CN106236512B - A kind of gait rehabilitation robot for realizing walking foot pose - Google Patents
A kind of gait rehabilitation robot for realizing walking foot pose Download PDFInfo
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- CN106236512B CN106236512B CN201610815106.6A CN201610815106A CN106236512B CN 106236512 B CN106236512 B CN 106236512B CN 201610815106 A CN201610815106 A CN 201610815106A CN 106236512 B CN106236512 B CN 106236512B
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- connecting rod
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- 230000005021 gait Effects 0.000 title claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 239000012636 effector Substances 0.000 claims abstract description 19
- 239000000725 suspension Substances 0.000 claims abstract description 13
- 210000002683 foot Anatomy 0.000 abstract description 17
- 230000007246 mechanism Effects 0.000 abstract description 16
- 210000003141 lower extremity Anatomy 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 4
- 230000002490 cerebral effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 210000001699 lower leg Anatomy 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明公开了一种实现行走足部位姿的步态康复机器人，包括机架、动力装置、传动装置，机架上设有悬吊装置，所述机架左右两侧分别设有结构相同、且运动相位角为180°末端执行机构；动力装置通过传动装置同时驱动两套末端执行机构；悬吊装置对患者进行部分减重，末端执行机构通过踏板带动患者足部运动，进而带动下肢完成步态康复训练。本发明末端执行机构由轨迹发生单元和姿态控制单元组成，轨迹发生单元用于生成踝关节运动轨迹，姿态控制单元用于控制足部姿态。本发明中的末端执行机构通过凸轮与连杆形成的组合机构精确实现人在正常行走时的足部位姿，且仅需一台匀速电机即可实现机器人控制，康复训练效果较好，制造成本低，适合于一般家庭使用。
The invention discloses a gait rehabilitation robot for realizing the posture of walking feet, comprising a frame, a power device and a transmission device. The frame is provided with a suspension device, and the left and right sides of the frame are respectively provided with the same structure and The motion phase angle is 180° for the end effector; the power device drives two sets of end effectors at the same time through the transmission device; the suspension device partially reduces the weight of the patient, and the end effector drives the patient's feet to move through the pedals, thereby driving the lower limbs to complete the gait Rehabilitation. The end effector of the present invention is composed of a trajectory generating unit and a posture control unit, the trajectory generating unit is used to generate the movement trajectory of the ankle joint, and the posture control unit is used to control the posture of the foot. The end effector of the present invention accurately realizes the foot position of a person during normal walking through the combined mechanism formed by the cam and the connecting rod, and only needs a constant speed motor to realize the robot control, the rehabilitation training effect is good, and the manufacturing cost is low , suitable for general family use.
Description
Technical field
The present invention relates to a kind of robots in rehabilitation medical instrument field, and in particular to one kind can be realized people in normal row
The gait rehabilitation robot of foot pose when walking.
Background technique
Cerebral apoplexy is a kind of world wide disease of high incidence, its presence has seriously affected the life of the mankind and has been good for
Health.Cerebral apoplexy has a serious impact walking function, have analysis shows, the cerebral apoplexy survivor close to 2/3 will lose walking
Ability.Therefore, walking ability is recaptured, the key link that standing balance function is patients with cerebral apoplexy rehabilitation is restored.Through clinic
Studies have shown that repeating and illness can be effectively relieved in accurate rehabilitation training.For this target, the developed countries such as America and Europe are developed
Lokomat, the robots such as ALEX, LOPES, to help patient to complete rehabilitation training are gone out.However, such robot system is multiple
Miscellaneous, cost is high, and general family is difficult to undertake the medical expense of great number, and such equipment is chiefly used in recovery centre, patient exercise
Limited time, effect are difficult to be guaranteed.Therefore, it is necessary to develop a kind of small-sized, home-use lower limb rehabilitation robot.
By the retrieval discovery to existing technical literature, China Patent No. 201410073019.9 discloses a kind of " household
Small-sized lower limb rehabilitation exercising machine people ", the robot can generate a kind of class elliptical orbit similar with body gait, but with
Normal gait has larger difference.China Patent No. 201210277695.9 discloses " a kind of moving by bondage foot and shank band
Carry out the device of gait training " motion profile for being closer to normal gait is generated by planar linkage combined mechanism, but fail
Realize foot gesture when walking.China Patent No. 201110160875.4 discloses " pedal gait rehabilitation trainer phalanx
The rehabilitation institution in joint ", the mechanism have a driving capability of thigh, shank, ankle and phalanx, but and people in normal walking
Posture still has bigger difference.U.S. Patent number WO2013033855A3 discloses " Gait training apparatus for
Generating a natural gait pattern ", which can be good at realizing normal foot pose, but still need to
The complicated control system of design realizes robot speed's control.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, provides a kind of gait rehabilitation for realizing walking foot pose
Robot.According to the target foot pose that the physical trait of patient and the design of rehabilitation teacher, design match with patient, make
It can be designed that the healing robot mechanism for particular patient or specific objective group with the present invention, driven and suffered from by robot
Person's foot is further driven to patient's lower limb and completes corresponding rehabilitation training.It is a feature of the present invention that mechanism of the present invention can be accurately real
Existing foot pose of the people in normal walking, and only need that robot speed's control can be completed using uniform speed electric motor, thus manufacture
It is at low cost, control system is simple, can satisfy general family's use demand.
