CN108606907B - A movable parallel flexible cable-driven lower limb rehabilitation robot and its implementation method - Google Patents

Abstract

The invention relates to a movable parallel flexible cable driven lower limb rehabilitation robot and an implementation method thereof. The device comprises a suspension weight reduction unit, a tension sensor, a safety harness, a safety handrail, a spring, a door sill, a flexible cable driving unit, a universal driven wheel, a leg wearing device, a treadmill, a rear driving wheel, a flexible cable, a support frame and a liquid crystal display screen. The whole truss structure is formed by a support frame, and the upper suspension weight-reducing unit is connected with the safety harness through a flexible cable; the waist movement of the patient is restrained by four groups of springs connected between the left vertical beam, the right vertical beam and the safety braces; a liquid crystal display screen is arranged above the safety handrail at the front part of the robot; the patient and the wheelchair enter and exit through the left door fence; four groups of flexible cable driving units are arranged on four cross beams at the corresponding positions of the sagittal plane of each affected limb, and the affected limb is driven to realize rehabilitation training by the flexible cable traction leg wearing device; the front part of the bottom of the robot is provided with a universal driven wheel, and the rear part of the bottom of the robot is provided with a rear driving wheel. The robot can realize the gait training and the walking training in a passive mode, an assisted mode and an active mode.

Description

A movable parallel flexible cable-driven lower limb rehabilitation robot and its implementation method

technical field

The invention relates to a medical rehabilitation training apparatus, in particular to a movable parallel flexible cable-driven lower limb rehabilitation robot and an implementation method thereof.

Background technique

With the rapid development of society, people's living standards have been greatly improved, but natural disasters, accidents, diseases and other sudden disasters have greatly reduced people's quality of life. Although modern medical technology can minimize the post-disaster mortality, the limb movement dysfunction, especially the lower limb disorder, caused by sudden disasters will seriously affect the patient's life thereafter. Studies have shown that correct and scientific sports rehabilitation training plays an important role in the recovery of patients' motor function. Robots can repeat complex training actions for a long time, with low cost, high efficiency, stability and reliability, and the realization of lower limb rehabilitation training through robots has unique advantages, which have been gradually recognized in clinical practice. With the intensification of the aging society in our country and the increasing emphasis on the rehabilitation of the disabled, and under the instructions of the "Made in China 2025" plan, rehabilitation robots will gain huge development opportunities and space.

Lower limb rehabilitation robots can be divided into two types: exoskeleton type and pedal type. The exoskeleton type is mainly based on an open-chain series mechanism or a series-parallel hybrid mechanism, with multiple contacts between humans and machines, the robot joints correspond to the joints of the lower limbs, and the exoskeleton and the affected limbs coordinate movement to achieve training. The more typical products are Lokomat, HAL, ReWalk and so on. This type of robot can realize single-joint and multi-joint training; the affected limb has a large range of motion and can realize various forms of passive training. However, the scope of application is limited, and the effect of active training is not ideal. The pedal type uses the foot pedal to drive the foot to simulate the walking action, and other joints of the lower limb follow. Such as G-EO System, RT-600, ICARE, etc. This type of robot has a simple configuration and is easy to implement passive, power-assisted and active training modes; the single-end contact between the human and the machine can realize the coordinated movement of the human and the machine. However, it is difficult to achieve single-joint training and control the human-machine contact force; limited by the configuration, the range of motion of the affected limb is limited.

At present, low-end lower extremity rehabilitation products have the most clinical applications due to their simplicity and cheapness, but have single functions, low level of automation, time-consuming and labor-intensive, and unsatisfactory curative effects. difficult to popularize. At the technical level, it is still necessary to increase investment to solve the problems of configuration design, human-machine coordination, weight loss/gravity compensation, and multi-modal rehabilitation training of lower limb rehabilitation robots. Compared with the traditional rigid series/parallel robot, the parallel flexible cable robot has a large working space, adjustable stiffness, large load-to-weight ratio, and flexible working mode, and has unique comprehensive performance advantages.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a movable parallel flexible cable-driven lower limb rehabilitation robot and its implementation method in view of the above-mentioned defects in the prior art, which can assist patients in different rehabilitation stages to carry out rehabilitation in active mode, power-assisted mode and passive mode. Training provides a more effective rehabilitation device and method for patients with lower extremity disabilities.

