Walking assisting device for lower limb rehabilitation training

Abstract

The utility model belongs to the rehabilitation assisting technology, and particularly relates to a lower limb rehabilitation training walking assisting device which comprises a walking assisting frame and an exoskeleton part, and the exoskeleton part comprises a leg skeleton composed of a thigh part, a shank part and a foot part. The exoskeleton part further comprises a driving module arranged behind the leg skeleton and a rocking handle driven by the driving module, and the rocking handle is hinged to a driving arm arranged on the upper portion of the shank part. The exoskeleton part further comprises a moving part, the moving part can control the hip joint or the driving module to move on a connecting line of the hip joint and the driving module, when the distance between the hip joint and the driving module is closest, the leg skeleton is in a sitting posture state, and when the distance between the hip joint and the driving module is farthest, the leg skeleton is in a standing state. Movement of the leg skeleton adopted by the device is driven by a rear module, cost is reduced by reducing use of the modules, in addition, the leg skeleton can freely change postures, rehabilitation actions are increased, a user can wear the device conveniently, and the device can also be used as a wheelchair or a shifting machine through deformation.

Description

TECHNICAL FIELD

[0001] The utility model belongs to lower limbs rehabilitation auxiliary technology, concretely is a kind of lower limbs rehabilitation training auxiliary walking device. BACKGROUND

[0002] The device for assisting lower limbs dysfunction patient to carry out rehabilitation walking training mainly consists of stand and lower limbs exoskeleton, and the lower limbs exoskeleton in it is provided with independent drive module at hip joint and knee joint, and each module is controlled to move coordinately by preset control program, to assist to complete rehabilitation actions such as step, leg lifting, etc., since the joint module used by it is more, the control program of this kind of device is complex, and the overall price is high;In addition, the function of the existing device is single, cannot give full play to its role, and there is the problem of inconvenient wearing. SUMMARY

[0003] The utility model aims at providing a kind of lower limbs rehabilitation training auxiliary walking device, the movement of leg skeleton used by the device is driven by a post-module, reduce the use of module to reduce cost, in addition, leg skeleton can freely change posture, not only increase rehabilitation action, but also facilitate user wearing, simultaneously, the device can be used as wheelchair or displacement machine by deformation, to solve the problem presented in the above background art.

[0004] To achieve the above object, the utility model provides the following technical scheme: a kind of lower limbs rehabilitation training auxiliary walking device, including walking aid frame and exoskeleton part, wherein the exoskeleton part includes the leg skeleton consisting of thigh, shank and foot, and the upper end of thigh is connected with hip joint;The exoskeleton part further includes drive module arranged at the rear of leg skeleton, and handle is driven by drive module, a driving arm extending rearward and downward is fixedly arranged on the upper portion of shank, and the distal end of the driving arm is connected with the handle by mounting shaft, wherein the handle rotates in situ under the control of drive module, and drives driving arm to move, to make thigh, shank and foot simulate leg walking posture;The exoskeleton part further includes moving part, and the moving part can control hip joint or drive module to move on the connecting line of both, in the process that moving part controls hip joint or drive module to move, drive module works cooperatively to adjust the posture of thigh and shank, and when hip joint and drive module are closest, leg skeleton is in sitting posture, and when they are farthest, leg skeleton is in upright state.

[0005] In the above technical solution, the hip and knee joints of one leg share a single drive module. The drive module drives a crank to perform circular motion. Through the linkage between the crank and the drive arm, the rotation of the drive module is converted into a stepping motion of the entire leg bone, thereby meeting the needs of walking rehabilitation training. Additionally, the hip joint or drive module is designed to move closer to or further away from the body. During the closer movement, in conjunction with the rotation of the drive module, the leg bone can change from a standing to a sitting posture, and vice versa. Therefore, this assistive walking device can also assist in leg flexion and extension. This solution reduces the number of modules used, significantly lowering hardware costs and simplifying the control program. Through the coordinated work of the moving part and the drive module, it can switch between standing and sitting postures, increasing the range of leg movement, while allowing the user to maintain an upright sitting posture for easy wear.

