CN109568089A - A kind of trailing type lower limb recovery robot by training paces system - Google Patents
A kind of trailing type lower limb recovery robot by training paces system Download PDFInfo
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- CN109568089A CN109568089A CN201910067601.7A CN201910067601A CN109568089A CN 109568089 A CN109568089 A CN 109568089A CN 201910067601 A CN201910067601 A CN 201910067601A CN 109568089 A CN109568089 A CN 109568089A
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- 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
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
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- 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
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
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- 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
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
- A61H2201/0196—Specific means for adjusting dimensions automatically adjusted according to anthropometric data of the user
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- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- 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
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- 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
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
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- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
-
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses a kind of trailing type lower limb recovery robot by training paces systems, are divided into the wearable exoskeleton robot of lower limb and passive robot.Whole system includes six rotary freedoms of both legs hip knee of two translation freedoms of passive robot, two vertical loss of weight freedom degrees and wearable robot.The wearable exoskeleton robot of lower limb is fixed on the lower limb and waist of patient, provides walking power-assisted according to the gait of patient, patient is helped to complete walking motion；Passive robot is connected with the wearable exoskeleton robot of lower limb, plays the role of supporting patient and loss of weight, and realized according to the walking of patient and follow movement accordingly.Various lower extremity motor function obstacles caused by being solved after central nervous system injury present invention is generally directed to property, provide safe, long-actingization, large-scale gait training and the efficiency for improving patient's lower limb rehabilitation training for user.
Description
Technical field
The present invention relates to healing robot technical field, in particular to a kind of trailing type lower limb recovery robot by training paces
System.
Background technique
Suffering from post-stroke walking-function obstacle occur is one of the main problem that patients with cerebral apoplexy faces, and seriously affects patient
Activity of daily living, for lower limb disability patient caused by nerve damage, intervening rehabilitation early has particularly important meaning
Justice can stimulate nervous centralis by the lasting active training of limbs, that is, can reach the recombination for promoting injured nerve, to realize
Neurological rehabilitation treatment greatly reduces the possibility of physical disabilities.
Traditional manually rehabilitation training, therapist's large labor intensity, training strength, duration, specific aim are difficult to protect
Card.In order to improve the rehabilitation efficiency of limbs of patient, there is an urgent need to a large amount of economical and practical wearable healing robots to meet society
Demand.
Summary of the invention
In view of this, being divided into lower limb can the present invention provides a kind of trailing type lower limb recovery robot by training paces system
Dress exoskeleton robot and passive robot.Whole system include two translation freedoms of passive robot, two it is vertical
Six rotary freedoms of both legs hip knee of loss of weight freedom degree and wearable robot.The wearable exoskeleton robot of lower limb is fixed on
The lower limb and waist of patient provide walking power-assisted according to the gait of patient, patient are helped to complete walking motion；Passive robot and
The wearable exoskeleton robot of lower limb is connected, and plays the role of supporting patient and loss of weight, and realize phase according to the walking of patient
That answers follows movement.Various lower extremity motor functions barrier caused by being solved present invention is generally directed to property after central nervous system injury
Hinder, provides safe, long-actingization, large-scale gait training and the efficiency for improving patient's lower limb rehabilitation training for user.
To achieve the above object, the invention provides the following technical scheme:
A kind of trailing type lower limb recovery robot by training paces system, the wearable exoskeleton robot of lower limb including connection
And passive robot；
The passive robot includes support frame and the walking mechanism and driving mechanism for being installed on it.
Preferably, support frame as described above height is adjustable.
Preferably, the walking mechanism includes the universal wheel for being fixed on support frame as described above.
Preferably, the driving mechanism includes driving wheel, wheel drive motors and shaft coupling；
The wheel drive motors are fixed on support frame as described above, the wheel drive motors by the shaft coupling with it is described
Driving wheel connection.
Preferably, the wearable exoskeleton robot of the lower limb is connected by safety rope with the passive robot.