A movable parallel cable-driven lower limb rehabilitation robot mentioned in the present invention includes a suspension weight reduction unit (1), a tension sensor (2), a safety harness (3), a safety handrail (4), and a spring (5) , door rail (6), cable drive unit (7), universal driven wheel (8), leg wearing device (9), treadmill (10), rear drive wheel (11), flexible cable (12) , a support frame (13), a liquid crystal display screen (14), the whole is a truss structure composed of a support frame (13), the suspension weight reduction unit (1) is installed on the top of the robot and connected to the safety harness ( 3) Connected, there is a tension sensor (2) on the flexible cable, the movement of the patient's waist is constrained by four sets of springs (5) connected between the four vertical beams on the left and right and the safety harness (3), and the patient and the wheelchair pass through the left and right sides. The door rail (6) on the side enters and exits, and four sets of flexible cable drive units (7) are respectively installed on the four beams corresponding to the sagittal plane of each side of the affected limb, and the leg wearing device ( 9) Drive the affected limb to achieve rehabilitation training. The universal driven wheel (8) is installed in front of the bottom of the robot, and the rear drive wheel (11) is installed at the rear of the bottom. The robot can move to realize the walking training of the patient on the ground. The treadmill (10) cooperates to realize the gait training of the patient.

After the above-mentioned flexible cable (12) is pulled by the suspension weight reduction unit (1) installed on the top of the support frame (13), it first passes through the tension sensor (2), and is then connected to the safety harness (3) worn by the patient. The hook, on the one hand, monitors the tension of the cable in real time, provides patients with different weight loss effects according to the needs of different rehabilitation modes, and on the other hand ensures the safety of patients during the rehabilitation training process.

The movement of the patient's waist is constrained by four sets of springs (5) connected between the four vertical beams on the left and right of the robot and the safety harness (3). During the rehabilitation training process, the springs (5) fix the relative position of the patient's waist at a certain position. It cooperates with the cable drive unit (7) to realize the coordinated movement of the affected limb and the trunk, to ensure the accuracy of the posture during the rehabilitation training process, and to ensure the safety of the patient.

The above-mentioned safety handrail (4) is provided with a liquid crystal display screen (14), which can not only monitor the movement of various parts and the movement trajectory of each joint during the rehabilitation training in real time, but also realize human-computer interaction through rehabilitation training games, and improve the performance of human-computer interaction. recovery efficiency.

The above-mentioned eight sets of flexible cable drive units (7) are mounted on the four beams corresponding to the sagittal plane of each side of the affected limb. The cable drive unit (7) is in the same plane as the affected limb, the knee joint is pulled by two sets of flexible cable drive units (7) located at the inner and lower part of the sagittal plane, and the ankle joint is pulled by two sets of flexible cable drive units located at the inner and upper part of the sagittal plane (7) Traction.

The above-mentioned rear drive wheel (11) controls the movement of the robot, the differential motion of the rear drive wheel (11) can change the movement direction, the front universal driven wheel (8) follows, and eight sets of flexible cable drive units during the movement. Coordinate and control the movement of the affected limb to achieve walking training.

The above-mentioned rear drive wheel (11) and front universal driven wheel (8) are locked, the robot is fixed, the treadmill (10) provides an appropriate speed according to the training mode and the actual situation of the patient, and eight sets of flexible cables are driven. The unit coordinates and controls the movement of the affected limb to realize gait training.

The implementation method of a movable parallel flexible cable-driven lower limb rehabilitation robot mentioned in the present invention comprises the following steps:

First, the rehabilitation physician determines the patient's rehabilitation training mode based on the patient's basic data:

In the passive mode, the patient's lower limbs completely rely on external force to complete the movement. The robot takes the motion trajectory as the control object and coordinates the planning of the expansion and contraction of each cable. During the training process, the eight groups of the robot's flexible cables pull the leg wearing device to make the patient's lower limbs. It passively follows the robot to move along a predetermined trajectory at a corresponding speed. At the same time, the system monitors the movement trajectory of the affected limb and the tension of each cable during the movement in real time, and evaluates the muscle tension and spasm degree of the affected limb. When the muscle tension of the affected limb is too large, in order to Keeping the set speed, the internal tension of each flexible cable increases accordingly. When the flexible cable tension exceeds the maximum limit value, the robot stops working, monitors spasm, and avoids straining the affected limb;

