Rehabilitation exoskeleton robot

Abstract

This invention relates to a rehabilitation exoskeleton robot, which is worn by the user on the waist and legs. It comprises: a waist fixation unit, two first linkage units, two rotation axis units, two second linkage units, at least one blood flow occlusion unit, two leg fixation units, and a computer unit. This rehabilitation exoskeleton robot incorporates a blood flow occlusion training method, specifically the blood flow occlusion (BFR) training method employed by the blood flow occlusion unit. By wrapping the blood flow occlusion unit around the lower limbs, the pressure can be increased or decreased via airbags as needed to occlude blood flow, thereby enhancing muscle strength and improving mobility.

Description

Rehabilitation exoskeleton robot Technical Field

[0001] This invention relates to an assistive device for providing a rehabilitation exoskeleton robot worn by a user on the waist and legs to assist the user in walking and training muscle strength. Prior Technology

[0002] Previous research on a knee-locking exoskeleton robot, as disclosed in Chinese Patent Publication No. CN119587945B, relates to the field of medical robot technology. It includes a lumbar restraint mechanism, a knee-locking actuator, and a support drive mechanism. The knee-locking actuator includes two symmetrically arranged leg restraint components, each comprising a thigh rod, a knee-locking component, and a lower leg rod. Its beneficial effects are: by binding the lumbar restraint mechanism to the patient's waist, and binding the two leg restraint components of the knee-locking actuator to the patient's legs, the knee-locking components of the two leg restraint components contact the patient's knee. During walking training, locking one knee with the knee-locking component enables standing, while unlocking the knee-locking component of the other knee enables stepping training. This repeated process enables active walking rehabilitation training, improving the initiative of spinal cord patients in self-rehabilitation and maximizing the effectiveness of rehabilitation training. Furthermore, it effectively solves the fatigue problem caused by rehabilitation physicians assisting patients in manual rehabilitation training. Another prior art, as disclosed in Chinese Patent Publication No. CN111920651B, relates to a self-locking mechanism for an exoskeleton joint, a knee joint, and a bionic rehabilitation robot. The self-locking mechanism includes a first base, a rotating outward-expanding locking member, a second base, and a locking drive. The rotating outward-expanding locking member includes a first rotating frame and a second rotating frame, both having a first friction surface on their outer sides. One end of the first and second rotating frames is pivotally connected. The second base is rotatably mounted on the first base, and its inner wall forms a second friction surface surrounding the first friction surface. The locking drive can apply / remove a force that pushes away the free ends of the first and second rotating frames, causing the first friction surface to press against the locking / unlocking of the second friction surface. This method of locking and unlocking the joint by controlling friction is more in line with the joint's movement habits and is also safer.

[0003] Prior art relates to research on a lower limb brace, such as Chinese Patent Publication No. CN114699230B. The disclosed design includes a thigh support and a calf support, which are movably connected. It also includes an airbag assembly, comprising an airbag pad located on the inner wall of the calf support, an airbag ring that fits onto the thigh, and a conduit assembly connecting the airbag pad and the airbag ring. The airbag pad is pre-filled with gas, and the conduit assembly has an electronic control component that can control the gas from the airbag pad to inflate the airbag ring or control the gas to flow back into the airbag pad. By providing a lower limb brace that can prevent and delay lower limb muscle atrophy, it protects the lower limbs from secondary injury while effectively preventing and delaying lower limb muscle atrophy.

[0004] Prior art relates to research on a lithotomy leg brace with deep vein thrombosis prevention function, as disclosed in Chinese Patent Publication No. CN120732653A. This technology pertains to the field of medical leg brace technology, including a leg brace body. Through slots are formed at both ends of the leg brace body. Side plates are fixedly connected to the bottom surfaces of both ends of the leg brace body. Threaded rods are threadedly connected to the side plates. One end of the threaded rod is fixedly connected to an adjusting head, and the other end is rotatably connected to a slider. The top end of the slider extends through the through slots to the top surface of the leg brace body, and a clamp is fixedly connected to the top end of the slider. It also includes an intermittent inflation and pressurization device and a lower limb temperature control device. Its structure is reasonable, and the coordinated use of the adjusting and limiting components facilitates the adjustment of the brace angle. Intermittent inflation and pressurization, along with temperature control, promote blood circulation in the patient's legs. The patient's legs can then be opened using a stretching component. Another prior art relates to the research of an intelligent blood pressure monitoring device for elderly patients, as disclosed in Chinese Patent Publication No. CN120436601A. This device belongs to the field of blood pressure monitoring technology and includes a support clamp. A lifting seat is slidably disposed on the side wall of the support clamp, and the lifting seat can move up and down on the side wall of the support clamp. A mounting seat is installed on the side of the support clamp via a connecting bracket. A blood pressure monitor is disposed below the mounting seat. The blood pressure monitor consists of a first clamp, a second clamp, a strap, and a monitoring panel. Both the first and second clamps are rotatably disposed below the blood pressure monitor. The first and second clamps are used to clamp the brachial artery in the upper arm of the elderly patient. The strap is used to bind the brachial artery in the upper arm of the elderly patient and to achieve blood pressure monitoring. When the lifting seat moves upward, it can automatically support the elderly patient's arm and open the second clamp, thus automatically clamping the brachial artery in the upper arm of the elderly patient.

