A leg exercise device for neurological rehabilitation
The leg exercise device for neurological rehabilitation, which integrates a servo direct drive mechanism, a magnetorheological fluid rotary damper, and a torque sensor, solves the problem of the single function of existing devices, achieves complete coverage of the entire cycle of rehabilitation training and improves safety, and significantly improves rehabilitation results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- THE FIRST AFFILIATED HOSPITAL OF WENZHOU MEDICAL UNIV
- Filing Date
- 2026-05-29
- Publication Date
- 2026-06-30
AI Technical Summary
Existing leg exercise devices for neurological rehabilitation have limited functionality and cannot cover the full-cycle rehabilitation needs of patients, from early passive training, intermediate assisted active training to late resistance training. They also lack thermotherapy modules and personalized limb fixation, resulting in poor training comfort, numerous safety hazards, and difficulty in achieving ideal rehabilitation effects.
A leg exercise device integrating a servo direct drive mechanism, a magnetorheological fluid rotary damper, and a torque sensor was designed to achieve three levels of training modes: passive, assisted active, and resistance-enhanced. It is equipped with thermotherapy and a personalized fixation structure. The servo direct drive mechanism and magnetorheological fluid rotary damper provide multi-level training modes, and the device is combined with muscle tension detection and emergency stop protection to ensure safety and adaptability.
It achieves complete coverage of the entire rehabilitation training cycle, eliminates the need to replace equipment, reduces medical costs and the operational threshold for patients, improves training compliance, significantly enhances rehabilitation outcomes, and reduces the risk of secondary injury.
Smart Images
Figure CN224421839U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of leg exercise devices, and more particularly to a leg exercise device for neurological rehabilitation. Background Technology
[0002] The leg exercise device for neurological rehabilitation is a specialized rehabilitation device for patients with lower limb motor dysfunction in neurology. Through scientific lower limb exercise training, it improves patients' limb muscle strength and joint range of motion, promotes neural function remodeling, and enhances lower limb motor control and walking ability. It is a core auxiliary device for lower limb rehabilitation treatment in neurology.
[0003] In the clinical diagnosis and treatment of neurology, many diseases such as stroke, traumatic brain injury, spinal cord lesions, and Parkinson's disease can easily cause lower limb motor dysfunction. Lower limb muscle strength recovery, joint range of motion improvement and neurological function remodeling are the core goals of rehabilitation treatment for such patients. Standardized leg training in stages and throughout the whole cycle is the key path to achieve this goal.
[0004] However, existing leg exercise devices for neurological rehabilitation generally suffer from the deficiency of single-function design. Most devices can only adapt to the training needs of a single rehabilitation stage, either only completing passive joint movement training in the early stage of bed rest or only achieving active resistance training in the later stage of rehabilitation. They cannot cover the full cycle of rehabilitation needs of patients from early passive training, intermediate assisted active training to late resistance strengthening training with a single device. Patients need to frequently change multiple devices to complete the entire rehabilitation process, which increases the equipment investment cost of medical institutions and also increases the rehabilitation time cost and operation threshold for patients.
[0005] Meanwhile, most existing devices only focus on motor function training and do not have a thermotherapy auxiliary module. They cannot simultaneously improve local blood circulation in the lower limbs, relieve muscle spasms and abnormal muscle tone during training, making it difficult to achieve synergistic effects between exercise training and physical therapy. In addition, the limb fixation structure and training angle adjustment mechanism of existing devices lack flexibility and cannot be personalized according to the patient's body parameters. The training comfort is poor, which can easily reduce patient training compliance and pose certain safety hazards. Ultimately, it is difficult to achieve the expected exercise and rehabilitation effects.
[0006] Therefore, it is necessary to propose a leg exercise device for neurological rehabilitation to solve the above problems. Utility Model Content
[0007] This application provides a leg exercise device for neurological rehabilitation, which aims to improve the technical problem that existing leg exercise devices for neurological rehabilitation generally have limited functions and cannot cover the full cycle of rehabilitation needs of patients from early passive training, mid-term assisted active training to late resistance training, thus making it difficult to achieve the ideal rehabilitation exercise effect.
[0008] This application provides a leg exercise device for neurological rehabilitation, including a seat assembly and two sets of symmetrically arranged leg training mechanisms. The training mechanism includes a control component and a training component. The training component includes a hip joint mechanism hinged to the seat assembly, an upper arm guard hinged to the hip joint mechanism, and a forearm guard hinged to the distal end of the upper arm guard.
