CN116807838A - Three-posture lower limb rehabilitation training robot - Google Patents
Three-posture lower limb rehabilitation training robot Download PDFInfo
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- CN116807838A CN116807838A CN202310929197.6A CN202310929197A CN116807838A CN 116807838 A CN116807838 A CN 116807838A CN 202310929197 A CN202310929197 A CN 202310929197A CN 116807838 A CN116807838 A CN 116807838A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
本发明公开了一种三姿态下肢康复训练机器人，包括机架、下肢外骨骼装置和姿态转换装置；所述姿态转换装置包括俯仰调节电动推杆、连杆、座板、背板、隔板、抬升电动推杆、背板连接块、隔板连杆和座板架；所述下肢外骨骼装置包括导轨、螺纹杆、滑块、弹簧、髋关节连接块、大腿上连杆、大腿下连杆、小腿上连杆、小腿下连杆、脚托、髋关节电机、髋关节减速器、膝关节电机、膝关节减速器、踝关节电机和踝关节减速器。本发明能够实现坐、站、卧三种姿态的无顺序限制自由切换，并且三种姿态下能够进行不同的下肢康复训练方案，提供髋关节、膝关节、踝关节的屈伸训练以及无额外动力辅助的髋关节外展运动，满足不同康复阶段的康复训练需求。
The invention discloses a three-posture lower limb rehabilitation training robot, which includes a frame, a lower limb exoskeleton device and a posture conversion device; the posture conversion device includes a pitch-adjustable electric push rod, a connecting rod, a seat plate, a back plate, a partition, Lifting electric push rod, back plate connecting block, partition connecting rod and seat frame; the lower limb exoskeleton device includes a guide rail, a threaded rod, a slider, a spring, a hip connecting block, an upper thigh connecting rod, and a lower thigh connecting rod. , upper calf link, lower calf link, foot rest, hip motor, hip reducer, knee motor, knee reducer, ankle motor and ankle reducer. The invention can realize free switching between sitting, standing and lying postures without sequence restrictions, and can carry out different lower limb rehabilitation training programs in the three postures, providing flexion and extension training of hip joints, knee joints and ankle joints without additional power assistance. Hip abduction exercise to meet the needs of rehabilitation training in different rehabilitation stages.
Description
Technical Field
The invention relates to the field of lower limb rehabilitation, in particular to a three-posture lower limb rehabilitation training robot.
Background
With the accelerated development of aging, the problem of aged people is increasingly prominent, and the problem of aged people is an important social problem currently faced. The current medical treatment and living standard are continuously improved, and the requirements of the elderly on later life are also improved. The existing problems of the aged mainly include: (1) Most of the old people have inconvenient actions due to the decline of body functions, and cannot fully self-care in daily life. (2) The exercise rehabilitation training is helpful for recovering the exercise capacity of the old, however, the traditional treatment method mainly depends on the experience of medical staff, is difficult to meet the training requirements of high strength and repeatability, and most old people with movement disorder are difficult to obtain scientific and effective rehabilitation training due to insufficient number of therapists. (3) At present, the lower limb rehabilitation robot is used by hospitals and rehabilitation institutions in multiple directions, most of the lower limb rehabilitation robots are huge in volume, and the requirements of home-based aged patients cannot be met. In this case, the demand for advanced rehabilitation devices has increased significantly.
At present, a plurality of institutions at home and abroad conduct intensive research on lower limb rehabilitation robots. In the literature Kawamoto, H., sankai, Y. (2002) Power Assist System HAL-3for Gait Disorder Person.In: [8] Miesenberger, K, klaus, J., zagler, W. (eds) Computers Helping People with Special needles.ICCHP 2002.Lecture Notes in Computer Science,vol 2398.Springer,Berlin,Heidelberg, HAL is a wearable auxiliary walking exoskeleton robot developed by the university of Instrongwave, and is produced by the university of Injetsuki and mainly comprises a structure such as an exoskeleton frame, a sensor and a controller, wherein the exoskeleton frame is mainly used for fixing limbs and transmitting power; the HAL breaks away from the limit of the running platform, and a patient can exercise in a practical environment. But it is difficult for patients in early and middle stages of rehabilitation to maintain standing with their own strength, and such devices do not provide adequate support.