In order to solve the above technical problems, a kind of gait rehabilitation robot for realizing walking foot pose proposed by the present invention,
Including rack, power device, transmission device, the frame upper end is suspension apparatus, and the rack lower end is equipped with the two sets of phases in left and right
End effector mechanism that is same, being connected with the transmission device, the bottom of the rack is equipped with pedestal；The power device peace
In the rack, the transmission device drives two sets of end effector mechanisms simultaneously；The suspension apparatus includes being fixed on institute
The bracket above rack is stated, the front end of the bracket is equipped with suspension, and the rear end of the bracket is equipped with bearing block, and the suspension passes through
Cable is connected with bearing block；The rack both ends are respectively equipped with a fixed frame, and two sets of end effector mechanisms are fixed with two sets respectively
Frame, which corresponds, to be connected；Every set end effector mechanism includes track generating unit and posture control unit；The track occurs single
Member includes the first crank successively driven by the transmission device, the rotation grooved cam being arranged on first crank and installation
The first cam bawl in the rotation grooved cam, one end of first cam bawl and a push rod is hinged, the push rod
The other end be fixed with sliding block, the sliding block interacts cooperation with the sliding slot being fixed on the fixed frame, and the sliding block is successively
It is hinged with first connecting rod, second connecting rod, third connecting rod and the first swing rod, the second connecting rod is cut with scissors with first crank simultaneously
It connects；The posture control unit includes the second crank driven by the transmission device, is set with second on second crank
Cam bawl, the fixed frame are equipped with fixed grooved cam, and second cam bawl is inlaid in the fixed grooved cam, institute
It states the second cam bawl and is hinged with a guide block, the guide block is successively hinged with fourth link, the second swing rod, the 5th connecting rod and steps on
Plate；The guide block slides on second crank under the drive of second cam bawl；Second swing rod with it is described
First swing rod and the third connecting rod are articulated with a hinge joint simultaneously；The pedal is hinged with the third connecting rod simultaneously；Left and right
The first crank or the second crank in the end effector mechanism of two sets of side are installed accordingly with 180 ° of phase differences；The transmission device will
The power of power device passes to the first crank and the second crank simultaneously.
The present invention has the advantages that lower limb rehabilitation robot mechanism of the present invention can generate compared with the prior art
Normal human's gait track, while can be realized foot gesture of the people in normal walking, overcoming the prior art cannot be accurate
Realize the deficiency of foot pose of the people in normal walking.In addition, the present invention need to only use a uniform speed electric motor to carry out robot
Speed control simplifies robot control system, reduces manufacturing cost, and then is suitable for general family and uses.Compared with ectoskeleton
For robot, the present invention relieves constraint of the robot to patient legs, and comfort is more preferably.
Detailed description of the invention
Fig. 1 is overall assembling structural schematic diagram of the invention.
Fig. 2 is left distal end executing agency schematic diagram right view of the invention.
Fig. 3 is left distal end executing agency schematic diagram left view of the invention.
In figure:
1- left distal end executing agency 2- transmission device 3- power device
4- rack 51- bearing block 52- cable
53- bracket 54- hangs 6- fixed frame
7- right end executing agency 8- pedestal the first crank of 101-
102- rotates the first cam bawl of grooved cam 103- 104- push rod
105- sliding block 106- sliding slot 107- first connecting rod
108- the first swing rod 109- third connecting rod 110- second connecting rod
The 5th the second swing rod of connecting rod 113- of 111- pedal 112-
114- fourth link 115- fixes the second crank of grooved cam 116-
117- the second cam bawl 118- guide block
Specific embodiment
Technical solution of the present invention is described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of gait rehabilitation robot for realizing walking foot pose proposed by the present invention, including rack 4,
Power device 3, transmission device 2,4 upper end of rack be suspension apparatus, 4 lower end of rack be equipped with left and right two sets it is identical,
The bottom of the end effector mechanism 1,7 being connected with the transmission device 2, the rack 4 is equipped with pedestal 8；The power device 3
It is mounted in the rack 4, for the sake of safety, safety guard is installed in rack 4, by the transmission device 2,
Two sets of end effector mechanisms 1,7 are driven simultaneously；Motor used in the power device 3 selects uniform speed electric motor.The suspention dress
The bracket 53 including being fixed on 4 top of rack is set, the front end of the bracket 53 is equipped with suspension 54, the rear end of the bracket 53
Equipped with bearing block 51, the suspension 54 is connected by cable 52 with bearing block 51；4 both ends of rack are respectively equipped with a fixed frame
6, two sets of end effector mechanisms are connected with two sets of one-to-one correspondence of fixed frame 6 respectively.
As shown in Figures 2 and 3, the end effector mechanism 1 includes track generating unit and posture control unit.