Preferably, the passive robot further includes binocular camera and host computer, and the host computer can be according to described
The video identification of binocular camera shooting goes out the body contour of user and controls the driving mechanism support frame as described above is driven to move
User described in motion tracking.
Preferably, the wearable exoskeleton robot of the lower limb include: shank ectoskeleton, knee joint, thigh ectoskeleton and
Host computer；
The shank ectoskeleton is connected by the knee joint with the thigh ectoskeleton, the shank that the knee joint includes
Driving motor, which is able to drive the shank ectoskeleton and is connected with the thigh ectoskeleton, to be relatively rotated；
The shank ectoskeleton is equipped with shank attitude transducer and shank myoelectric apparatus, and the shank attitude transducer can
The shank of user and the practical angle of vertical direction can be measured, the shank myoelectric apparatus can be according to user's shank
Electromyography signal prediction user's shank movement expectation angle, the host computer can be according to the practical angle and the phase
It hopes angle carry out error calculation and sends torque compensation control instruction to the shank driving motor.
Preferably, the wearable exoskeleton robot of the lower limb further include: foot's ectoskeleton and ankle-joint；Outside the foot
Bone is connect by the ankle-joint with the shank ectoskeleton；
The instep plate of foot's ectoskeleton is equipped with force transducer for sole of foot.
Preferably, the wearable exoskeleton robot of the lower limb include: thigh ectoskeleton, hip joint hip ectoskeleton and on
Position machine；
The thigh ectoskeleton is connected by the hip joint with the hip ectoskeleton, and the hip joint is included for band
Move the front and back driving motor of the thigh ectoskeleton swing, and the left and right for driving the thigh ectoskeleton to swing
Driving motor；
The thigh ectoskeleton is equipped with thigh attitude transducer and thigh myoelectric apparatus, and the thigh attitude transducer can
The thigh of user and the practical angle of vertical direction can be measured, the thigh myoelectric apparatus can be according to user's thigh
Electromyography signal prediction user's shank movement expectation angle, the host computer can be according to the practical angle and the phase
It hopes angle carry out error calculation and sends torque compensation control instruction to the front and back driving motor and the left and right driving motor.
Preferably, the wearable exoskeleton robot of the lower limb includes multiple ectoskeletons, solid on several described ectoskeletons
Surely there is woven fabric bandage.
It can be seen from the above technical scheme that trailing type lower limb recovery robot by training paces system provided by the invention
System, the advantages of and good effect are as follows:
1, the present invention devises a kind of trailing type lower limb recovery robot by training paces system, can relative to traditional lower limb
It is added to passive robot for wearing healing robot, the wearable healing robot of lower limb is solved and is difficult to maintain user flat
The problem of weighing apparatus, when user encounters fortuitous event disequilibrium, passive robot can support user, prevent it from falling down and make
At secondary injury.
2, the support frame height for the passive robot that the present invention designs is adjustable, can be adapted for the crowd of different height, mentions
The high practicability of rehabilitation system.
3, the binocular stereo vision range-measurement system that the present invention designs is for the distance measuring methods such as laser ranging, for fortune
The range accuracy of animal body is higher, and robustness is stronger.
4, the passive robot that designs of the present invention can follow user to move automatically, and can between user away from
From in the safe distance section being arranged before being maintained at, servo-actuated function is realized.
5, the attitude transducer in the wearable healing robot of lower limb that the present invention designs can measure user's thigh and calf
Angle and desired angle are carried out error calculation and carry out the backpropagation of error by the angle between vertical direction, host computer,
Torque compensation control is realized to the wearable healing robot of lower limb.Use can be obtained in real time using attitude transducer and myoelectric apparatus
The kinematic parameter of person detects and judges the motion intention of user, so as to adjust auxiliary torque size.Realize movement loss of weight
Function improves the rehabilitation efficiency of patient.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the overall structure diagram of trailing type lower limb recovery robot by training paces provided in an embodiment of the present invention；
Fig. 2 is the overall structure diagram of passive robot provided in an embodiment of the present invention；
Fig. 3 is the overall structure diagram of lower limb exoskeleton robot provided in an embodiment of the present invention；
Fig. 4 is the control flow chart of lower limb exoskeleton robot provided in an embodiment of the present invention；
Fig. 5 is the control flow chart of passive robot provided in an embodiment of the present invention；
Fig. 6 is the structural representation of the driving wheel, driving motor and shaft coupling of passive robot provided in an embodiment of the present invention
Figure.