In the assist mode, the patient actively contracts the muscles to complete the movement with the assistance of external force. The robot uses the assist force as the control object to coordinate and plan the internal tension of each cable to assist the affected limb to complete the specified movement trajectory. During the training process, the patient follows the target trajectory. Autonomous movement, the robot controls the auxiliary force according to the position or speed deviation, limits the movement of the affected limb on the correct trajectory, records the movement trajectory, movement speed and the magnitude of the robot auxiliary force of the affected limb, so as to evaluate the movement coordination and control ability of the patient and other indicators;

In the active mode, the affected limb actively contracts the muscles to complete the movement. The robot takes the output resistance as the control object and coordinates and plans the traction resistance of each cable. During the training process, the patient chooses the exercise mode independently, and the robot coordinates the movement of each cable to follow the lower limb. Apply various forms of exercise resistance according to the needs of the patient, record the movement trajectory of the affected limb, obtain parameters such as movement speed and frequency, and evaluate the patient's movement coordination, control ability and muscle strength indicators.

Compared with the prior art, the present invention has the following beneficial effects:

(1) The movable parallel flexible cable-driven lower limb rehabilitation robot uses flexible cables as transmission elements and finally performs rehabilitation training. The robot is modularly designed, the overall mechanical structure is simple, the machining cost is low, and the installation and use are flexible;

(2) The flexibility of the flexible cable itself is good, which can avoid rigid contact with the human body and improve the comfort of rehabilitation training; real-time monitoring of the internal tension of the flexible cable during the rehabilitation training process improves the safety of rehabilitation training;

(3) The mobile parallel flexible cable robot used has complete restraint characteristics and can meet the complex force and position control requirements in different rehabilitation stages: the rehabilitation movement of the complex posture and posture of the lower limbs can be realized through eight flexible cables; Under the coordinated work of the root cable, it is easy to realize the force control of any size in multiple directions in space;

(4) The movable parallel cable-driven lower limb rehabilitation robot has three rehabilitation modes: passive mode, assist mode and active mode. The rehabilitation mode can be independently selected according to the different rehabilitation stages and rehabilitation needs, so that one machine can be used for multiple purposes and reduce equipment costs. Save space for rehabilitation training;

(5) The movable parallel cable-driven lower limb rehabilitation robot can realize gait training and walking training, which can diversify the forms of rehabilitation training and improve the effect of rehabilitation training.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of a movable parallel flexible cable-driven lower limb rehabilitation robot;

FIG. 2 is a schematic diagram of a suspension weight reduction unit and a waist restraint structure of a movable parallel cable-driven lower limb rehabilitation robot;

FIG. 3 is a layout diagram of a flexible cable drive unit of a movable parallel flexible cable driven lower limb rehabilitation robot;

4 is a schematic diagram of a unilateral traction form of a movable parallel cable-driven lower limb rehabilitation robot;

FIG. 5 is a schematic diagram of the chassis movement of a movable parallel cable-driven lower limb rehabilitation robot;

In the picture: 1- Suspension weight reduction unit; 2- Tension sensor; 3- Safety harness; 4- Safety handrail; 5- Spring; 6- Door rail; 7- Cable drive unit; 8- Universal driven wheel; 9 - Leg wearing device; 10 - Treadmill; 11 - Rear drive wheel; 12 - Flexible cable; 13 - Support frame; 14 - LCD screen.

Detailed ways

In conjunction with accompanying drawing 1-5, the present invention is further described:

A movable parallel cable-driven lower limb rehabilitation robot mentioned in the present invention includes a suspension weight reduction unit (1), a tension sensor (2), a safety harness (3), a safety handrail (4), and a spring (5) , door rail (6), cable drive unit (7), universal driven wheel (8), leg wearing device (9), treadmill (10), rear drive wheel (11), flexible cable (12) , a support frame (13), and a liquid crystal display screen (14).

A truss structure is formed by the support frame (13) as a whole.

The suspended weight reduction unit (1) is installed on the top of the robot and is connected to the safety harness (3) worn by the patient through a flexible cable, and a tension sensor (2) is arranged on the flexible cable. According to the needs of the model, it provides patients with different weight loss effects, and on the other hand, ensures the safety of patients during the rehabilitation training process.

A spring (502) is connected between the support frame (1301) and the safety harness (3), a spring (501) is connected between the support frame (1302) and the safety harness (3), and the support frame (1303) is connected to the safety harness (3). ) is connected with a spring (503), between the support frame (1304) and the safety harness (3) is connected with a spring (504), the patient's waist movement is constrained by the above four sets of springs to ensure the accuracy of the posture during the rehabilitation training process, and ensure patient safety.