[0006] The preferred method is to control the movement of the moving part drive module, with the hip joint fixed in place. Since the position of the hip joint does not move, when the leg bones change between standing and sitting postures, only the user's legs change posture accordingly, while the user's upper body and the walking frame remain relatively stationary. This reduces the number of components required for posture changes. In addition, since only the legs are involved in posture adjustment, the center of gravity of the user and the device as a whole changes little in the forward and backward direction, which helps the entire device remain stable.

[0007] As a preferred embodiment, the movable part is a telescopic rod, the upper part of which is mounted on the walking frame and the telescopic end extends backward and downward. The drive module is mounted on the end of the telescopic rod. The movement of the drive module is controlled by the extension and retraction of the telescopic rod. In the seated position, the telescopic rod is shortened, which can provide more auxiliary operation space behind the walking aid.

[0008] As a preferred option, a knee brace is placed on the upper front side of the lower leg. When worn, the knee brace touches the upper part of the user's lower leg from the front, thus restricting the position of the leg.

[0009] As a preferred embodiment, the walking aid consists of an upper body support section and a lower walking section. The walking section contacts the ground and supports the body support section via several wheels, and the body support section is connected to the walking section via a lifting mechanism. The telescopic rod is mounted on the body support section. The walking aid ensures that the entire auxiliary walking device is in a stable upright position. The body support section is height-adjustable; raising the installation height of the body support section meets the user's support needs for upright walking, while lowering the installation height of the body support section allows for a reduction in the height of the exoskeleton (or the user) in a seated position, thus making the use of the walking device more convenient and safer.

[0010] As a preferred embodiment, the body support is provided with two front handles at the front and two rear handrails at the rear, with a human-machine position reserved in the middle facing the human body. After the user's upper body passes through the human-machine position, they can hold the front handles, and the caregiver can grasp the rear handrails from behind to better move the entire assistive walking device.

[0011] As a preferred option, a backrest is provided behind the human-machine position. This backrest can be opened backward to create an access passage for getting on and off the machine. It serves to support the user's back from behind and also acts as an entry and exit point for the user when the machine is open. Therefore, by changing the leg bones to a sitting position, the user can be easily transferred between the assistive walking device and the stool, making it easy to wear.

[0012] As a preferred option, a head support frame is installed at the upper part of the backrest to keep the head in a normal posture.

[0013] As a preferred option, a hip support is provided on the upper back of the thigh. When the exoskeleton is in a sitting position, the hip support supports the user from below. That is, when the user sits on the hip support, the entire assistive walking device can function as a wheelchair or transfer machine, and caregivers can push the assistive walking device to the destination. Attached Figure Description

[0014] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0015] Figure 1 A schematic diagram of the structure of the first embodiment of the auxiliary walking device provided by this utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the unilateral exoskeleton in the first embodiment in a standing posture;

[0017] Figure 3 This is a schematic diagram of the structure in the first embodiment where the unilateral exoskeleton is deformed into a sitting position;

[0018] Figure 4 This is a schematic diagram of the structure of the first embodiment in a seated position;

[0019] Figure 5 This is a schematic diagram of the structure of the unilateral exoskeleton in the second embodiment, in a standing posture.

[0020] Figure 6 This is a schematic diagram of the structure in the second embodiment where the unilateral exoskeleton is deformed into a sitting position;

[0021] Figure 7This is a usage diagram of the second embodiment, used as a wheelchair or transfer machine.

[0022] In the diagram, the components are: body support 1, walking section 2, exoskeleton 3, rear wheel frame 4, front wheel frame 5, body support frame 6, front control panel 7, human-machine interface 8, front handle 9, backrest 10, head support frame 11, shoulder support 12, rear armrest 13, thigh 301, hip joint 302, knee joint 303, calf 304, ankle joint 305, foot 306, connecting block 307, drive arm 308, telescopic rod 309, drive module 310, crank 311, mounting shaft 312, strap I 313, knee support 314, strap II 315, and hip support 316. Detailed Implementation