The study [ D ]. Yan Shanda, 2014 ] of a sitting and lying type lower limb rehabilitation robot is designed in the document [ Shi Xiaohua ], and the sitting and lying type lower limb rehabilitation robot comprises two mechanical training legs and an adjustable seat, wherein one leg of the robot has two degrees of freedom, and can realize rehabilitation training of hip joints and knee joints; three rehabilitation training modes suitable for the rehabilitation robot system are provided for different conditions of patients: passive training based on track traction, auxiliary training based on myoelectricity control and active resistance training based on force tracking. However, the device can only perform leg training in two postures of sitting and lying, has no standing training, and can only be fixed at one position for training.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the three-posture lower limb rehabilitation training robot.
The technical scheme for solving the technical problems is that the three-posture lower limb rehabilitation training robot is provided and is characterized by comprising a frame, a lower limb exoskeleton device and a posture conversion device;
the posture conversion device comprises a pitching adjusting electric push rod, a connecting rod, a seat plate, a back plate, a baffle plate, a lifting electric push rod, a back plate connecting block, a baffle plate connecting rod and a seat plate frame;
the bottom end of the partition plate is hinged on the frame; one end of the pitching adjusting electric push rod is hinged on the frame, and the other end is hinged on the middle part of the partition plate; the middle part of the baffle plate is provided with a through groove; one end of the backboard connecting block is fixed on the back surface of the backboard; the backboard is slidably arranged on the partition board; the backboard connecting block penetrates through the through groove of the partition board and can slide along the through groove; one end of the lifting electric push rod is hinged to the bottom of the partition board, and the other end of the lifting electric push rod is hinged to the other end of the backboard connecting block; one end of each of the two baffle connecting rods is respectively fixed on two sides of the bottom end of the baffle, and the other end of each of the two baffle connecting rods is hinged to the middle part of the seat board frame; one end of each connecting rod is hinged to the middle part of the backboard, and the other end of each connecting rod is hinged to the tail end of the seat board frame; the seat board is fixed on the seat board frame;
the lower limb exoskeleton device comprises a guide rail, a threaded rod, a sliding block, a spring, a hip joint connecting block, a thigh upper connecting rod, a thigh lower connecting rod, a shank upper connecting rod, a shank lower connecting rod, a foot rest, a hip joint motor, a hip joint speed reducer, a knee joint motor, a knee joint speed reducer, an ankle joint motor and an ankle joint speed reducer;
a guide rail is fixed in a transverse groove at the lower part of the backboard; the two sliding blocks are slidably arranged at two end parts of the guide rail and can slide along the guide rail; the threaded rod is rotatably arranged in the guide rail; the two sliding blocks are provided with threaded holes, the threaded rod is in threaded connection with the two sliding blocks, and the threaded rod rotates to enable the two sliding blocks to be close to or far away from each other;
each sliding block is hinged with the upper end of one hip joint connecting block, and a spring is arranged between the sliding blocks and is used for limiting the rotation amplitude of the hip joint connecting block; two sides of the lower end of the hip joint connecting block are respectively and fixedly connected with the shell of the hip joint motor and the shell of the hip joint reducer; an output shaft of the hip joint motor passes through a through hole at the lower end of the hip joint connecting block and is connected with an input hole of the hip joint speed reducer; the upper end of the thigh upper connecting rod is fixedly connected with the output shaft of the hip joint reducer, and the lower end of the thigh upper connecting rod is connected with the upper end of the thigh lower connecting rod;
the two sides of the upper end of the upper connecting rod of the lower leg are respectively and fixedly connected with the shell of the knee joint motor and the shell of the knee joint speed reducer; an output shaft of the knee joint motor passes through a through hole at the upper end of the upper connecting rod of the lower leg and is connected with an input hole of the knee joint speed reducer; the lower end of the thigh lower connecting rod is fixedly connected with an output shaft of the knee joint speed reducer; the lower end of the lower leg connecting rod is connected with the upper end of the lower leg connecting rod;
two sides of the lower end of the lower connecting rod of the lower leg are respectively and fixedly connected with the shell of the ankle joint motor and the shell of the ankle joint speed reducer; an output shaft of the ankle joint motor passes through a through hole at the lower end of the lower connecting rod of the lower leg and is connected with an input hole of the ankle joint speed reducer; the foot support is fixedly connected with the output shaft of the ankle joint speed reducer.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention can realize the unordered restriction free switching of three postures of sitting, standing and lying, and can carry out different lower limb rehabilitation training schemes under the three postures, thereby meeting the rehabilitation training requirements of different rehabilitation stages.