Wherein, 1 is support frame, and 2 be universal wheel, and 3 be driving wheel, and 4 is drive hub cap, 5 foot's ectoskeletons, and 6 woven fabrics are tied up
Band, 7 be shank ectoskeleton, and 8 be woven fabric bandage, and 9 be knee joint, and 10 be thigh ectoskeleton, and 11 be hip joint, and 12 tie up for woven fabric
Band, 13 be left and right driving motor, and 14 be safety rope, and 15 be binocular camera, and 16 be servo motor, and 17 be portable computer, 18
It is shank driving motor for force transducer for sole of foot, 19,20 be front and back driving motor, and 21 be hip ectoskeleton, and 22 shank postures pass
Sensor, 23 be shank myoelectric apparatus, and 24 be thigh attitude transducer, and 25 be thigh myoelectric apparatus, and 26 be support frame elevating mechanism, and 27 are
Fixing piece, 28 be waist ectoskeleton, and 29 be wheel drive motors, and 30 be shaft coupling.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Trailing type lower limb recovery robot by training paces system provided in an embodiment of the present invention, the lower limb including connection can be worn
Exoskeleton robot and passive robot are worn, structure is referred to shown in Fig. 1 and Fig. 2；
Passive robot includes support frame 1 and the walking mechanism and driving mechanism for being installed on it.
It can be seen from the above technical scheme that the embodiment of the present invention devises a kind of trailing type lower limb gait training rehabilitation
Robot system, the wearable exoskeleton robot of lower limb are fixed on the lower limb and waist of patient, provide row according to the gait of patient
Power-assisted is walked, patient is helped to complete walking motion；Passive robot is connected with the wearable exoskeleton robot of lower limb, plays support and suffers from
The effect of person and loss of weight, and realized according to the walking of patient and follow movement accordingly.This programme can relative to traditional lower limb
It is added to passive robot for wearing healing robot, the wearable healing robot of lower limb is solved and is difficult to maintain user flat
The problem of weighing apparatus, when user encounters fortuitous event disequilibrium, passive robot can support user, prevent it from falling down and make
At secondary injury.Various lower extremity motor function obstacles caused by being solved present invention is generally directed to property after central nervous system injury,
Safe, long-actingization, large-scale gait training and the efficiency for improving patient's lower limb rehabilitation training are provided for user.
Further, 1 height of support frame is adjustable, can be adapted for the crowd of different height, improves the reality of rehabilitation system
With property, vertical degree of freedom is provided.Preferably, passive robot further includes servo motor 16 and elevating mechanism 26, structure
It is referred to shown in Fig. 1 and Fig. 2, servo motor 16 drives elevating mechanism 26 to move the height of adjustable support frame 1, and stabilization can
It leans on.
Specifically, walking mechanism includes the universal wheel 2 for being fixed on support frame 1, translation freedoms are provided.Its structure can be with
Shown in referring to Figures 1 and 2, four universal wheels 2 are fixed on the bottom of support frame 1.
In the present embodiment, driving mechanism includes driving wheel 3, wheel drive motors 29 and shaft coupling 30；
Wherein, wheel drive motors 29 are fixed on support frame 1, and wheel drive motors 29 pass through shaft coupling 30 and driving wheel 3
Connection, can be precisely controlled the translation of support frame 1.
In order to advanced optimize above-mentioned technical solution, the wearable exoskeleton robot of lower limb is by safety rope 14 and is servo-actuated
Robot connection.Its structure is referred to shown in Fig. 1, is flexibly connected using safety rope 14 comfortable reliable.
Preferably, passive robot further includes binocular camera 15 and host computer, host computer can be according to binocular camera shooting
The video identification of first 15 shooting goes out the body contour of user and controls driving mechanism to drive 1 mobile tracking user of support frame.