[0023] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0024] Figure 1 The first type of lower limb rehabilitation training assistive walking device demonstrated includes a walking frame and an exoskeleton 3. The walking frame consists of an upper body support 1 and a lower walking section 2. The walking section 2 is symmetrical and contacts the ground through four wheels. The body support 1 is also symmetrical and is connected to the lower body support 1 via a lifting mechanism. Figures 1-3 As can be seen, the lifting mechanism used in this embodiment is a plug-in structure, including four inner tubes vertically arranged at the lower part of the body support 1, and an outer sleeve correspondingly arranged on the walking part 2. Pin holes are provided on the inner tubes and the outer sleeve (a set of insertion holes are provided on the outer sleeve, and multiple insertion holes are provided along the upper length of the inner tube). When the height needs to be adjusted, the horizontally arranged pin is pulled out, and after the height is determined, the pin is inserted into the insertion hole of the outer sleeve to position the inner tube.

[0025] Regarding body support section 1, from... Figure 1As can be seen, the upper part is a front operating panel 7 located directly in front of the user. Behind the front operating panel 7 is a gap, which is a human-machine interface 8 for the user's body to pass through. Shoulder supports 12 are provided on both sides of the human-machine interface 8. When in use, the user's body is in the human-machine interface 8, with their shoulder joints resting on the shoulder supports 12, their elbows resting on the front operating panel 7, and their hands gripping the front handle 9. Therefore, this walking aid can provide good support for the user. In addition, to prevent the user from leaning backward, a backrest 10 is also provided behind the human-machine interface 8. When in use, the backrest 10 restricts the user's back from behind. For users with weak necks, head support frames 11 can be added to the upper sides of the backrest 10 to maintain head posture. In this embodiment, the user gets on and off the assisted walking device from the rear. Therefore, the backrest 10 is movable. Specifically, the right side of the backrest 10 is hinged to the body support 1 (the hinge axis is vertically downward), and the left side is connected to the body support 1 via a pin. After removing the pin, the backrest 10 can be opened backward, thereby opening the human-machine position 8 and forming an entry and exit position for the user to get on and off the device. In addition, two rear handrails 13 are symmetrically arranged on the upper rear of the body support 1, allowing caregivers to grasp the rear handrails 13 from the rear and push the entire device.

[0026] Regarding exoskeleton part 3, similar to existing lower limb exoskeletons, it includes a leg skeleton composed of a thigh part 301, a lower leg 304, and a foot 306. The upper end of the thigh part 301 connects to the hip joint 302, and the lower end connects to the lower leg 304 via a knee joint 303. The lower end of the lower leg 304 connects to the foot 306 via an ankle joint 305. Straps I 313 and II 315 are respectively provided on the thigh part 301 and the lower leg 304, and a knee brace 314 for restricting the lower leg is provided on the upper front side of the lower leg 304. Unlike existing lower limb exoskeletons, the hip joint 302 and knee joint 303 of this exoskeleton part 3 do not have independent drive modules; each leg skeleton is controlled by only one drive module 310. Figure 2 As shown, the drive module 310 is located behind the leg bones. The rotation axis of the drive module 310 points to the left and right, and a rocker arm 311 is mounted on the rotation axis. A connecting block 307 is located on the upper part of the lower leg 304. A drive arm 308 extending backward and downward is fixedly mounted on the connecting block 307. The end of the drive arm 308 is connected to the rocker arm 311 through a mounting shaft 312. Under the control of the drive module 310, the rocker arm 311 rotates in place around the rotation axis of the drive module 310 and drives the drive arm 308 to move, thereby simulating the walking posture of the thigh 301, lower leg 304 and foot 306.

[0027] Compared to existing lower limb exoskeletons, the exoskeleton unit 3 in this embodiment uses only one drive module to simulate walking postures for the leg bones. Additionally, the exoskeleton unit 3 also includes a movement unit that controls the movement of the drive module 310, specifically employing… Figure 2 The telescopic rod 309 shown is an electrically operated telescopic component. Its fixed end is installed on the side of the body support 1 closest to the human body, and its telescopic end extends downwards and backwards. The aforementioned hip joint is located at the fixed end of the telescopic rod 309, and the drive module 310 is installed at the end of the telescopic end. The extension and retraction of the telescopic rod 309 controls the movement of the drive module 310 towards the hip joint 302. During the movement of the hip joint 302, the drive module 310 rotates in coordination, thereby simulating a knee flexion movement of the leg bones. Figure 2 The standing posture transformation shown is Figure 3 The illustrated seated posture (manually lowering the body support 1) indicates that this walking aid not only assists the user in walking and leg raising while standing, but also in knee flexion movements such as high leg raises, thus increasing the range of rehabilitation training modes. Furthermore, the seated leg position facilitates getting on and off the device, meaning the walking aid shown in this embodiment is easy to wear. In this embodiment, the telescopic rod 309 shortens during the user's getting on and off the device. Figure 4 As shown, this can provide more auxiliary operating space behind the walking device.