(2) The invention can provide flexion and extension training of the hip joint, the knee joint and the ankle joint and abduction movement of the hip joint without additional power assistance.
(3) According to the gesture conversion device, through the linkage of the storage of the seat board and the adjustment of the angle of the back board, the gesture conversion can be completed by only two electric push rods, the control is simpler and more convenient, and the structure is simpler. And the seat board is skillfully stored, so that enough space is provided for leg training during standing.
(4) Each mechanical leg of the lower limb exoskeleton device can finish three-degree-of-freedom leg rehabilitation training, and the lower limb gait simulation is more accurate.
(5) The rear wheel driving device not only can assist walking to complete active and passive training under standing postures, but also can enable a product to be used as an electric wheelchair, and the functional diversity is increased.
(6) The sitting height, thigh length, shank length and hip width of the invention can be adjusted to meet different use requirements.
(7) The device has the advantages of simple structure, ingenious mechanical design, low manufacturing cost and strong universality.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention in a seated position;
FIG. 2 is a front view of the overall structure of the present invention in a seated position;
FIG. 3 is a perspective view of the overall structure of the present invention in a standing position;
FIG. 4 is a front elevational view of the overall structure of the present invention in a standing position;
FIG. 5 is a front elevational view of the overall structure of the present invention in a prone position;
FIG. 6 is an exploded view of the attitude transformation device of the present invention;
FIG. 7 is a schematic view of the lower extremity exoskeleton apparatus of the present invention;
fig. 8 is a schematic structural view of the rear wheel drive device of the present invention.
In the figure, 1, a rack; 2. a front wheel; 3. a lower extremity exoskeleton device; 4. a control panel; 5. a posture conversion device; 6. a rear wheel drive device;
the device comprises a guide rail 3-1, a threaded rod 3-2, a sliding block 3-3, a spring 3-4, a hip joint connecting block 3-5, a thigh upper connecting rod 3-6, a thigh lower connecting rod 3-7, a shank upper connecting rod 3-8, a shank lower connecting rod 3-9, a foot rest 3-10, a hip joint motor 3-11, a hip joint speed reducer 3-12, a knee joint motor 3-13, a knee joint speed reducer 3-14, an ankle joint motor 3-15 and an ankle joint speed reducer 3-16;
the pitch adjusting electric push rod 5-1, the connecting rod 5-2, the seat board 5-3, the back board 5-4, the guide rail sliding block mechanism 5-5, the partition board 5-6, the lifting electric push rod 5-7, the back board connecting block 5-8, the partition board connecting rod 5-9 and the seat board frame 5-10;
rear wheel 6-1, shaft 6-2, shaft coupling 6-3, rear wheel reduction gear 6-4, rear wheel motor 6-5.
Detailed Description
Specific examples of the present invention are given below. The specific examples are provided only for further details of the present invention and do not limit the scope of the claims.