[0009] Servo direct drive mechanisms are provided at the joints of the hip and knee joints. A magnetorheological fluid rotary damper is coaxially installed at the joint of the knee joint. A travel limit sensor and a torque sensor for muscle tension detection are provided at the joint.
[0010] The servo direct drive mechanism, magnetorheological fluid rotary damper, and torque sensor are all electrically connected to the control components.
[0011] The technical solutions described in this application embodiment have at least the following technical effects: the servo direct drive mechanism, the magnetorheological fluid rotary damper, and the torque sensor are all electrically connected to the control components, realizing a built-in passive, assisted active, and resistance-enhanced three-level training mode. This can fully cover the full-cycle rehabilitation needs of patients with lower limb motor dysfunction in neurology, from early bedridden passive training, mid-term assisted active training to late-term resistance-enhanced training. Patients can complete the entire rehabilitation training process without having to replace multiple devices, effectively reducing the equipment investment costs for medical institutions and the rehabilitation operation threshold for patients. At the same time, through precise parameter control and personalized mode adaptation, patient training compliance is improved, achieving a synergistic effect of lower limb muscle strength improvement, joint range of motion improvement, and neural function remodeling, significantly improving the overall effect of rehabilitation exercises.
[0012] In this embodiment, in passive training mode, the control component controls the servo direct drive mechanism to drive the leg training unit to move along a preset trajectory throughout the entire process.
[0013] In the assisted active training mode, the control component can output power assistance with an adjustable ratio from 0% to 100% according to the patient's real-time active force torque, and the rhythm of the movement is dominated by the patient's active force.
[0014] In the resistance enhancement training mode, the servo direct drive mechanism switches to zero torque follow-up mode, and the control component controls the magnetorheological fluid rotary damper to output smooth and adjustable reverse motion resistance.
[0015] In this embodiment, the servo direct drive mechanism of the hip joint mechanism includes a servo motor and a drive shaft built into the hinge frame, which can drive the upper arm guard to adjust the abduction and adduction angles from 0° to 60° around the hip joint hinge.
[0016] The servo direct drive mechanism of the knee joint includes a servo motor and a drive shaft built into the articulation frame, which can drive the forearm guard to adjust the flexion and extension angle from 0° to 120° relative to the upper arm guard.
[0017] In this embodiment, the electronic travel limit sensor and torque sensor are both connected to the training control system. The training control system can adjust the output parameters of the servo direct drive mechanism and the damping value of the magnetorheological fluid rotary damper in real time based on the collected patient leg muscle tension data and joint torque data. When the data exceeds the preset threshold, the emergency stop protection is triggered immediately.
[0018] In this embodiment, both the upper arm brace and the forearm brace are provided with at least two sets of Velcro straps for fixing the limbs on their outer sides. The inner lining of the upper arm brace and the forearm brace consists of a removable and washable breathable mesh layer, a memory foam cushioning layer, and an airbag massage unit, from the outside to the inside.
[0019] In this embodiment, the seat assembly includes a base, an electric lifting mechanism vertically fixed to the top of the base, a seat fixed to the output end of the electric lifting mechanism, a backrest hinged to the rear end of the seat and adjustable in angle, and adjustable armrests disposed on the left and right sides of the seat; the control panel of the training control system and the emergency stop button are integrated and installed on the adjustable armrests, and the trigger priority of the emergency stop button is higher than all operation commands of the control panel.
[0020] Beneficial effects: The single device integrates three levels of full-cycle training modes: passive, assisted active, and resistance reinforcement. Combined with bilateral independent and mirror linkage training, it covers the entire rehabilitation process for patients from the early stage of bed rest to the muscle strength recovery period. It is adapted to the neural remodeling needs of stroke hemiplegic patients, does not require equipment replacement, and greatly improves the continuity and adaptability of rehabilitation.
