CN116919776A

CN116919776A - Walking balance rehabilitation device

Info

Publication number: CN116919776A
Application number: CN202310914364.XA
Authority: CN
Inventors: 洪维德; 李磊; 伍施维; 王有龙; 王智; 杨鑫; 梁俊华; 田诚; 钟悦; 王浩; 汪钰殊; 王刚
Original assignee: Guangdong Zhongxin Intelligent Rehabilitation Research Co ltd; Nanyang Technological University
Current assignee: Aibuli Robot PLC
Priority date: 2023-07-24
Filing date: 2023-07-24
Publication date: 2023-10-24
Also published as: WO2025023887A1

Abstract

Walking balance rehabilitation device. The gait balance rehabilitation device includes a base, a bracket, a sliding part and a seat. The bracket is fixedly installed on the base. The bracket extends in the longitudinal direction. The sliding part is slidingly connected to the bracket. One side of the seat is hinged to the slider. The middle part of the seat is hinged to the bracket. Walking balance rehabilitation devices may also include braking equipment and handrail structures. The braking device may include alternately connected connecting rods and rotating pairs. The braking device may form an annular connecting rod structure, in which the sliding member is one of the connecting rods. The armrest structure can be slidably coupled to the bracket via said braking device.

Description

Walking balance rehabilitation device

Technical Field

The application relates to a device suitable for balance rehabilitation training.

Background

The ability to balance is a basic motor skill and is also a prerequisite for maintaining various postural and movement activities. Balancing has a critical impact on whether a person can self-care or independently handle the size of a person in daily life.

The general balance rehabilitation training method can be divided into body state balance training and gait training. Proper gait training can improve the walking of the patient and also help the patient make progress in static and dynamic body balance. Walking balance is actually complex, requiring multiple limbs of the patient to move simultaneously to achieve overall balance. The prior art walking rehabilitation robots, such as devices based on treadmills, are generally only suitable for indoor environments and require a large space and a relatively fixed installation in order to observe the gait of a patient while walking.

Disclosure of Invention

In response to the deficiencies of the prior art, a device suitable for walking balance rehabilitation training is disclosed herein.

According to some embodiments, a walking balance rehabilitation device includes a base, a bracket, a slider, and a seat. The support is fixedly arranged on the base. The stent extends in a longitudinal direction. The slider is slidably connected to the frame such that the slider can slide in a longitudinal direction or in an opposite longitudinal direction relative to the frame. One side of the seat is hinged with the sliding piece. The middle part of the seat is hinged with the bracket.

The walking balance rehabilitation device may further comprise a braking apparatus and a handrail structure. The brake apparatus may include links and a revolute pair alternately connected and forming a ring-shaped link structure, wherein the slider is one of the links. The armrest structure is slidably coupled to the bracket via the braking device.

Drawings

Some embodiments of the application are described below with reference to the accompanying drawings, in which:

FIG. 1 is a schematic perspective view of a walking balance rehabilitation device according to some embodiments;

FIG. 2 is a schematic perspective view of a rehabilitation device according to further embodiments;

FIG. 3 is a schematic perspective view of the brake apparatus in one state;

FIG. 4 is a schematic perspective view of the brake apparatus in another state;

FIG. 5 is an enlarged side view of a portion of the seat belt attachment support;

FIG. 6 is a schematic side view of a revolute pair;

FIG. 7 is a schematic exploded view of a revolute pair;

FIG. 8 is a schematic side view of an exoskeleton device according to some embodiments;

FIG. 9 shows a schematic perspective view of the rehabilitation device in a seat deployment mode;

FIG. 10 is a schematic perspective view of the rehabilitation device showing a seat stow mode;

FIG. 11 shows a schematic structural view of a seat motion;

FIG. 12 shows a schematic structural view of a seat motion;

FIG. 13 is a schematic perspective view of a drive apparatus according to some embodiments;

FIG. 14 is a schematic perspective view of a drive apparatus according to some embodiments; and

fig. 15 is a schematic perspective view of a drive apparatus according to further embodiments.