The invention provides a three-posture lower limb rehabilitation training robot (robot for short), which is characterized by comprising a frame 1, a lower limb exoskeleton device 3 and a posture conversion device 5;
the gesture conversion device 5 comprises a pitching adjustment electric push rod 5-1, a connecting rod 5-2, a seat board 5-3, a back board 5-4, a guide rail sliding block mechanism 5-5, a baffle plate 5-6, a lifting electric push rod 5-7, a back board connecting block 5-8, a baffle plate connecting rod 5-9 and a seat board frame 5-10;
the bottom ends of the partition boards 5-6 are hinged to the frame 1; one end of the pitching adjusting electric push rod 5-1 is hinged on the frame 1, and the other end is hinged on the middle part of the partition plate 5-6; the middle part of the baffle plate 5-6 is provided with a through groove; one end of the backboard connecting block 5-8 is fixed on the back surface of the backboard 5-4; the backboard 5-4 is slidably arranged on the partition board 5-6 through the guide rail sliding block mechanism 5-5; the backboard connecting block 5-8 passes through the through groove of the partition board 5-6 and can slide along the through groove; one end of the lifting electric push rod 5-7 is hinged to the bottom of the partition plate 5-6, and the other end of the lifting electric push rod is hinged to the other end of the backboard connecting block 5-8; one end of each of the two baffle connecting rods 5-9 is respectively fixed on two sides of the bottom end of the baffle 5-6, and the other end is hinged to the middle part of the seat board frame 5-10; one end of each connecting rod 5-2 is hinged to the middle part of the backboard 5-4, and the other end is hinged to the tail end of the seat board frame 5-10; the seat board 5-3 is fixed on the seat board frame 5-10;
the seat board frame 5-10, the partition board 5-6, the back board 5-4 and the connecting rod 5-2 form a crank slide block mechanism, the partition board 5-6 is used as a frame, the back board 5-4 is used as a slide block, and the seat board frame 5-10 is used as a crank. The backboard 5-4 moves and drives the seat board 5-3 to do rotary motion.
The lower limb exoskeleton device 3 comprises a guide rail 3-1, a threaded rod 3-2, a sliding block 3-3, a spring 3-4, a hip joint connecting block 3-5, an upper thigh connecting rod 3-6, a lower thigh connecting rod 3-7, an upper shank connecting rod 3-8, a lower shank connecting rod 3-9, a foot support 3-10, a hip joint motor 3-11, a hip joint speed reducer 3-12, a knee joint motor 3-13, a knee joint speed reducer 3-14, an ankle joint motor 3-15 and an ankle joint speed reducer 3-16;
a guide rail 3-1 is fixed in a transverse groove at the lower part of the back plate 5-4; the two sliding blocks 3-3 are slidably arranged at two end parts of the guide rail 3-1 and can slide along the guide rail 3-1; the threaded rod 3-2 is rotatably arranged in the guide rail 3-1; the two sliding blocks 3-3 are provided with threaded holes, the threaded rod 3-2 is in threaded connection with the two sliding blocks 3-3, and the threaded rod 3-2 rotates to enable the two sliding blocks 3-3 to be close to or far away from each other;
each sliding block 3-3 is hinged with the upper end of one hip joint connecting block 3-5, a spring 3-4 is arranged between the sliding blocks, and the spring 3-4 is used for limiting the rotation amplitude of the hip joint connecting block 3-5, so that the hip joint connecting block 3-5 can only rotate by a small amplitude relative to the sliding blocks 3-3, and a user can perform abduction movement of the hip joint by himself or herself;
the two sides of the lower end of the hip joint connecting block 3-5 are respectively and fixedly connected with the shell of the hip joint motor 3-11 and the shell of the hip joint reducer 3-12; an output shaft of the hip joint motor 3-11 passes through a through hole at the lower end of the hip joint connecting block 3-5 and is connected with an input hole of the hip joint reducer 3-12; the upper end of the thigh upper connecting rod 3-6 is fixedly connected with the output shaft of the hip joint reducer 3-12, and the lower end is connected with the upper end of the thigh lower connecting rod 3-7;