The video of shooting is passed in host computer by binocular camera 15, carries out Target Segmentation by the algorithm of deep learning, target detection,
Target identification and target following identify the body contour of user and track to it, are joined by Python and OpenCV
The binocular stereo vision range-measurement system of conjunction, calculates the distance between user and binocular camera 15, by this distance be used for
In the control of mobile robot, make the distance between passive robot and user remain at before set safe range it
It is interior, realize servo-actuated function.Binocular stereo vision range-measurement system used in the embodiment of the present invention is relative to rangings such as laser rangings
Higher for the range accuracy of moving object for mode, robustness is stronger.
For lower leg portion, the wearable exoskeleton robot of lower limb includes: shank ectoskeleton 7, knee joint 9, thigh dermoskeleton
Bone 10 and host computer, structure are referred to shown in Fig. 1 and Fig. 3；
Wherein, shank ectoskeleton 7 is connected by knee joint 9 with thigh ectoskeleton 10, and the shank that knee joint 9 includes drives electricity
Machine 19, which is able to drive shank ectoskeleton 7 and is connected with thigh ectoskeleton 10, to be relatively rotated；
Shank ectoskeleton 7 is equipped with shank attitude transducer 22 and shank myoelectric apparatus 23, and shank attitude transducer 22 can
The shank of user and the practical angle of vertical direction can be measured, shank myoelectric apparatus 23 can be according to the myoelectricity of user's shank
The expectation angle of signal estimation user's shank movement, host computer can carry out error calculation according to practical angle and desired angle
And torque compensation control instruction is sent to shank driving motor 19, so as to adjust auxiliary torque size.Realize movement loss of weight
Function improves the rehabilitation efficiency of patient.
In order to advanced optimize above-mentioned technical solution, the wearable exoskeleton robot of lower limb further include: foot's ectoskeleton 5
And ankle-joint；Foot's ectoskeleton 5 is connect by ankle-joint with shank ectoskeleton 7, and structure is referred to shown in Fig. 1 and Fig. 3；
The instep plate of foot's ectoskeleton 5 is equipped with force transducer for sole of foot 18, and force transducer for sole of foot 18 can extract patient's foot
The active force at bottom, to obtain the motion intention of patient.
For leg portion, the wearable exoskeleton robot of lower limb includes: thigh ectoskeleton 10,11 hip dermoskeleton of hip joint
Bone 21 and host computer, structure are referred to shown in Fig. 1 and Fig. 3；
Thigh ectoskeleton 10 is connected by hip joint 11 with hip ectoskeleton 21, and hip joint 11 is included for driving outside thigh
The front and back driving motor 20 of 10 swing of bone, and the left and right driving motor for driving thigh ectoskeleton 10 to swing
13；
Thigh ectoskeleton 10 is equipped with thigh attitude transducer 24 and thigh myoelectric apparatus 25, and thigh attitude transducer 24 can
The thigh of user and the practical angle of vertical direction can be measured, thigh myoelectric apparatus 25 can be according to the myoelectricity of user's thigh
The expectation angle of signal estimation user's shank movement, host computer can carry out error calculation according to practical angle and desired angle
And driving motor 20 and left and right driving motor 13 send torque compensation control instruction forwards, backwards, move to realize to patient thigh
The function of power-assisted is provided.
In order to advanced optimize above-mentioned technical solution, the wearable exoskeleton robot of lower limb includes multiple ectoskeletons, if
Woven fabric bandage is fixed on dry ectoskeleton.Its structure is referred to shown in Fig. 1 and Fig. 3, foot's ectoskeleton 5, shank ectoskeleton
7, it is respectively fixed with woven fabric bandage 6,8,12 on thigh ectoskeleton 10, hip ectoskeleton 13 and waist ectoskeleton 28, will made respectively
Foot, shank, thigh and the waist of user is fixed, and safeguard protection is played the role of, while containing slow in each woven fabric bandage
Sponge is rushed, the wearing comfort of equipment is improved.