Detailed Description

Embodiments of the present application will be described in detail below with reference to the accompanying drawings, but the scope of the present application is not limited to the following embodiments. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 is a schematic structural view of a walking balance rehabilitation device 100 (also referred to herein as a "walking balance rehabilitation device" or "balance training device") according to some embodiments of the present disclosure. The rehabilitation device 100 includes a base 200. The rehabilitation device 100 includes a stand 300 disposed on a base 200. The stent 300 extends generally along the longitudinal direction 101. For simplicity, the direction opposite to the longitudinal direction 101 is herein simply referred to as the opposite longitudinal direction. Rehabilitation apparatus 100 includes a brake device 400. Brake apparatus 400 may be movable integrally with respect to bracket 300, including integrally with respect to bracket 300 and generally parallel to longitudinal direction 101. The rehabilitation device 100 may include an armrest structure 500 and a fixed armrest 590. The fixed armrest 590 is disposed at the rear of the support 300, and the fixed armrest 590 has a fixed longitudinal distance (height) from the base 200, so that a user (e.g., a medical staff) can push the rehabilitation device 100 by hand. Brake apparatus 400 is coupled to armrest structure 500. The armrest structure 500 may be configured to move longitudinally and/or laterally (fore-aft) with respect to the bracket 300 following movement of the brake device 400. The armrest structure 500 includes a handle 512 positioned in front of the support frame 300 and which may be held in a user's (e.g., patient's) hand. The rehabilitation device 100 includes a seat 600. The user may sit down without having to leave the handle 512 in place while using the rehabilitation device 100. The user may sit on the seat 600 facing in the forward direction 103 or walk or stand between the rails 510. Optionally, rehabilitation device 100 may also be provided with one or a pair of exoskeleton apparatuses 800.

In some embodiments, the rehabilitation device 100 includes rear wheels 212, 222 and front wheels 214, 224 provided to the base 200. The rear wheels 212, 222 may be disposed parallel to each other on the base 200 such that the rehabilitation device 100 may be moved forward 103 or rearward in a direction opposite to the forward 103. The first and second base bars 213 and 223 may extend from both sides of the base 200, respectively. The first base rod 213 is cantilevered from one side of the base 200 in the first axial direction 110 and provides a first front wheel 214 at its end. The second base bar 223 is cantilevered from the other side of the base 200 in the second axial direction 120 and provides a second front wheel 224 at its end. The rehabilitation device 100 may include pedals 215, 225 hinged to the first and second base bars 213, 223, respectively. When not needed, the pedals 215, 225 may be folded up to be proximate to the front wheels 214, 224. In some applications, the first axial direction 110 defined by the first base bar 223 and the second axial direction 120 defined by the second base bar 223 may be adjusted accordingly according to the application (e.g. low quality terrain, whether there are obstacles around, the space requirement of the user, etc.). In some embodiments, the first base bar 213 is hinged (215) to a first driver 216 fixed to the base 200 such that the first base bar 223 can rotate 111 relative to the forward direction 103. In some embodiments, the second base bar 223 is hinged (225) to a second driver 226 fixed to the base 200 such that the second base bar 223 can rotate 121 relative to the forward direction 103. In some examples, the first and second drivers 216, 226 include, but are not limited to, air-cylinder drivers. The cylinder type actuator may include a cylinder fixed to the base 200 and a piston rod slidable with respect to the cylinder. The first base rod 213 and the second base rod 223 are hinged to the corresponding piston rods, respectively.