The track generating unit includes the first crank 101 successively driven by the transmission device 2, setting described the
Rotation grooved cam 102 on one crank 101 and the first cam bawl 103 being mounted in the rotation grooved cam 102, described the
One end of one cam bawl 103 and a push rod 104 is hinged, and the other end of the push rod 104 is fixed with sliding block 105, the sliding block
105 interact cooperation with the sliding slot 106 being fixed on the fixed frame 6, the sliding block 105 be successively hinged with first connecting rod 107,
Second connecting rod 110, third connecting rod 109 and the first swing rod 108, the second connecting rod 110 are cut with scissors with first crank 101 simultaneously
It connects.
The posture control unit includes the second crank 116 driven by the transmission device 2, second crank 116
On be set with the second cam bawl 117, the fixed frame 6 is equipped with fixed grooved cam 115, and second cam bawl 117 is embedding
In the fixed grooved cam 115, second cam bawl 117 is hinged with a guide block 118, and the guide block 118 is successively cut with scissors
It is connected to fourth link 114, the second swing rod 113, the 5th connecting rod 112 and pedal 111；The guide block 118 is rolled in second cam
It is slided on second crank 116 under the drive of son 117.
Second swing rod 113 is articulated with a hinge joint with first swing rod 108 and the third connecting rod 109 simultaneously,
On i.e. described second swing rod 113 tool there are three hinge joint respectively with the fourth link 114, the 5th connecting rod 112 and the first swing rod
108 is hinged point articulated with third connecting rod 109.The pedal 111 is hinged with the third connecting rod 109 simultaneously；The i.e. described third
Hinge joint is hinged with first swing rod 108, second connecting rod 110 and the pedal 111 respectively there are three tools on connecting rod 109.
In the present invention, the first crank 101 or the second crank 116 in two sets of end effector mechanisms of left and right sides accordingly with
180 ° of phase difference installations.The power of power device 3 is passed to the first crank 101 and the second crank by the transmission device 2 simultaneously
116。
Although above in conjunction with attached drawing, invention has been described, and the invention is not limited to above-mentioned specific implementations
Mode, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art are at this
Under the enlightenment of invention, without deviating from the spirit of the invention, many variations can also be made, these belong to of the invention
Within protection.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610815106.6A CN106236512B (en) | 2016-09-10 | 2016-09-10 | A kind of gait rehabilitation robot for realizing walking foot pose |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610815106.6A CN106236512B (en) | 2016-09-10 | 2016-09-10 | A kind of gait rehabilitation robot for realizing walking foot pose |
Publications (2)
| Publication Number | Publication Date |
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| CN106236512A CN106236512A (en) | 2016-12-21 |
| CN106236512B true CN106236512B (en) | 2019-05-31 |
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| CN201610815106.6A Active CN106236512B (en) | 2016-09-10 | 2016-09-10 | A kind of gait rehabilitation robot for realizing walking foot pose |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108451750B (en) * | 2018-02-08 | 2019-05-17 | 重庆医科大学附属永川医院 | A kind of weight reducing device for rehabilitation training |
| CN108814899B (en) * | 2018-05-10 | 2021-01-15 | 合肥工业大学 | A multi-position, trajectory-adjustable lower limb training device |
| WO2020128115A1 (en) * | 2018-12-19 | 2020-06-25 | Hospital Sant Joan De Deu | Rehabilitation device for the lower extremities |
| CN109966709A (en) * | 2019-04-23 | 2019-07-05 | 王盛 | A gait training device based on visual proprioceptive feedback |
| CN110192964B (en) * | 2019-07-01 | 2021-10-01 | 河南科技大学 | A pedal-type gait rehabilitation robot foot exercise device |
| KR20220027228A (en) * | 2019-07-08 | 2022-03-07 | 베이징 아이-로보틱스 테크놀로지 컴퍼니 리미티드 | Cam for non-motorized multi-joint synchronization training device, non-circular gear pair, manufacturing method thereof, power mechanism using same, and non-motorized multi-joint synchronization training device |
| CN110947158B (en) * | 2019-12-12 | 2024-11-05 | 上海理工大学 | A walking aid training device based on elliptical motion |
| CN115844682A (en) * | 2022-11-30 | 2023-03-28 | 浙江工业大学 | Line-driven bionic human elbow joint exoskeleton |
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| CN206597136U (en) * | 2016-09-10 | 2017-10-31 | 天津大学 | A kind of gait rehabilitation robot for realizing walking foot pose |
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| AU2001286760B9 (en) * | 2000-08-25 | 2006-05-18 | Encompass Health Corporation | Powered gait orthosis and method of utilizing same |
| US8905951B2 (en) * | 2011-08-27 | 2014-12-09 | Restorative Therapies, Inc. | Motorized functional electrical stimulation step and stand trainer |
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|---|---|---|---|---|
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| CN105392461A (en) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | Apparatus for automated walking training |
| CN204033704U (en) * | 2014-04-16 | 2014-12-24 | 崔建忠 | Lower limbs rehabilitation training robot |
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| CN106236512A (en) | 2016-12-21 |
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