[0021] Secondly, by forming a two-dimensional safety closed loop through a dedicated travel limit sensor for muscle tone detection and a torque sensor, muscle spasms can be predicted and emergency stop protection can be triggered, effectively reducing the risk of secondary injury during the rehabilitation of patients with nerve damage. Attached Figure Description
[0022] Figure 1 A three-dimensional structural schematic diagram of the leg exercise device for neurological rehabilitation provided in the embodiments of this application;
[0023] Figure 2 A three-dimensional structural diagram of the hip joint hinge provided in an embodiment of this application;
[0024] Figure 3 A three-dimensional structural schematic diagram of the boom guard provided in the embodiments of this application;
[0025] Figure 4 A three-dimensional structural schematic diagram of the hinge frame provided in an embodiment of this application;
[0026] Figure 5 This is an exploded structural diagram of the boom guard provided in the embodiments of this application;
[0027] The following are the labeling elements in the figure:
[0028] 1. Seat assembly; 11. Base; 12. Electric lifting mechanism; 13. Seat; 14. Backrest; 2. Training mechanism; 21. Control components; 211. Adjustable armrests; 212. Control panel; 213. Emergency stop button; 22. Training components; 221. Upper arm guard; 222. Forearm guard; 223. Hip joint hinge; 224. Servo motor one; 225. Servo motor two; 226. Drive shaft one; 2 27. Hinge Frame 1; 228. Electronic Travel Limit Sensor; 229. Torque Sensor; 220. Magnetorheological Fluid Rotary Damper; 2211. Hinge Frame 2; 2212. Drive Shaft 2; 23. Auxiliary Components; 231. Velcro Straps; 232. Miniature Air Pump; 233. Air Tube; 234. Breathable Mesh Fabric Layer; 235. Memory Foam Cushioning Layer; 236. Airbag Massage Unit; 237. Far-Infrared Heating Unit. Detailed Implementation
[0029] In the clinical diagnosis and treatment of neurology, many diseases such as stroke, traumatic brain injury, spinal cord lesions, and Parkinson's disease can easily cause lower limb motor dysfunction. Lower limb muscle strength recovery, joint range of motion improvement and neurological function remodeling are the core goals of rehabilitation treatment for such patients. Standardized leg training in stages and throughout the whole cycle is the key path to achieve this goal.
[0030] However, existing leg exercise devices for neurological rehabilitation generally suffer from the deficiency of single-function design. Most devices can only adapt to the training needs of a single rehabilitation stage, either only completing passive joint movement training in the early stage of bed rest or only achieving active resistance training in the later stage of rehabilitation. They cannot cover the full cycle of rehabilitation needs of patients from early passive training, intermediate assisted active training to late resistance strengthening training with a single device. Patients need to frequently change multiple devices to complete the entire rehabilitation process, which increases the equipment investment cost of medical institutions and also increases the rehabilitation time cost and operation threshold for patients.
[0031] Meanwhile, most existing devices only focus on motor function training and do not have a thermotherapy auxiliary module. They cannot simultaneously improve local blood circulation in the lower limbs, relieve muscle spasms and abnormal muscle tone during training, making it difficult to achieve synergistic effects between exercise training and physical therapy. In addition, the limb fixation structure and training angle adjustment mechanism of existing devices lack flexibility and cannot be personalized according to the patient's body parameters. The training comfort is poor, which can easily reduce patient training compliance and pose certain safety hazards. Ultimately, it is difficult to achieve the expected exercise and rehabilitation effects.
[0032] Based on this, in order to improve the technical problem that existing leg exercise devices for neurological rehabilitation generally have limited functions and cannot cover the full cycle of rehabilitation needs of patients from early passive training, mid-term assisted active training to late resistance training, and thus cannot achieve the ideal rehabilitation exercise effect, the embodiments of this application provide the following solutions.
[0033] Please refer to the following: Figures 1 to 5 This application provides a leg exercise device for neurological rehabilitation. The leg exercise device for neurological rehabilitation includes a support assembly, a seat assembly 1, a control component 21, two sets of symmetrically arranged leg training units, and a training control system. The support assembly includes a horizontally arranged base 11, with self-locking casters installed at the four corners of the bottom of the base 11, and an electric lifting mechanism 12 vertically fixed at the top center. In this embodiment, the electric lifting mechanism 12 adopts a dual synchronous electric push rod with a lifting stroke of 0 to 200 mm to adapt to the usage needs of patients of different heights. The seat assembly 1 includes a seat 13, a backrest 14, and adjustable armrests 211. The bottom of the seat 13 is fixed to the output end of the electric lifting mechanism 12, and the backrest 14 is hinged to the rear end of the seat 13 through a damping pivot. The tilt angle adjustment range is 90° to 180°, adapting to all scenarios from sitting to semi-reclining. Adjustable armrests 211 are installed on both sides of the seat 13, with an up-and-down tilt angle adjustment range of 0° to 45°. The control unit 21 includes two control panels 212 and two emergency stop buttons 213, located on the top surface of the adjustable armrests 211 on both sides. The emergency stop buttons 213 are mushroom-shaped self-locking switches, which have a higher priority than all operation commands on the control panels 212. Pressing them immediately cuts off the power output of all actuators. The two sets of leg training units are completely symmetrical in structure, corresponding to the patient's left and right lower limbs respectively. Each set includes a hip joint drive mechanism, a knee joint drive mechanism, an upper arm brace 221, a forearm brace 222, a sensor damping module, and a heat therapy-massage integrated auxiliary component 23.