As used herein, the term "footprint" or "footprint" refers to the area of the ground covered by the rehabilitation device 100. The footprint 150 of the rehabilitation device 100 may also be defined by the base 200, the first base bar 213, the second base bar 223, and the wheels 212, 214, 222, 224 of the rehabilitation device. The footprint 150 of the rehabilitation device 100 may also be defined in terms of the size and shape of the area covered by the rehabilitation device 100 in a plane perpendicular to the longitudinal direction 101. According to some embodiments, the rehabilitation device 100 comprises a base member having a rotatable displacement and a corresponding adjustable base footprint. Fig. 1 shows an example in which the base rods 203 (e.g., the first base rod 213, the second base rod 223) are arranged substantially in parallel. Fig. 2 shows an example of a non-parallel arrangement after the base rod 203 is swung out laterally. As shown, the rehabilitation device 100 can expand the footprint 150 or reduce the footprint 150 according to the application scene according to the relative rotation amplitude and direction (clockwise or counter-clockwise) of the base rod 203. If present in a stenosis, rehabilitation device 100 may use the setup of smaller footprint 150. As another example, where the patient's stride is less stable, the rehabilitation device 100 may use a larger footprint 150 arrangement with the base bar 203 defining a larger and unobstructed space for the patient to safely exercise. The expansion of the footprint 150 of the rehabilitation device 100 also improves the stability of the rehabilitation device 100 and allows the patient to perform rehabilitation exercises with ease. Experiments have demonstrated that the various embodiments disclosed herein have sufficient stability that the rehabilitation device 100 is suitable as a ambulatory device to provide a more effective gait balance rehabilitation training for a patient.

Fig. 3 and 4 show a brake apparatus 400 of rehabilitation device 100. Brake apparatus 400 is connected by a plurality of links 440 and a corresponding number of revolute pairs 410, 420 to form a ring-shaped link structure. The first link 441 connects the first revolute pair 411 having a braking function with the third revolute pair 413 having a braking function. The second link 442 connects the second revolute pair 412 having a braking function with the fourth revolute pair 414 having a braking function. The third link 443 connects the third rotating pair 413 having a braking function with the fifth rotating pair 425 having no braking function. The fourth link 444 connects the fourth revolute pair 414 having a braking function with the sixth revolute pair 426 having no braking function. The tip of each of the pairs 413 and 414 may be provided with an annular protrusion, which mounts the elastic member, and the other end of the elastic member is connected to the armrest 590 or wound around the armrest 590. The elastic force of the revolute pair can be adjusted, for example, the elastic force can be adjusted by switching different elastic parts. This function can be used when the user is using the rehabilitation device, for example, to actively add training resistance or to provide assistance when the user returns to the position of the central axis (103) of the device after losing balance. Both ends of the support link 450 supporting the backrest 610 are connected to the fifth pivot pair 425 and the sixth pivot pair 426, respectively. The slide link 430 connects the first rotating pair 411 and the second rotating pair 412 to form a groove 432 slidable in the longitudinal direction with respect to the bracket 300.

The first rotating pair 411, the second rotating pair 412, the third rotating pair 413, and the fourth rotating pair 414 are independently lockable rotating pairs 410. Each independently lockable revolute pair 410 may be configured to perform a locking operation or an unlocking operation in response to signals from the controller and/or the sensor, independent of the state of any other revolute pair 410, 420 in brake apparatus 400. Regardless of the absolute or relative position/orientation of each link 440 at that time, and regardless of the state of the other revolute pairs of brake apparatus 400 at that time, any independently lockable revolute pair 410 may be shifted between the locked and unlocked states at any time. This enables brake 400 to quickly lock the relative distance and/or position between support link 450 and bracket 300 in response to control signals and/or sensed information, such as the instantaneous change in ring link configuration from a telescoping state to a rigid state.

Fig. 3 shows the brake device 400 in a deployed state. Fig. 4 shows brake apparatus 400 in a contracted state (backrest 610 and some components of brake apparatus 400 are omitted from fig. 4 for clarity of illustration of some details). Lateral movement of the first and second revolute pairs 411, 412 is restricted by the bracket 300. This change in brake apparatus 400 from the extended state to the contracted state is equivalent to support link 450 moving in rearward direction 104 relative to bracket 300.

A railing 510 and handle 512 for patient use may be provided on the front 103 of the rack 300. According to some embodiments, rails 510 extend in the forward direction 103 from both ends of support link 450. The handle 512 may be disposed at the end of the rail. A soft cushion may be provided on the rail 510. A patient may hold the handle 512 with his forearm resting on the rail 510. The support 520 extends from the support link 450 and is generally parallel to the rail 510. The support links 450 are connected to a pair of support members 520 to form a U-shape in which the space is sized to allow a person (e.g., a patient or other person using the rehabilitation device) to stand between the support members 520. Support 520 includes fasteners 522 suitable for mounting exoskeleton devices.