the two sides of the upper end of the upper connecting rod 3-8 of the lower leg are respectively and fixedly connected with the shell of the knee joint motor 3-13 and the shell of the knee joint reducer 3-14; an output shaft of the knee joint motor 3-13 passes through a through hole at the upper end of the upper connecting rod 3-8 of the lower leg and is connected with an input hole of the knee joint speed reducer 3-14; the lower end of the thigh lower connecting rod 3-7 is fixedly connected with the output shaft of the knee joint reducer 3-14; the lower end of the lower leg upper connecting rod 3-8 is connected with the upper end of the lower leg connecting rod 3-9;
two sides of the lower end of the lower leg connecting rod 3-9 are respectively and fixedly connected with the shell of the ankle joint motor 3-15 and the shell of the ankle joint speed reducer 3-16; an output shaft of the ankle joint motor 3-15 passes through a through hole at the lower end of the lower shank connecting rod 3-9 and is connected with an input hole of the ankle joint speed reducer 3-16; the foot rest 3-10 is fixedly connected with the output shaft of the ankle joint speed reducer 3-16.
Preferably, a plurality of hinge points are arranged on the back plate 5-4, and a plurality of hinge points are arranged on the seat plate frame 5-10; according to the height of a user, the hinge positions of the two ends of the connecting rod 5-2, the back plate 5-4 and the seat plate frame 5-10 are adjustable.
Preferably, the back plate 5-4 is provided with a strap for securing the waist of the user.
Preferably, the lifting electric push rod 5-7 adopts a push rod with a brake or a push rod with a self-locking function, and the push rod with the self-locking function can adopt a linear electric push rod manufactured by Linak (Linano gram) company.
Preferably, two sliders 3-3 are connected to both ends of one strap for securing the hip of the user.
Preferably, the lower end of the upper thigh link 3-6 is removably connected (preferably by bolting) with the upper end of the lower thigh link 3-7 to adjust the length to accommodate different user thigh lengths.
Preferably, straps are provided on the upper thigh links 3-6 and/or the lower thigh links 3-7 for securing the user's thighs.
Preferably, the lower end of the upper calf link 3-8 is removably connected (preferably by bolting) to the lower calf link 3-9 to adjust the length to accommodate different user calf lengths.
Preferably, the upper calf link 3-8 and/or the lower calf link 3-9 are provided with straps for securing the user's calf.
Preferably, the brackets 3-10 are provided with straps for securing the user's foot.
Preferably, the robot further comprises a control panel 4; the frame 1 is provided with a handrail structure; the control panel 4 is fixed on the handrail structure at the upper end of the frame 1.
Preferably, the robot further comprises a moving means; the moving device is arranged on the bottom of the frame 1 and is used for driving the whole robot to move.
Preferably, the moving means comprise two front wheels 2 and two rear wheel drives 6; the two front wheels 2 are symmetrically arranged at two sides of the front end of the bottom of the frame 1 and are used for controlling the advancing direction of the robot; two rear wheel driving devices 6 are symmetrically installed at both sides of the rear end of the bottom of the frame 1 for providing forward power to the user. When moving, steering is completed by adjusting the rotational speeds of the two rear wheel motors 6-5.
Preferably, each rear wheel drive 6 includes a rear wheel 6-1, an axle 6-2, a coupling 6-3, a rear wheel decelerator 6-4, and a rear wheel motor 6-5;
one end of the wheel shaft 6-2 is fixedly connected with the axle center of the rear wheel 6-1 in a coaxial manner, the middle of the wheel shaft passes through an upper shaft hole of the frame 1, and the other end of the wheel shaft is fixedly connected with one end of the coupler 6-3; the other end of the coupler 6-3 is fixedly connected with an output shaft of the rear wheel speed reducer 6-4; the shell of the rear wheel motor 6-5 is fixed on the frame 1 and is fixedly connected with the shell of the rear wheel speed reducer 6-4, and the output shaft of the rear wheel motor 6-5 is fixedly connected with the input hole of the rear wheel speed reducer 6-4.