[0034] The hip joint drive mechanism includes a hip joint hinge 223 fixed to the bottom of the seat 13, a hinge frame 227, a servo motor 224, and a drive shaft 226. The outer side of the hinge frame 227 is hinged to the hip joint hinge 223, and the inner side is fixed to the proximal end of the upper arm guard 221. The servo motor 224 and the drive shaft 226 are built into the hinge frame 227. The servo motor 224 is equipped with a non-locking planetary reducer, which drives the upper arm guard 221 to swing around the hip joint hinge 223 via the drive shaft 226, realizing the adjustment of the hip joint abduction or adduction angle from 0° to 60°. The knee joint drive mechanism includes two sets of hinge frames 2211, a servo motor 225, and a drive shaft 2212 that are hinged to each other. Two sets of articulated frames 2211 are fixed to the distal end of the upper arm guard 221 and the proximal end of the forearm guard 222, respectively, with the articulation center coaxial with the physiological rotation center of the patient's knee joint. The servo motor 225 and the drive shaft 2212 are built inside the articulated frame 2211, which can drive the forearm guard 222 to swing relative to the upper arm guard 221, realizing the adjustment of the knee joint flexion and extension angle from 0° to 120°. The servo motor of this device is the core of precise control for rehabilitation, which can realize the switching of training modes throughout the entire cycle and the millisecond-level safety response. It can be purchased through authorized distributors of brands such as Huichuan and Panasonic.
[0035] The sensing damping module includes an electronic travel limit sensor 228, a torque sensor 229, and a magnetorheological fluid rotary damper 220. The electronic travel limit sensor 228 is located at the hip and knee joint hinges and can detect the patient's leg muscle tension in real time through changes in rotational travel. The torque sensor 229 is coaxially mounted on drive shaft 2212 to collect the knee joint interaction torque in real time. The magnetorheological fluid rotary damper 220 is coaxially mounted on drive shaft 2212 and can achieve continuous adjustment of the damping torque by adjusting the excitation current, providing reverse resistance for training. The integrated heat therapy-massage auxiliary component 23 includes a Velcro strap 231, a miniature air pump 232, and a functional module integrated into the inner lining of the support frame. Both the upper arm brace 221 and the forearm brace 222 have two sets of Velcro straps 231 on their outer sides for securing the patient's limbs. The inner lining of the brace consists of, from the outside to the inside, a removable breathable mesh layer 234, a 20-30mm thick memory foam cushioning layer 235, and a functional layer integrating a heat therapy-massage module. The heat therapy-massage module includes three independently controlled airbag massage units 236 and a carbon fiber far-infrared heating unit 237. The airbag massage units 236 are provided with an adjustable air pressure of 0 to 30 kPa by a miniature air pump 232, and the far-infrared heating unit 237 has an adjustable operating temperature of 35℃ to 55℃. Equipped with dual overheat protection, the magnetorheological fluid rotary damper of this device is the core of resistance training, which can be steplessly smooth adjusted and provide millisecond-level emergency force relief. It can be purchased through channels such as Lord and Chongqing Materials Research Institute. The torque sensor of this device is the core of auxiliary training and safety protection, which can accurately collect force data and predict muscle spasms. It can be purchased through channels such as HBM and Suzhou Obatel. The electronic stroke limit sensor of this device is the core of joint safety limit, which can accurately limit the range of motion and calibrate the position. Only the mechanical switch can be used for emergency assistance. It can be purchased through channels such as Pepperl+Fuchs and Omron.
[0036] The training and control system is built into the control panel 212. All actuators and sensors are connected to the system signals. The system has three preset full-cycle training modes and two preset dual-side control modes. The full-cycle training modes include:
[0037] In passive training mode, the magnetorheological damper experiences zero damping when powered off, and the servo motor drives the leg movement along a preset trajectory throughout the entire process, making it suitable for early-stage patients who lack independent movement ability.
