characterized in that it also includes a connecting device, a hip joint drive mechanism, a sensing device and a lower limb rod device, and the seat device is clamped on the On the connecting device, the hip joint driving mechanism is connected and fixed with the connecting device and the sensing device, and the lower limb rod device is movably connected with the sensing device; The hip joint driving mechanism includes a motor, a motor support, a torque sensor, a synchronous pulley and a synchronous belt, the motor support is fixed on the connecting device, the motor is installed on the motor support, and the synchronous pulley is sleeved on the output shaft of the motor , the torque sensor is set on the output shaft of the motor, the synchronous belt is set on the synchronous pulley and the synchronous belt is fixedly connected with the synchronous transmission plate; The sensing device includes a synchronous transmission plate, a hip joint shaft, a magnet and a Hall sensor, one end of the hip joint shaft is fixedly installed in the synchronous transmission plate, and the other end is movably installed in the connection device, and the magnet moves along the radial direction of the hip joint shaft. Embedded in the hip joint shaft, the Hall sensor is installed in the connection device, and the synchronous transmission plate is connected with the hip joint driving mechanism; The sensing device also includes an inertial measurement module installed in the lower limb bar device. 2 . The sensor-driven integrated hip joint rehabilitation assisting device according to claim 1 , wherein the synchronous belt and the synchronous pulley are connected in an engaging manner. 3 . 3. The hip joint rehabilitation auxiliary device integrated based on sensing and driving according to claim 2, wherein the lower limb rod device comprises a hip joint hinge, a hinge connecting plate, a thigh rod and a thigh strap, and the hip joint hinge It is fixedly connected with the synchronous transmission plate. There is a rotating shaft installed in the hinge of the hip joint. The upper part of the loose-leaf connecting plate is movably set on the rotating shaft. The thigh bar is connected with the loose-leaf connecting plate. The thigh strap is installed on the thigh bar, and the inertial measurement module is installed on the thigh bar. Inside. 4. The hip joint rehabilitation auxiliary device based on sensor-driven integration according to claim 3, wherein the thigh rod is composed of a thigh upper rod and a thigh lower rod, and the upper end of the thigh upper rod is connected with a hinged connecting plate, The lower part of the upper thigh rod is inserted into the lower thigh rod and fixedly connected. 5. The hip joint rehabilitation auxiliary device based on sensor-driven integration according to claim 4, characterized in that, the connecting device includes an upper motor connecting seat and a lower motor connecting seat, and the upper motor connecting seat is installed on the lower motor to connect On the seat, the hip joint shaft is movably installed in the lower connection seat of the motor, and the Hall sensor is installed in the lower connection seat of the motor. 6. The hip joint rehabilitation assisting device based on sensor-driven integration according to claim 5, characterized in that, the connecting device further comprises a bicycle seat plate connected with the seat device, and the bicycle seat plate is provided with a connection hole. 7. The hip joint rehabilitation assisting device based on sensor-driven integration according to claim 6, wherein the seat device comprises a human body waist strap, a seat strap, a seat and a beam, and the seat strap One end of the belt is fixedly connected with the seat, and the other end is fixedly connected with the waist strap of the human body. The seat is installed on the crossbeam.