Fig. 5 is an enlarged view of a portion of the support 520 and the support link 450. The armrest structure 500 and brake apparatus 400 are coupled by support links 450 and may be raised together to slide relative to the bracket 300 in the longitudinal direction 101 or lowered together to slide relative to the bracket 300 in a direction opposite the longitudinal direction 101. The seat belt 550 is coupled to the support 520. One end of the support 520 is hinged 552 to the support link 450 and the support 520 (and the seat belt 550) can rotate 553 about a transverse axis. In some examples, alignable holes are provided between the support 520 and the support links that can be laterally extended through by a dowel 557 to inhibit or limit rotation of the support 520 relative to the support links 450 (i.e., about an axis 553 that is generally parallel to the lateral direction). When it is desired to transfer the user to the rehabilitation device 100, the locating pin 557 on one side of the support link 450 may be removed to facilitate a greater rotation of the support 520 and/or the harness 550. In some examples, the rehabilitation device 100 is configured such that one side rail 510 may be removed first, while the locating pins in the same side support 510 may also be removed and rotate the support 510. At this time, there is no obstacle on one side of the rehabilitation device 100, and the user can move from the side of the rehabilitation device 100 in the lateral direction 105 (the direction perpendicular to the axis 103 and substantially parallel to the ground-level direction) to the seat 600 of the rehabilitation device 100.

The sensor provided on the rehabilitation device 100 may be selected according to the application scenario. In some examples, the force sensor may include a force sensor 554 disposed on the support 520. In some examples, the support 520 may be positioned below the waist of the user (e.g., a patient), such as on both sides of the buttocks/pelvis and/or thigh, to support the user. In some examples, the harness 550 is tied to the user's pelvic portion and provides support to the user when needed to prevent the user from falling. The force sensor 554 is configured to monitor the force applied by the support 520 to support a user. If the user wearing the harness 550 is not balanced, the weight will cause the support 520 to rotate and the force sensor 554 disposed on the support 520 will send a signal to the controller and/or lockable swivel 410 of the brake device 400 in response to the force applied, either directly or indirectly, causing the brake device 400 to lock instantaneously, such as a rigid body, to prevent the user from falling.

Fig. 6 schematically illustrates an example of a lockable revolute pair 410. Fig. 7 is an exploded view of the revolute pair 410 of fig. 6. The frame 402 may fix the revolute pair 410 to one end of the link 440. The housing of the revolute pair 410 (which may consist of several housing members 409, 407, 404) may include a planetary transmission 408 and friction members 405/406. A rotary encoder 403 may be provided to the revolute pair to monitor the rotation of the revolute pair. In some embodiments, the friction members 405/406 may be offset (e.g., spring loaded) from each other to magnetically drive the friction members against each other to generate braking torque. The planetary transmission 408 is configured to strengthen the braking torque that the revolute pair 410 can produce and to make the locking force of the revolute pair 410 adjustable.

Fig. 8 illustrates a side view of the rehabilitation device 100 according to some embodiments. The support 520 of the rehabilitation apparatus 100 provides a joint 552 that facilitates installation of the exoskeleton device 800. A healthcare worker may install one or a pair of exoskeleton devices 800 according to the needs of the patient. Exoskeleton device 800 can include a thigh subassembly 810 adapted to support a thigh and a leg subassembly 820 adapted to support a calf. During walking rehabilitation exercises, the support required by the patient may vary with the condition or length of rehabilitation. The same rehabilitation device 100 according to the disclosure can be used by patients with different needs, and can also provide the required support according to different needs of a patient at different times. This can eliminate the need to purchase multiple rehabilitation training devices of different degrees of support. At the same time, the braking apparatus 400 of the rehabilitation device 100 may also provide an adjustable braking force so that the rehabilitation device 100 may avoid providing excessive support or providing insufficient support.