This programme is described further combined with specific embodiments below:
Trailing type lower limb recovery robot by training paces system provided in an embodiment of the present invention, including the wearable dermoskeleton of lower limb
Bone robot and passive robot, specific structure and connection relationship are:
As shown in Fig. 1 to 6, the passive robot includes support frame 1, universal wheel 2, driving wheel 3, and shaft coupling 30 drives
Driving wheel shell 4, wheel drive motors 29, binocular camera 15, portable computer 17, power supply composition.Four universal wheels 2 are fixed on
The bottom of support frame 1；Wheel drive motors 29 are fixed on one side on support frame 1, and another side is connected by shaft coupling 30 and driving wheel 3
It connects；Binocular camera 15 and portable computer 17 are fixed on support frame 1 by fixing piece 27, and driving hub cap 4 is fixed on drive
The outside of driving wheel 3.
The wearable exoskeleton robot of the lower limb include foot's ectoskeleton 5, shank ectoskeleton 7, thigh ectoskeleton 10,
Hip ectoskeleton 21 and waist ectoskeleton 28 form.Foot's ectoskeleton 5 is connect by ankle-joint with shank ectoskeleton 7, ankle-joint
With a rotary freedom；Shank ectoskeleton 7 is connected by knee joint 9 with thigh ectoskeleton 10, the shank that knee joint 9 includes
Driving motor 19 drives shank ectoskeleton 7 and thigh ectoskeleton 10 to be relatively rotated；Thigh ectoskeleton 10 passes through hip joint 11
It is connected with hip ectoskeleton 21, hip joint 11 includes four driving motors 13,20, and driving motor 20 drives greatly before and after two of them
Leg carries out swing.Other two left and right driving motor 13 drives thigh to swing；Waist ectoskeleton 28 is fixed on hip
The upper surface of ectoskeleton 21 plays the role of fixed waist.
Force transducer for sole of foot 18 is installed, force transducer for sole of foot 18 can mention on the instep plate of foot's ectoskeleton 5
The active force of patient's sole is taken, to obtain the motion intention of patient.
Attitude transducer 22 and myoelectric apparatus 23 are installed on the shank ectoskeleton 7.It include three in attitude transducer 22
The synkinesias sensor such as axis gyroscope and three axis accelerometer and three axle electronic compass can measure the shank of patient and vertical
The angle in direction, the size of shank acceleration and magnetic data etc., are moved by the sensing data algorithm based on quaternary number
The measurement of posture, to judge the motion state of patient, myoelectric apparatus 23 can acquire the electromyography signal on user's shank, carry out
After signal processing, can predict the motion intention of user's shank, host computer according to the motion state and motion intention of user,
Torque compensation control is carried out, the size of shank compensating torque is adjusted, provides the function of power-assisted to realize and move to patient's shank.
Attitude transducer 24 and myoelectric apparatus 25 are installed on the thigh ectoskeleton 10.It include three in attitude transducer 24
The synkinesias sensor such as axis gyroscope and three axis accelerometer and three axle electronic compass can measure the thigh of patient and vertical
The angle in direction, the size of thigh acceleration and magnetic data etc., are moved by the sensing data algorithm based on quaternary number
The measurement of posture, to judge the motion state of patient, myoelectric apparatus 25 can acquire the electromyography signal on user's thigh, carry out
After signal processing, can predict the motion intention of user's thigh, host computer according to the motion state and motion intention of user,
Torque compensation control is carried out, the size of thigh compensating torque is adjusted, provides the function of power-assisted to realize and move to patient thigh.
The shaft type motor that the knee joint 9 and hip joint 11 includes all is DC servo motor, and the inner ring of motor is defeated
Outlet, after the deceleration of 100:1 harmonic speed reducer, output speed is lower.It is all connected with absolute value encoder on motor, can survey
The corner degree in joint is measured, and data are passed to control system as feedback signal and carry out error compensation.