[0005] Previous research, such as the Chinese Patent Publication No. CN112085169B, has focused on an autonomous learning and evolutionary method for brain-muscle electrophysiological (BME) fusion perception in limb exoskeleton-assisted rehabilitation. This method extends the BME fusion strategy across the rehabilitation process, combining it with deep learning autonomous learning technology. It fully considers the changes in BME characteristics throughout the user's rehabilitation process, adaptively adjusting the BME decision weights to fuse BME into the user's rehabilitation process, thus adapting it to both rehabilitation and daily activities. Compared to traditional BME fusion exoskeletons, this method overcomes the bottleneck of recognition performance, serves the entire rehabilitation process, and achieves mutual adaptation and learning between the user and the exoskeleton device, solving the shortcomings and practical problems of existing BME fusion exoskeletons. Another prior art relates to the research of an assistive device for exercise therapy, as disclosed in Chinese Patent No. CN220237289U, which belongs to the field of rehabilitation equipment technology. It includes: a storage box, a clamping mechanism, and a base. The storage box includes a drawer; the clamping mechanism is mounted on the storage box via a multi-directional adjustment rod and is used to position the upper or lower limb; the base is mounted under the storage box via a height telescopic rod and is equipped with several casters with brakes. This provides an assistive device that facilitates exercise therapy for immobile patients. Through the cooperation of the multi-directional adjustment rod and the clamping mechanism, the upper or lower limb can be positioned for movement, reducing the workload of the therapist. Summary of the Invention

[0006] This invention relates to a rehabilitation exoskeleton robot, which is worn by a user around the waist and legs. It comprises: a waist fixation unit with a waist opening and a fastener for closing the opening; the waist fixation unit is worn around the user's waist; two first linkage units symmetrically connected to both sides of the waist fixation unit; two rotating shaft units symmetrically connected to the two first linkage units, each equipped with a drive motor; and two second linkage units... Two second linkage units are symmetrically connected to the two rotating shaft units, and the drive motor of the rotating shaft unit drives the second linkage unit to rotate; at least one blood flow blocking unit is connected to the second linkage unit, and the blood flow blocking unit is provided with a restraint opening, the restraint opening is provided with a first strap, the first strap provides closure of the restraint opening, and the blood flow blocking unit is provided with a blood pressure sensor, an inflation device and an airbag, the inflation device is connected to the airbag, the inflation device provides gas to the airbag, causing the airbag to expand and contract and deflate, and the blood flow blocking unit passes through The device wraps around the user's legs. Furthermore, the blood flow blocking unit incorporates a physiological response sensing device, including at least one heart rate sensor, a pressure sensor, a hormone release sensor, a muscle-vascular response sensor, and a neuromuscular sensor. Changes in the physiological response sensing device activate the inflation device, causing the airbag to inflate, contract, and deflate. Two leg fixation units are symmetrically connected to the second linkage unit, and each leg fixation unit has a leg opening with a second strap providing access to the opening. The system comprises a leg restraint unit worn around the user's legs, and a computer unit equipped with a data processor, memory, data storage device, and power supply. The computer unit is connected to the drive motor of the rotating shaft unit, the inflation unit of the blood flow blocking unit, and a blood pressure sensor. The computer unit collects signals from the drive motor, inflation unit, and blood pressure sensor, and calculates the user's movement frequency, leg restraint status, and blood pressure status, providing feedback on the drive motor's rotation frequency, the inflation frequency of the inflation unit, and the opening and closing signals of the blood pressure sensor. The lumbar restraint unit is made of carbon fiber. The fasteners of the lumbar restraint unit are adjustable in length to fit the user's waist length. Furthermore, the lumbar restraint unit incorporates a fall prevention system, which includes an airbag, a propellant charge, and an accelerometer. When the accelerometer detects the acceleration generated during a fall, the propellant is ignited to inflate the airbag. The first linkage unit is made of carbon fiber or aluminum alloy. The rotating shaft unit is equipped with a speed-changing gear. The blood flow blocking unit controls the inflation frequency of the inflation unit and the activation / deactivation of the blood pressure sensor in accordance with the user's muscle activity.The leg-fixing unit is made of fabric to secure the user's legs. The first and second straps are Velcro, securing the restraint opening and the leg opening respectively. Furthermore, the computer unit includes a communication device that connects to an external server to update data and software in the data storage device. The user can also input strong, medium, and weak control signals to the computer unit via the communication device. These signals are transmitted to the drive motor, which in turn drives the second linkage unit to adjust the user's walking assistance intensity. This novel device utilizes a blood flow cessation (BFR) training method. BFR training is a cutting-edge physical therapy method for improving muscle mass, strength, and endurance. Its principle is to achieve the same effect as high-intensity exercise training by using a blood flow cessation unit, requiring only a low-intensity training volume. By wrapping the upper or lower limbs with a blood flow blocking unit, and adjusting the pressure via an airbag as needed, blood flow is blocked, thereby improving muscle strength. This novel rehabilitation exoskeleton robot combines a blood flow blocking training method with the blood flow blocking unit integrated into the exoskeleton robot. Its structure and function differ from previously known techniques, demonstrating its novelty, advancement, and practical benefits. A preferred embodiment and its effects are detailed below with accompanying drawings, providing a deeper and more concrete understanding of the aforementioned objectives, structure, and features of this invention. Simple Explanation of the Diagram

