Foot sole wheel-driven alternating walking exoskeleton device for rehabilitation training of paraplegia

A technology of alternating walking and rehabilitation training, applied to passive exercise equipment, equipment to help people walk, manipulators, etc., can solve the problems of poor human-machine gait coordination, expensive products, high energy consumption, etc., and achieve real-time intervention effect of ability

Active Publication Date: 2016-10-26
TSINGHUA UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to overcome the problems of complex control system, high energy consumption, poor man-machine gait coordination and expensive products of the existing paraplegia rehabilitation exoskeleton, after analyzing the advantages and disadvantages of the current wearable exoskeleton, the present invention proposes a solution that can satisfy both A simple and reliable exoskeleton device for paraplegia rehabilitation training for the above two requirements

Method used

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  • Foot sole wheel-driven alternating walking exoskeleton device for rehabilitation training of paraplegia
  • Foot sole wheel-driven alternating walking exoskeleton device for rehabilitation training of paraplegia
  • Foot sole wheel-driven alternating walking exoskeleton device for rehabilitation training of paraplegia

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Embodiment Construction

[0022] The present invention will be described in detail below in conjunction with the drawings.

[0023] Such as figure 1 As shown, the exoskeleton device of the present invention mainly includes exoskeleton and elbow crutch, among which,

[0024] The exoskeleton includes power and control circuit module 1, hip joint 2, wire 3, leg fixing plate and strap 4, knee joint lock 5, length adjustment screw 6, and plantar drive module 7.

[0025] The power supply and control circuit module 1 mainly includes a lithium-ion battery pack, a motor controller and a wireless signal receiver.

[0026] The wire 3 mainly includes a three-phase brushless motor wire and a Hall wire, which is responsible for transmitting the electric energy and control signals of the power supply and control circuit module 1 to the sole driving module 7 to drive the human body forward.

[0027] The leg fixing plate and strap 4 are located at the femur and tibia and are responsible for fixing the user's lower limbs.

[0028]...

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Abstract

The invention relates to a paraplegic rehabilitation exoskeleton device, which comprises an exoskeleton and an elbow crutch, wherein the exoskeleton mainly comprises a power supply and control circuit module and foot sole driving modules, and the elbow crutch mainly comprises elbow crutch remote controllers and elbow crutch tube bodies. The exoskeleton device provided by the invention adopts a foot sole wheel-driven manner, and the feet are enabled not to leave the ground all the time during walking, thereby overcoming the swing phase problem in the joint-driven exoskeletal gait; and the elbow crutches with the remote controllers are adopted for auxiliary balance, and gait parameters, such as step length, step frequency and step speed during walking are mastered in real time by controlling the amplitude and time of keys pressed by left and right hands. The exoskeleton device meets the upright standing and alternating walking requirements of paraplegic rehabilitation with a relatively compact structure.

Description

Technical field [0001] The present invention relates to the technical field of medical devices, in particular, to powered lower limb medical exoskeleton technology. Background technique [0002] In recent years, the application of exoskeleton technology in paraplegia aided rehabilitation has gradually matured. The most representative one is ReWalk exoskeleton, which has been successfully commercialized, which has not only obtained FDA certification but also has been successfully marketed. Powered lower limb exoskeletons similar to ReWalk structure include Ekso and Indego. Although this type of exoskeleton drive unit is slightly different, the common point is that it is embedded with a control sensor that can sense the intention of the human body and uses a crutch to assist in balance. [0003] Although the mobile wearable exoskeleton represented by ReWalk can help paraplegic patients walk, it is difficult for this type of joint-driven exoskeleton to achieve the complete overlap o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/04A61H3/02A61H1/02B25J9/00
CPCA61H1/0262A61H3/02A61H3/04A61H2003/005A61H2003/007A61H2003/043A61H2003/046A61H2201/1207A61H2201/14A61H2201/1638A61H2201/1642A61H2201/165A61H2201/1657A61H2205/10B25J9/0006
Inventor 季林红马青川
Owner TSINGHUA UNIV
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