Foot's ectoskeleton 5, shank ectoskeleton 7, thigh ectoskeleton 10, hip ectoskeleton 13 and the waist ectoskeleton 28
On be all fixed with woven fabric bandage 6,8,12, the foot of user, shank, thigh and waist are fixed respectively, play safeguard protection
Effect, while in each woven fabric bandage containing buffering sponge, improve the wearing comfort of equipment.
Host computer of the portable computer 17 as robot, driver and servo motor conduct on each joint
The slave computer of robot, the movement of the wearable exoskeleton robot of co- controlling lower limb.
The wearable exoskeleton robot of the lower limb is connected by two safety ropes 14 with passive robot.
In the passive robot, the drive elevating mechanism 26 of servo motor 16 moves the height of adjustable support frame 1,
It is used for the patient of different height.
Host computer of the portable computer 17 and visual services device as passive robot, the driving on driving wheel 3
The slave computer of device and wheel drive motors 29 as passive robot, the movement of co- controlling robot.
The video of shooting is passed in host computer by the binocular camera 15, carries out target by the algorithm of deep learning
Segmentation, target detection, target identification and target following, identify the body contour of user and track to it, pass through
The united binocular stereo vision range-measurement system of Python and OpenCV, calculate between user and binocular camera 15 away from
From this distance is used in the control of passive robot, the distance between passive robot and user is made to remain at it
Within the safe range of preceding setting, servo-actuated function is realized.
The driving hub cap 4 of the passive robot is fixed on the outside of driving wheel 3, while covering wheel drive motors
29, shaft coupling 30 and driving wheel 3 play beautiful effect.
It can be seen from the above technical scheme that trailing type lower limb gait training rehabilitation machine provided in an embodiment of the present invention
People's system, the advantages of and good effect are as follows:
1, the present invention devises a kind of trailing type lower limb recovery robot by training paces system, can relative to traditional lower limb
It is added to passive robot for wearing healing robot, the wearable healing robot of lower limb is solved and is difficult to maintain user flat
The problem of weighing apparatus, when user encounters fortuitous event disequilibrium, passive robot can support user, prevent it from falling down and make
At secondary injury.
2, the support frame height for the passive robot that the present invention designs is adjustable, can be adapted for the crowd of different height, mentions
The high practicability of rehabilitation system.
3, the binocular stereo vision range-measurement system that the present invention designs is for the distance measuring methods such as laser ranging, for fortune
The range accuracy of animal body is higher, and robustness is stronger.
4, the passive robot that designs of the present invention can follow user to move automatically, and can between user away from
From in the safe distance section being arranged before being maintained at, servo-actuated function is realized.
5, the attitude transducer in the wearable healing robot of lower limb that the present invention designs can measure user's thigh and calf
Angle and desired angle are carried out error calculation and carry out the backpropagation of error by the angle between vertical direction, host computer,
Torque compensation control is realized to the wearable healing robot of lower limb.Use can be obtained in real time using attitude transducer and myoelectric apparatus
The kinematic parameter of person detects and judges the motion intention of user, so as to adjust auxiliary torque size.Realize movement loss of weight
Function improves the rehabilitation efficiency of patient.
In conclusion the embodiment of the present invention discloses a kind of trailing type lower limb recovery robot by training paces system, under being divided into
The wearable exoskeleton robot of limb and passive robot.Whole system includes two translation freedoms of passive robot, two
Six rotary freedoms of both legs hip knee of vertical loss of weight freedom degree and wearable robot.The wearable exoskeleton robot of lower limb is solid
The lower limb and waist of patient are scheduled on, walking power-assisted is provided according to the gait of patient, patient is helped to complete walking motion；Servo-actuated machine
People is connected with the wearable exoskeleton robot of lower limb, plays the role of supporting patient and loss of weight, and according to the walking of patient reality
Movement is now followed accordingly.Various lower extremity motor functions caused by being solved present invention is generally directed to property after central nervous system injury
Obstacle provides safe, long-actingization, large-scale gait training and the efficiency for improving patient's lower limb rehabilitation training for user.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of trailing type lower limb recovery robot by training paces system, which is characterized in that the lower limb including connection are wearable outer
Bone robot and passive robot；
The passive robot includes support frame (1) and the walking mechanism and driving mechanism that are installed on it.