There is a door bar (6) on the left side of the robot, which can realize the passage of patients and wheelchairs.

At the corresponding positions on the sagittal plane of each side of the affected limb, a flexible cable driving unit (701) and a flexible cable driving unit (705) are installed on the beam (1305), and a flexible cable driving unit (703) and a flexible cable driving unit (703) are installed on the beam (1306). Cable drive unit (707), cable drive unit (702) and cable drive unit (706) are installed on beam (1307), cable drive unit (704) and cable drive unit (708) are installed on beam (1308) , through eight sets of flexible cable traction leg wearing device (901) and leg wearing device (902) to drive the affected limb to realize rehabilitation training.

A universal driven wheel (801) and a universal driven wheel (802) are installed in front of the bottom of the robot, and a rear drive wheel (1101) and a rear drive wheel (1102) are installed at the rear of the bottom. The robot moves to realize walking training of patients on the ground. , the robot can be fixed and cooperate with the treadmill (10) to realize the gait training of the patient.

Combined with Figure 3-4, the rehabilitation training of the affected limb is further explained:

A leg wearing device (901) is worn by an affected limb, a cable drive unit (701) located on a support frame (1305), a flexible cable drive unit (703) located on a support frame (1306), and a flexible cable drive unit (703) located on the support frame (1307) The flexible cable drive unit (702), the flexible cable drive unit (704) located on the support frame (1308) and the affected limb are in the same sagittal plane, and the knee joint is located on the support frame (1306) and the support frame (1308). The cable drive unit (703) and the cable drive unit (704) are pulled by the cables (1202) and (1204), and the ankle joint is driven by the cables located on the support frame (1305) and the support frame (1307). The unit (701) and the flexible cable drive unit (702) are pulled by the flexible cable (1201) and the flexible cable (1203). Simulate the walking posture to realize the rehabilitation training of the affected limb.

In conjunction with Fig. 5, the chassis movement of the present invention is further described to realize gait training and walking training:

A universal driven wheel (801) and a universal driven wheel (802) are installed on the front support frame (1306) at the bottom of the robot, and a rear drive wheel (1101) and a rear drive wheel (1102) are installed on the bottom rear support frame (1308). The robot controls the movement of the robot through the rear driving wheel (1101) and the rear driving wheel (1102). The differential movement of the rear driving wheel (1101) and the rear driving wheel (1102) can change the movement direction. The driving wheel (801) and the universal driven wheel (802) follow the movement, and during the movement process, eight groups of driving units coordinately control the movement of the affected limb to realize walking training.

Lock the rear drive wheel (1101), the rear drive wheel (1102), the front universal driven wheel (801), the universal driven wheel (802), the robot is fixed, the treadmill (10) according to the training mode and The actual condition of the patient provides an appropriate speed, and eight groups of drive units coordinately control the movement of the affected limb to realize gait training.

The specific implementation method of each rehabilitation action of the movable parallel flexible cable-driven lower limb rehabilitation robot mentioned in the present invention is as follows:

First, the rehabilitation doctor determines the patient's rehabilitation mode according to the patient's basic information, and sets the robot's operation mode:

In the passive mode, the patient's lower limbs completely rely on external force to complete the movement. The robot takes the motion trajectory as the control object and coordinates the planning of the expansion and contraction of each cable. During the training process, the eight groups of the robot's flexible cables pull the leg wearing device to make the patient's lower limbs. It passively follows the robot to move along a predetermined trajectory at a corresponding speed. At the same time, the system monitors the movement trajectory of the affected limb and the tension of each cable during the movement in real time, and evaluates the muscle tension and spasm degree of the affected limb. When the muscle tension of the affected limb is too large, in order to Keeping the set speed, the internal tension of each flexible cable increases accordingly. When the flexible cable tension exceeds the maximum limit value, the robot stops working, monitors spasm, and avoids straining the affected limb;

In the assist mode, the patient actively contracts the muscles to complete the movement with the assistance of external force. The robot uses the assist force as the control object to coordinate and plan the internal tension of each cable to assist the affected limb to complete the specified movement trajectory. During the training process, the patient follows the target trajectory. Autonomous movement, the robot controls the auxiliary force according to the position or speed deviation, limits the movement of the affected limb on the correct trajectory, records the movement trajectory, movement speed and the magnitude of the robot auxiliary force of the affected limb, so as to evaluate the movement coordination and control ability of the patient and other indicators;

In the active mode, the affected limb actively contracts the muscles to complete the movement. The robot takes the output resistance as the control object and coordinates and plans the traction resistance of each cable. During the training process, the patient chooses the exercise mode independently, and the robot coordinates the movement of each cable to follow the lower limb. Apply various forms of exercise resistance according to the needs of the patient, record the movement trajectory of the affected limb, obtain parameters such as movement speed and frequency, and evaluate the patient's movement coordination, control ability and muscle strength indicators.