The working principle and the working process of the invention are as follows:
before use, the hinge positions of the connecting rod 5-2, the backboard 5-4 and the seat board frame 5-10 are adjusted according to the height of a user; according to the thigh length of a user, adjusting the connection positions of the thigh upper connecting rod 3-6 and the thigh lower connecting rod 3-7; according to the length of the lower leg of a user, the connection positions of the upper lower leg connecting rod 3-8 and the lower leg connecting rod 3-9 are adjusted; the threaded rod 3-2 is rotated to adjust the distance between the two sliders 3-3 according to the hip width of the user. The waist is fixed on the backboard 5-4 through the binding band, the thigh is fixed on the thigh upper connecting rod 3-6 and/or the thigh lower connecting rod 3-7 through the binding band, the shank is fixed on the shank upper connecting rod 3-8 and/or the shank lower connecting rod 3-9 through the binding band, and the foot is fixed on the foot rest 3-10 through the binding band.
In a sitting posture state, a user sits on the seat board 5-3, and under the driving of the knee joint motor 3-13 and the ankle joint motor 3-15, the upper shank connecting rod 3-7 and the lower shank connecting rod 3-8 drive the lower shank of the user to move so as to complete the flexion and extension movement of the knee joint; the foot rest 3-10 drives the foot to move so as to complete the flexion and extension movement of the ankle joint.
When a user changes from sitting to standing, the knee joint motor 3-13 transmits power to the upper shank connecting rod 3-8 and the lower shank connecting rod 3-9 after decelerating through the knee joint decelerator 3-14, and drives the lower shank of the user to retract downwards to the seat plate 5-3; simultaneously, the ankle joint motor 3-15 transmits power to the foot rest 3-10 after decelerating through the ankle joint speed reducer 3-16, and the foot of a user is adjusted to be in a horizontal state. Then lifting the electric push rod 5-7 to drive the backboard 5-4 to move upwards, and driving the upper body of the user to move upwards; the backboard 5-4 moves upwards and drives the seat board 5-3 to rotate around the partition board 5-6 through the connecting rod 5-2; simultaneously, the hip joint motor 3-11 transmits power to the upper thigh connecting rod 3-6 and the lower thigh connecting rod 3-7 after being decelerated by the hip joint decelerator 3-12, and drives the thigh of the user to rotate around the hip joint to a vertical state; the knee joint motor 3-13 transmits power to the upper shank connecting rod 3-8 and the lower shank connecting rod 3-9 after being decelerated by the knee joint decelerator 3-14, so as to drive the user's shank to rotate around the knee joint to a vertical state; simultaneously, the ankle joint motor 3-15 transmits power to the foot support 3-10 through the ankle joint speed reducer 3-16, the foot of the user is adjusted to be in a horizontal state, and the user stands straight completely and is in a standing state.
In a standing state, the electric push rod 5-7 is lifted to stop working, a user can perform gait training under the drive of the lower limb exoskeleton device 3, the gait training comprises bending and stretching movements of a hip joint, a knee joint and an ankle joint, the actions of walking, leg stretching, leg lifting and the like can be completed, and meanwhile, the rear wheel driving device 6 can drive the robot to advance to match with the walking actions; in addition, the user can perform abduction movement of the hip joint with a certain amplitude by himself, the movement is required to be performed by the patient independently, no extra power assistance is needed, and the specific process is as follows: the patient is in a standing state, one leg stands in a vertical state, the other leg performs abduction activity, at this time, the hip joint connection block 3-5 rotates around the slider 3-3, and the rotation angle is limited by the spring 3-4.