[0028] In this embodiment, the position of the hip joint 302 remains fixed during the leg bone posture change. Therefore, only the user's legs change posture, while the user's upper body remains relatively stationary with respect to the walking frame. Thus, the user can change from a standing to a sitting posture simply through the coordinated operation of the telescopic rod 309 and the drive module 310; the change process is simple and stable. To further expand the functionality of the assistive walking device with the above features, this embodiment also provides a second embodiment. The only difference between the second and first embodiments is the addition of a hip support 316 (an optional and detachable component) behind the upper rear of the thigh 301. The standing posture of the exoskeleton is as follows: Figure 5 As shown, its sitting posture is as follows Figure 6 As shown, due to the support of the hip support 316, the user can sit stably as if on a stool in a seated position. Therefore, when the height of the body support 1 is lowered to... Figure 6 In this state, the entire assistive walking device can be used as a wheelchair, such as... Figure 7 As shown, the caregiver pushes the device from behind, which can effectively expand the application scenarios of the assistive walking device.

[0029] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0030] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0031] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A lower limb rehabilitation training assistive walking device, characterized in that: The device includes a walking frame and an exoskeleton. The exoskeleton comprises a leg skeleton consisting of a thigh, a lower leg, and a foot, with the upper end of the thigh connected to the hip joint. The exoskeleton also includes a drive module located behind the leg skeleton and a crank driven by the drive module. A drive arm extending downward and backward is fixedly mounted on the upper part of the lower leg, and the end of the drive arm is connected to the crank via a mounting shaft. The crank rotates in place under the control of the drive module, driving the drive arm to move, thereby simulating the walking posture of the thigh, lower leg, and foot. The exoskeleton also includes a moving part that can control the movement of the hip joint or the drive module along the line connecting the two. When the two are closest, the leg skeleton is in a sitting position, and when the two are farthest apart, the leg skeleton is in a standing position.

2. The auxiliary walking device as described in claim 1, characterized in that: The moving part controls the movement of the drive module, and the hip joint is positioned and installed.

3. The auxiliary walking device as described in claim 2, characterized in that: The movable part is a telescopic rod, the upper part of which is mounted on the walking frame and the telescopic end extends backward and downward. The drive module is mounted on the telescopic end of the telescopic rod.

4. The auxiliary walking device as described in claim 2, characterized in that: A knee rest is placed on the upper front side of the lower leg, and when worn, the knee rests against the upper part of the user's lower leg from the front.

5. The auxiliary walking device as described in claim 3, characterized in that: The walking aid consists of an upper body support section and a lower walking section. The walking section contacts the ground and supports the body support section through several walking wheels, and the body support section is connected to the walking section through a lifting mechanism. The telescopic rod is installed on the body support section.

6. The lower limb rehabilitation training assistive walking device as described in claim 5, characterized in that: The body support unit has two front handles at the front and two rear armrests at the rear, with a human-machine position reserved in the middle facing the human body, and the user can hold the front handles after passing through the human-machine position with their upper body.

7. The lower limb rehabilitation training assistive walking device as described in claim 6, characterized in that: A backrest is provided behind the human-machine interface, which can be opened backward and open behind the human-machine interface.

8. The lower limb rehabilitation training assistive walking device as described in claim 7, characterized in that: A head support frame is installed at the upper part of the backrest to keep the head in a normal posture.

9. The auxiliary walking device as described in any one of claims 6-8, characterized in that: A hip support is provided on the upper back of the thigh. When the exoskeleton is in a sitting position, the hip support supports the user from below.

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