It will also be appreciated from fig. 8 that the rehabilitation device 100 does not require a suspension frame that is taller than the human body to provide effective support. The uppermost portion of the rehabilitation device 100 may be about the same height H1 (relative to the base 200 or the ground) as the waist of the person. The highest height of brake apparatus 400 that helps to provide braking force to prevent a patient from falling over may remain approximately the same height H2 (relative to base 200 or the ground) as the patient's waist. The rehabilitation device 100 disclosed herein provides a lighter and less space-consuming solution than existing suspensions.

According to some embodiments, the rehabilitation device 100 includes a seat stow mode (as shown in fig. 8 and 10) and a seat deploy mode (as shown in fig. 9). The rehabilitation device 100 may be interchanged between these two modes. To aid in understanding, fig. 10, 11 and 12 provide side schematic block diagrams to illustrate the stand 300, seat 620, and structure and movement therebetween. Fig. 11 shows in phantom the orientation of the seat between the seat stow mode and the seat deploy mode.

As shown, the seat 620, the slider 340, the rotating lever 324, and the chute member 320 constitute a quadrangular structure. Wherein the rear portion of the seat 620 (e.g., one side of the seat 620) is hinged 345 to the slider 340. The middle portion of the seat 620 is hinged 325 to the outer end of the swivel rod 324. The chute member 320 defines a chute 322 extending in a longitudinal direction. The inner end of the rotating rod 324 is hinged to the chute 322 such that the inner end of the rotating rod 324 can also move along the chute. The slider 340 and the chute member 320 define one side of a quadrilateral structure. According to the rehabilitation device 100 disclosed herein, the fully unfolded posture of the seat 620 is shown in fig. 14. The rehabilitation apparatus 100 may also be configured such that the brake device 400 enters or remains in a locked state in response to the seat loading the weight of the person. One skilled in the relevant art will appreciate that the weight of the person sitting on seat 620 is such that slide 340 will only slide downward and not (without deliberate actuation) counter-centered suction upward. In other words, a person sits on the seat 620, and the seat 620 is more stable.

The rehabilitation apparatus 100 comprises a lifting device 700 such that the slider 340 can slide relative to the support 300 along the longitudinal direction 101 or an opposite longitudinal direction 102 opposite to the longitudinal direction. In some examples, the lifting device 700 may include a manual mode, allowing a user (e.g., a patient, medical personnel, etc.) to manually move the slider 340, adjusting the height of the slider 340 relative to the base. In some examples, the lifting device 700 may include a motorized mode. In some examples, the armrest structure 500 and the seat 600 may be movable independently of one another. In some examples, the movement of the armrest structure 500, the slider 340, and the seat 600 affect or entrain one another. To aid understanding, fig. 13 and 14 illustrate an electric lift device 700 that includes a linear drive pushing and rail guided lift device 700. It will be understood that those skilled in the relevant art may make substitutions and modifications without inventive faculty, without departing from the scope of the present disclosure. As shown in fig. 15, the lifting device 700 may include a longitudinally disposed post 302 instead of the track shown in fig. 14. As another example, the guide assembly of the lifting apparatus 700 may be a linkage, a rail structure, a guide wheel, etc., a belt drive apparatus, a gear drive apparatus, a linear push rod apparatus, a rack and pinion apparatus, a stretch cable apparatus, etc. The lifting device 700 may include one or more drives 710, which may include electric drives, pneumatic drives, hydraulic drives, and the like. The driver 710 may be partially secured to the base 200 or the bracket 300 and allows the slider 340 to slide relative to the bracket 300 in the longitudinal direction 101 or an opposite longitudinal direction 102 from the longitudinal direction. In some examples, the lifting device 700 may directly drive the slider 340. In still other examples, the lifting apparatus 700 is disposed to directly drive the armrest structure two to indirectly drive the slider 340.