[0038] In the assisted active training mode, the magnetorheological damper is de-energized and has zero damping. The servo motor switches to torque closed-loop mode and outputs power assistance with an adjustable ratio of 0% to 100% according to the patient's real-time active force torque. The rhythm of the exercise is dominated by the patient and is suitable for intermediate patients with some muscle strength.
[0039] The resistance training mode switches the servo motor to zero-torque follow-up mode, and the magnetorheological damper outputs adjustable reverse damping, making it suitable for patients in the muscle strength recovery period.
[0040] The bilateral control mode includes: independent training mode, where the parameters of the two leg training units are set independently, which is suitable for patients with asymmetric muscle strength in both lower limbs;
[0041] The mirror-linked training mode allows the motion parameters of the affected leg training unit to change synchronously with the healthy side in real time, making it suitable for neuroremodeling training in stroke patients with hemiplegia. During training, the system collects muscle tone and torque data in real time, and immediately adjusts output parameters or triggers emergency stop protection when the data exceeds the threshold to avoid secondary injury to the patient.
[0042] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A leg exercise device for neurological rehabilitation, comprising a seat assembly (1) and two symmetrically arranged leg training mechanisms (2), wherein the training mechanism (2) includes a control component (21) and a training component (22), characterized in that: The training component (22) includes a hip joint mechanism hinged to the seat assembly (1), an upper arm guard (221) hinged to the hip joint mechanism, and a forearm guard (222) hinged to the distal end of the upper arm guard (221). The hip and knee joints are equipped with servo direct drive mechanisms. A magnetorheological fluid rotary damper (220) is coaxially installed at the knee joint hinge. The hinge is equipped with a stroke limit sensor and a torque sensor (229) for muscle tension detection. The servo direct drive mechanism, magnetorheological fluid rotary damper (220), and torque sensor (229) are all electrically connected to the control component (21).
2. The leg exercise device for neurological rehabilitation according to claim 1, characterized in that: In passive training mode, the control component (21) controls the servo direct drive mechanism to drive the leg training unit to move along the preset trajectory throughout the entire process; In the assisted active training mode, the control component (21) can output power assistance with an adjustable ratio of 0% to 100% according to the patient's real-time active force torque, and the rhythm of the movement is dominated by the patient's active force. In the resistance enhancement training mode, the servo direct drive mechanism switches to the zero torque follow-up mode, and the control component (21) controls the magnetorheological fluid rotary damper (220) to output a smooth and adjustable reverse motion resistance.
3. The leg exercise device for neurological rehabilitation according to claim 1, characterized in that: The servo direct drive mechanism of the hip joint mechanism includes a servo motor (224) and a drive shaft (226) built into the hinge frame (227), which can drive the upper arm guard (221) to achieve 0° to 60° abduction and adduction angle adjustment around the hip joint hinge (223); The servo direct drive mechanism of the knee joint includes a servo motor (225) and a drive shaft (2212) built into the hinge frame (2211), which can drive the forearm guard (222) to adjust the flexion and extension angle from 0° to 120° relative to the upper arm guard (221).
4. The leg exercise device for neurological rehabilitation according to claim 1, characterized in that: The control component (21) also includes an electronic travel limit sensor (228) and a torque sensor (229), both of which are connected to the training control system. The training control system can adjust the output parameters of the servo direct drive mechanism and the damping value of the magnetorheological fluid rotary damper (220) in real time according to the collected patient leg muscle tension data and joint torque data. When the data exceeds the preset threshold, an emergency stop protection is immediately triggered.
5. The leg exercise device for neurological rehabilitation according to claim 1, characterized in that: The outer sides of the upper arm brace (221) and the lower arm brace (222) are provided with at least two sets of Velcro straps (231) for fixing the limbs. The inner lining of the upper arm brace (221) and the lower arm brace (222) consists of a removable and washable breathable mesh layer (234), a memory foam cushioning layer (235), and an airbag massage unit (236) from the outside to the inside.
6. The leg exercise device for neurological rehabilitation according to claim 1, characterized in that: The seat assembly (1) includes a base (11), an electric lifting mechanism (12) vertically fixed to the top of the base (11), a seat (13) fixed to the output end of the electric lifting mechanism (12), a backrest (14) hinged to the rear end of the seat (13) and adjustable in angle, and adjustable armrests (211) respectively located on the left and right sides of the seat (13); the control panel (212) of the control component (21) and the emergency stop button (213) are integrated and installed on the adjustable armrest (211), and the trigger priority of the emergency stop button (213) is higher than all operation commands of the control panel (212).