2. trailing type lower limb recovery robot by training paces system according to claim 1, which is characterized in that the support
Frame (1) height is adjustable.
3. trailing type lower limb recovery robot by training paces system according to claim 1, which is characterized in that the walking
Mechanism includes the universal wheel (2) for being fixed on support frame as described above (1).
4. trailing type lower limb recovery robot by training paces system according to claim 1, which is characterized in that the driving
Mechanism includes driving wheel (3), wheel drive motors (29) and shaft coupling (30)；
The wheel drive motors (29) are fixed on support frame as described above (1), and the wheel drive motors (29) pass through the shaft coupling
Device (30) is connect with the driving wheel (3).
5. trailing type lower limb recovery robot by training paces system according to claim 1, which is characterized in that the lower limb
Wearable exoskeleton robot is connected by safety rope (14) with the passive robot.
6. trailing type lower limb recovery robot by training paces system according to claim 1, which is characterized in that described servo-actuated
Robot further includes binocular camera (15) and host computer, and the host computer can be according to the binocular camera (15) shooting
Video identification, which goes out the body contour of user and controls the driving mechanism, drives use described in support frame as described above (1) mobile tracking
Person.
7. trailing type lower limb recovery robot by training paces system according to claim 1, which is characterized in that the lower limb
Wearable exoskeleton robot includes: shank ectoskeleton (7), knee joint (9), thigh ectoskeleton (10) and host computer；
The shank ectoskeleton (7) is connected by the knee joint (9) with the thigh ectoskeleton (10), the knee joint (9)
The shank driving motor (19) included be able to drive the shank ectoskeleton (7) be connected with the thigh ectoskeleton (10) carry out phase
To rotation；
The shank ectoskeleton (7) is equipped with shank attitude transducer (22) and shank myoelectric apparatus (23), and the shank posture passes
Sensor (22) can measure the shank of user and the practical angle of vertical direction, and the shank myoelectric apparatus (23) being capable of root
According to the expectation angle of electromyography signal prediction user's shank movement of user's shank, the host computer can be according to described
Practical angle and the expectation angle carry out error calculation and send torque compensation to the shank driving motor (19) and control to refer to
It enables.
8. trailing type lower limb recovery robot by training paces system according to claim 1, which is characterized in that the lower limb
Wearable exoskeleton robot further include: foot's ectoskeleton (5) and ankle-joint；Foot's ectoskeleton (5) is closed by the ankle
Section is connect with the shank ectoskeleton (7)；
The instep plate of foot's ectoskeleton (5) is equipped with force transducer for sole of foot (18).
9. trailing type lower limb recovery robot by training paces system according to claim 1, which is characterized in that the lower limb
Wearable exoskeleton robot includes: thigh ectoskeleton (10), hip joint (11) hip ectoskeleton (21) and host computer；
The thigh ectoskeleton (10) is connected by the hip joint (11) with the hip ectoskeleton (21), the hip joint
(11) the front and back driving motor (20) for driving thigh ectoskeleton (10) swing is included, and described big for driving
The left and right driving motor (13) that leg ectoskeleton (10) swings；
The thigh ectoskeleton (10) is equipped with thigh attitude transducer (24) and thigh myoelectric apparatus (25), and the thigh posture passes
Sensor (24) can measure the thigh of user and the practical angle of vertical direction, and the thigh myoelectric apparatus (25) being capable of root
According to the expectation angle of electromyography signal prediction user's shank movement of user's thigh, the host computer can be according to described
Practical angle and the expectation angle carry out error calculation and to the front and back driving motor (20) and the left and right driving motors
(13) torque compensation control instruction is sent.
10. trailing type lower limb recovery robot by training paces system according to claim 1, which is characterized in that under described
The wearable exoskeleton robot of limb includes multiple ectoskeletons, is fixed with woven fabric bandage on several described ectoskeletons.
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