In addition, the present invention can rearrange the position of each cable drive unit according to the actual rehabilitation requirements, reconstruct the robot configuration, and expand the application scope of the robot.

The above are only some preferred examples of the present invention. Anyone skilled in the art can use the technical solutions set forth above to modify or modify them into equivalent technical solutions. Therefore, according to the technical solutions of the present invention, the Any simple modification or equivalent replacement of the present invention shall fall within the scope of protection of the present invention.

Claims (6)

1. A movable parallel cable-driven lower limb rehabilitation robot, comprising a suspension weight reduction unit (1), a tension sensor (2), a safety harness (3), a safety handrail (4), a spring (5), and a door rail (6), flexible cable drive unit (7), universal driven wheel (8), leg wearing device (9), treadmill (10), rear drive wheel (11), flexible cable (12), support frame (13), a liquid crystal display (14); The whole is composed of a support frame (13) to form a truss structure, the suspension weight reduction unit (1) is installed on the top of the robot and is connected with the safety harness (3) worn by the patient through a flexible cable, and a tension sensor (2) is arranged on the flexible cable, The movement of the patient's waist is constrained by four sets of springs (5) connected between the left and right vertical beams and the safety harness (3). The patient and the wheelchair enter and exit through the left door rail (6). Four sets of flexible cable drive units (7) are respectively installed on the four beams at the corresponding positions on the surface, and the leg wearing device (9) is pulled by the flexible cables (12) to drive the affected limb to realize rehabilitation training. A universal slave is installed in front of the bottom of the robot. A moving wheel (8), a rear drive wheel (11) is installed behind the bottom, the robot can move to realize the walking training of the patient on the ground, and the robot can be fixed and cooperate with the treadmill (10) to realize the patient's gait training; According to the different body shapes of the patients, the cable drive unit (7) can move left and right on the beam to ensure that the cable drive unit (7) and the affected limb are in the same plane. (7) Traction, the ankle joint is pulled by two sets of flexible cable drive units (7) located in the upper part of the sagittal plane. 2. A movable parallel flexible cable-driven lower limb rehabilitation robot according to claim 1, characterized in that: the movement of the robot is controlled by the rear drive wheel (11), and the differential motion of the rear drive wheel (11) can be When the movement direction is changed, the front universal driven wheel (8) follows the movement, and the movement of the affected limb is controlled by the coordination of the eight groups of flexible cable drive units during the movement, so as to realize walking training. 3. A movable parallel flexible cable-driven lower limb rehabilitation robot according to claim 1, characterized in that: the rear drive wheel (11) and the front universal driven wheel (8) are locked, and the robot is fixed. , the treadmill (10) provides an appropriate speed according to the training mode and the actual situation of the patient, and eight groups of flexible cable drive units coordinately control the movement of the affected limb to realize gait training. 4. A movable parallel flexible cable-driven lower limb rehabilitation robot according to claim 1, characterized in that: the flexible cable (12) is pulled by a suspension weight-reducing unit (1) installed on the top of the support frame (13) Then, it first passes through the tension sensor (2), and then connects to the hook above the safety harness (3) worn by the patient, to monitor the tension of the cable in real time, and to provide the patient with different weight loss effects according to the needs of different rehabilitation modes. 5. A kind of movable parallel flexible cable-driven lower limb rehabilitation robot according to claim 1 is characterized in that: the patient's waist movement passes through four groups of springs connected between the left and right four vertical beams and the safety harness (3). (5) Constraint. During the rehabilitation training process, the spring (5) fixes the relative position of the patient's waist within a certain range, and cooperates with the cable drive unit (7) to realize the coordinated movement of the affected limb and the trunk. 6. A movable parallel flexible cable-driven lower limb rehabilitation robot according to claim 1, characterized in that: a liquid crystal display screen (14) is provided above the safety handrail (4), which can monitor the movement of each part in real time during rehabilitation training. The movement situation and the movement trajectory of each joint are realized through the rehabilitation training game to realize human-computer interaction.

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