Fig. 13 and 14 show the seat 620 already in the stowed mode, but also driven by the lift device, parallel to the carriage 300 and continuing to raise. The lifting device 700 is arranged to drive the slider 340 to slide in the longitudinal direction 101 or in a direction opposite to the longitudinal direction with respect to the track 360 fixed to the bracket 300. Fig. 15 shows a lifting device 700 of other embodiments. The slider 340 is driven to slide in the longitudinal direction, causing the armrest structure 500 to rise as well, and the seat 620 to be pivoted away. The patient can stand from a seated position on the seat 620 by means of the raised armrest structure 500. Simultaneously, the seat 620 is automatically retracted, so that the patient can perform walking balance rehabilitation training in a larger space.

When the slider 340 is driven to slide in the opposite longitudinal direction, a patient holding the armrest structure 500 is naturally ready to sit down with the lowering of the armrest structure 500, bending of the legs. The seat 620 is then lowered and the seat 620 automatically rotates and expands in the same direction as the patient's legs are bent. The rehabilitation device 100 may also be configured such that the seat 620 deploys and prepares a seat for a patient in response to the patient manually pushing the armrest structure 500 downward, or in response to the armrest structure 500 being driven downward by a driver. It will be appreciated that in the outdoor or ambulatory setting application scenario, the patient no longer needs to prepare extra stools or chairs. The patient can sit down and rest at any time when tired.

According to some embodiments, the walking balance rehabilitation device 100 includes: base 200, bracket 300, slider 340, and seat 620. The bracket 300 is fixedly arranged on the base 200. The stent 300 extends in the longitudinal direction 101. The slider 340 is slidably coupled to the bracket 300 such that the slider can slide in a longitudinal direction or in an opposite longitudinal direction relative to the bracket. One side (345) of the seat 620 is hinged with the slider 340. A middle portion (325) of the seat 620 is hinged with the bracket 300.

According to some embodiments, the walking balance rehabilitation device 100 may include: brake apparatus 400 and armrest structure 500. Brake apparatus 400 may include alternating connecting links 440 and revolute pairs 410, 420 forming a ring link structure. The slider 340 may be one of the links 430. The armrest structure 500 may be slidably coupled with the bracket 300 by the brake apparatus 400.

According to the walking balance rehabilitation device of some embodiments, the rotation direction of the seat 620 depends on the movement of the slider 340 parallel to the longitudinal direction.

According to some embodiments, the slider 340 may slide in the longitudinal direction 101 to stow the seat 620, and the slider 340 may slide in the longitudinal direction 101 to rotationally stow the seat 620.

According to some embodiments, sliding the slider 340 in a direction opposite the longitudinal direction causes the seat 620 to deploy, while sliding the slider in the longitudinal direction 101 causes the seat 620 to rotate to deploy.

According to some embodiments, the armrest structure is configured to be manually operable such that the armrest structure may slide the slider in a longitudinal direction or in an opposite longitudinal direction relative to the bracket.

According to some embodiments, the walking balance rehabilitation device further comprises a driver. The driver is coupled to the slider and is configured to drive the slider to slide in a longitudinal direction or in an opposite longitudinal direction relative to the bracket.

According to some embodiments, the slider 340 of the walking balance rehabilitation device 100 is slidable in the longitudinal direction 101 to change the walking balance rehabilitation device from the seat deployment mode to the seat stow mode.

According to some embodiments, the slider 340 of the walking balance rehabilitation device 100 may be slid in a direction opposite the longitudinal direction to cause the seat to rotate to deploy and cause the walking balance rehabilitation device 100 to change from the seat 620 stow mode to the seat 620 deploy mode.

According to some embodiments, the plane defined by the seat 620 in the stowed mode of the seat 620 and the longitudinal direction 101 defined by the bracket may be parallel to each other.

According to some embodiments, the plane defined by the seat 620 in the seat deployment mode is perpendicular to the longitudinal direction 101 defined by the bracket.

According to some embodiments, the frame 300 of the walking balance rehabilitation device 100 includes a chute member 320. The chute member 320 defines a chute 322 extending longitudinally 101. The rear 345 of the seat 620 is hinged with the slider 340. The middle portion 325 of the seat 620 is hinged to the outer end 325 of the swivel rod 324. The inner end 335 of the swivel rod 324 is hinged to the chute 322 such that the inner end 335 is limited to movement along the chute 322.