The change of the standing posture to the sitting posture of the user is the reverse process of changing the sitting posture to the standing posture, and the description is omitted.
When a user changes from sitting to prone, the knee joint motor 3-13 transmits power to the upper shank connecting rod 3-8 and the lower shank connecting rod 3-9 after decelerating through the knee joint decelerator 3-14, and drives the lower shank of the user to retract downwards from the seat board 5-3; lifting the electric push rod 5-7 to drive the backboard 5-4 to move upwards and drive the upper body of the user to move upwards; the backboard 5-4 moves upwards and drives the seat board 5-3 to rotate around the partition board 5-6 through the connecting rod 5-2; the hip joint motor 3-11 transmits power to the upper thigh connecting rod 3-6 and the lower thigh connecting rod 3-7 after being decelerated by the hip joint decelerator 3-12, and drives the thigh of the user to rotate around the hip joint; the knee joint motor 3-13 transmits power to the upper shank connecting rod 3-8 and the lower shank connecting rod 3-9 after being decelerated by the knee joint decelerator 3-14, so as to drive the user's shank to rotate around the knee joint; simultaneously, the ankle joint motor 3-15 transmits power to the foot rest 3-10 through the ankle joint speed reducer 3-16, and the foot of a user is adjusted to be in a horizontal state; when the user is in a semi-upright state (about half of the travel during the conversion of the sitting station), the pitching adjusting push rod 5-1 drives the partition plate 5-6 to rotate around the frame 1, and drives the whole body of the user to be in a horizontal state, and the user is in a prone position.
In the prone position, the user can bend and stretch the hip joint, the knee joint and the ankle joint under the drive of the lower limb exoskeleton device 3, and can complete the actions of leg lifting, leg stretching and the like.
The change of the sitting posture from the prone position to the sitting posture is the reverse process of changing the sitting posture to the prone position, and will not be repeated.
When the user changes from standing to prone, the hip motor 3-11, the knee motor 3-13 and the ankle motor 3-15 drive the upper thigh connecting rod 3-6, the lower thigh connecting rod 3-7, the upper shank connecting rod 3-8 and the lower shank connecting rod 3-9 to drive the knee joint to bend forwards and take a half step (about 20 cm) forwards; lifting the electric push rod 5-7 to drive the backboard 5-4 to move downwards and drive the upper body of the user to move downwards; when the user is in a semi-upright state (about half of the travel during the conversion of the sitting station), the seat board 5-3 contacts the lower leg of the user, and the pitching adjusting push rod 5-1 drives the partition board 5-6 to rotate around the frame 1, so that the whole body of the user is driven to be in a horizontal state.
The change of the prone position to the standing position is the reverse process of changing the standing position to the prone position, and will not be repeated.
The invention is applicable to the prior art where it is not described.
Claims (10)
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| CN202310929197.6A CN116807838B (en) | 2023-07-27 | 2023-07-27 | A three-posture lower limb rehabilitation training robot |
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| CN202310929197.6A CN116807838B (en) | 2023-07-27 | 2023-07-27 | A three-posture lower limb rehabilitation training robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117257612A (en) * | 2023-11-01 | 2023-12-22 | 吉林大学 | An exoskeleton test bed for hip, knee and ankle rehabilitation and its active control method |
| CN118649032A (en) * | 2024-06-03 | 2024-09-17 | 国家康复辅具研究中心 | A ramp self-balancing device and a multi-posture wheelchair |
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| CN117257612A (en) * | 2023-11-01 | 2023-12-22 | 吉林大学 | An exoskeleton test bed for hip, knee and ankle rehabilitation and its active control method |
| CN118649032A (en) * | 2024-06-03 | 2024-09-17 | 国家康复辅具研究中心 | A ramp self-balancing device and a multi-posture wheelchair |
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