According to some embodiments, the armrest structure 500 and the slider 340 of the walking balance rehabilitation device 100 are moved in a longitudinal direction relative to the bracket 300 such that the seat is rotated and retracted. The armrest structure 500 and the slider are moved relative to the bracket 300 in a direction opposite to the longitudinal direction such that the seat 620 is rotatably unfolded.

According to some embodiments, walking balance rehabilitation device 100 includes a brake apparatus 400, wherein brake apparatus 400 includes six revolute pairs 410, 420 and six connecting rods 440. The six revolute pairs 410, 420 and the six connecting rods 440 are alternately connected to each other in a ring-shaped connecting rod structure. Wherein the six revolute pairs comprise four lockable revolute pairs 410.

According to some embodiments, one of the six links 440 is the slider 430. The other of the six links 440 is a support link 450. The support link 450 is coupled to the armrest structure 500 and the harness 550.

According to some embodiments, the walking balance rehabilitation device further comprises a braking apparatus. The braking device is arranged to lock the relative angle between the links connected thereto in response to a signal.

According to some embodiments, the walking balance rehabilitation device 100 includes a first base bar 213 and a second base bar 223. Wherein the first and second base rods 213, 223 extend along the first axial direction 110, i.e. the second axial direction 120, from both sides of the base 200, respectively.

According to the walking balance rehabilitation device of some embodiments, the first base bar 213 and the second base bar 223 are respectively hinged with the base 200 such that the coverage area 150 defined between the base 200, the first base bar 213, and the second base bar 223 is adjustable.

According to some embodiments, the first base bar 213 is coupled to the first front wheel 214 and the second base bar 223 is coupled to the second front wheel 224. The base 200 includes two rear wheels 222. The first front wheel 214, the second front wheel 224, and the two rear wheels 222 form an openable and closable rear-drive four-wheel chassis.

According to some embodiments, the walking balance rehabilitation device 100 further comprises a support link 450 and a support 520. The support link 450 is one of the links 440 other than the slider 340. The proximal end of the support 520 is coupled to a support link 450. The support 520 is cantilevered from the proximal end in a forward direction 103 perpendicular to the longitudinal direction.

According to some embodiments, the distal end of the support 520 is provided with a joint 522. Joint 522 is releasably coupled to exoskeleton device 800.

According to some embodiments, the walking balance rehabilitation device 100 further comprises a first pedal 215 and a second pedal 225. The first pedal 215 is hinged with the first base lever 213. A second pedal 225 is hinged to said second base bar 223. The first pedal 215 and the second pedal 225 may be rotatably folded with respect to the corresponding first base rod 213 and second base rod 223, respectively.

The above description of various embodiments is intended to assist those skilled in the relevant art in understanding the technical solutions and embodiments related to the present disclosure, and is not intended to be exhaustive or limiting the scope of the application. It should be understood that the illustration and description of the examples shown in the drawings are for illustrative purposes only and are not to be construed as limiting the present disclosure. It should also be understood that components or alternative examples described herein for one embodiment may be adapted for use in other embodiments described herein, unless otherwise indicated.

Claims

1. A walking balance rehabilitation device comprising:

a base;

the bracket is fixedly arranged on the base and extends along the longitudinal direction;

a slider slidably coupled to the bracket such that the slider can slide in a longitudinal direction or an opposite longitudinal direction with respect to the bracket; and

a seat, one side of which is hinged with the sliding part, and the middle part of which is hinged with the bracket.

2. The walking balance rehabilitation device of claim 1, further comprising:

the braking device comprises connecting rods and revolute pairs which are alternately connected and form a ring-shaped connecting rod structure, wherein the sliding piece is one of the connecting rods; and

and the handrail structure is slidably coupled with the bracket through the braking device.

3. The walking balance rehabilitation device of claim 2, wherein the direction of rotation of the seat is dependent on the movement of the slider parallel to the longitudinal direction.

4. The walking balance rehabilitation device of claim 3 wherein said slide slides in a longitudinal direction such that said seat is stowed and said slide slides in said longitudinal direction such that said seat is rotationally stowed.

5. The walking balance rehabilitation device of claim 3, wherein said slide slides in a reverse longitudinal direction causing said seat to deploy and said slide slides in said reverse longitudinal direction causing said seat to swivel to deploy.

6. The walking balance rehabilitation device of claim 3, wherein the slide slides in the longitudinal direction such that the walking balance rehabilitation device changes from a seat deployment mode to a seat stow mode.

7. The walking balance rehabilitation device of claim 3, wherein the slide slides in a reverse longitudinal direction such that the seat is rotated to deploy, causing the walking balance rehabilitation device to change from a seat stow mode to a seat deploy mode.

8. The walking balance rehabilitation device of claim 6 wherein the plane defined by the seat in the seat stow mode is parallel to the longitudinal direction defined by the bracket.

9. The walking balance rehabilitation device of claim 7 wherein the plane defined by the seat in the seat deployment mode is perpendicular to the longitudinal direction defined by the bracket.

10. The walking balance rehabilitation device of claim 2, wherein said bracket includes a chute member defining a longitudinally extending chute, the rear portion of said seat being hinged to said slider, the middle portion of said seat being hinged to the outer end of said swivel rod, the inner end of said swivel rod being hinged to said chute such that said inner end is constrained to move along said chute.

11. The walking balance rehabilitation device of claim 10 wherein movement of the armrest structure in a longitudinal direction moves the slider in a longitudinal direction relative to the bracket to rotationally retract the seat, and movement of the armrest structure in an opposite longitudinal direction moves the slider in an opposite longitudinal direction relative to the bracket to rotationally deploy the seat.

12. The walking balance rehabilitation device of claim 10, wherein the armrest structure is configured to be manually operable such that the armrest structure may slide the slider in a longitudinal direction or in an opposite longitudinal direction relative to the bracket.

13. The walking balance rehabilitation device of claim 10 further comprising a driver coupled to the slider and configured to drive the slider to slide in a longitudinal direction or in an opposite longitudinal direction relative to the bracket.

14. The walking balance rehabilitation device according to claim 10, characterized in that the walking balance rehabilitation device comprises: a brake apparatus, the brake apparatus comprising:

six revolute pairs; and

and the six revolute pairs and the six connecting rods are alternately connected with each other to form a ring-shaped connecting rod structure, wherein the six revolute pairs comprise four lockable revolute pairs.

15. The walking balance rehabilitation device of claim 14 wherein one of the six links is the slider; and the other of the six links is a support link coupled with the armrest structure and the safety belt.

16. The walking balance rehabilitation device of claim 1, further comprising:

a braking device arranged to lock the relative angle between the links connected thereto in response to a signal.

17. The walking balance rehabilitation device of claim 2, wherein the walking balance rehabilitation device comprises: a first base rod; and a second base rod, wherein the first base rod and the second base rod extend along a first axial direction, that is, a second axial direction, from both sides of the base, respectively.

18. The walking balance rehabilitation device of claim 17, wherein the first base bar and the second base bar are each hinged to the base such that a coverage area defined between the base, the first base bar, and the second base bar is adjustable.

19. The walking balance rehabilitation device of claim 18, wherein the first base bar is coupled to a first front wheel and the second base bar is coupled to a second front wheel, the base comprising two rear wheels, the first front wheel, the second front wheel, and the two rear wheels forming a retractable rear drive four wheel chassis.

20. The walking balance rehabilitation device of claim 2, further comprising:

a support link, which is one of the links other than the slider; and

and a support member having a proximal end coupled to the support link, the support member being cantilevered from the proximal end in a forward direction perpendicular to the longitudinal direction.

21. The walking balance rehabilitation device of claim 20 wherein the distal end of the support is provided with a joint that is releasably coupled with an exoskeleton apparatus.

22. The walking balance rehabilitation device of claim 17, further comprising:

a first pedal hinged to the first base rod; and

and the second pedal is hinged with the second base rod, so that the first pedal and the second pedal can be respectively rotated and folded relative to the corresponding first base rod and second base rod.