[0007] Figure 1 shows a three-dimensional view of this novel rehabilitation exoskeleton robot. Figure 2 shows a front view of this novel rehabilitation exoskeleton robot. Figure 3 shows a side view of this novel rehabilitation exoskeleton robot. Figure 4 shows a top view of this novel rehabilitation exoskeleton robot. Figure 5 shows a scenario of using this novel rehabilitation exoskeleton robot. Implementation

[0008] The following describes the implementation of this invention through specific embodiments. Those skilled in the art can easily understand the other advantages and effects of this invention from the content disclosed in this specification. This invention can also be implemented or applied through other different embodiments, and the details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of this invention.

[0009] Please refer to Figures 1-4, which show the perspective view, front view, side view, and top view of this novel rehabilitation exoskeleton robot. This invention is a rehabilitation exoskeleton robot worn by a user around the waist and legs. It includes: a waist fixing unit 101 with a waist opening and a fastener 1011 for closing the opening; the waist fixing unit 101 is worn around the user's waist 801; two first linkage units 201 symmetrically connected to both sides of the waist fixing unit 101; and two rotation axis units 301 symmetrically connected. The system includes two first linkage units 201 connected to each other, and a drive motor for each rotating shaft unit 301; two second linkage units 401 symmetrically connected to each rotating shaft unit 301, and the drive motor of each rotating shaft unit 301 drives the second linkage unit 401 to rotate; at least one blood flow blocking unit 501 connected to each second linkage unit 401, and the blood flow blocking unit 501 having a restraint opening, a first strap 5011 provided for closing the restraint opening, and a blood flow blocking unit 501 having a blood pressure sensor, an inflation device, and an airbag, the inflation device being connected to the airbag. The air device inflates the airbag, causing it to expand, contract, and deflate. The blood flow blocking unit 501 is worn around the user's legs 901. Furthermore, the blood flow blocking unit 501 is equipped with a physiological response sensing device, which includes at least one heart rate sensor, a pressure sensor, a hormone release sensor, a muscle vascular response sensor, and a neuromuscular sensor. Changes in the physiological response sensing device activate the inflation device, causing the airbag to expand, contract, and deflate. Two leg fixation units 601 are symmetrically connected to the second linkage unit 401, and each leg fixation unit 601 has a leg opening with a second strap 6. 011, the second strap 6011 provides closure of the leg opening, the leg fixing unit 601 is worn around the user's leg 901; and a computer unit 701, the computer unit 701 is equipped with a data processor, a memory, a data storage device and a power supply device, the computer unit 701 is connected to the drive motor of the rotating shaft unit 301, the inflation unit of the blood flow blocking unit 501 and the blood pressure sensor, the computer unit 701 collects the signals of the drive motor, the inflation unit and the blood pressure sensor, and calculates the user's movement frequency, leg restraint state and blood pressure state, so as to output the rotation frequency of the drive motor, the inflation frequency of the inflation unit and the opening and closing signals of the blood pressure sensor.

[0010] The waist support unit 101 is made of carbon fiber. The fastener 1011 of the waist support unit 101 is adjustable in length to fit the user's waist length. The first linkage unit 201 is made of carbon fiber or aluminum alloy. The rotating shaft unit 301 is equipped with a speed-changing gear. The blood flow blocking unit 501 controls the inflation frequency of the inflation unit and the activation / deactivation of the blood pressure sensor in accordance with the user's muscle activity. The leg support unit 601 is a fabric structure used to secure the user's legs. The first strap 5011 and the second strap 6011 are Velcro-fastened to secure the restraint opening and the leg opening, respectively. Furthermore, the computer unit 701 is equipped with a communication device that connects to an external server to update data and software in the data storage device. Moreover, the user can input strong, medium, and weak control signals to the computer unit 701 via the communication device. These control signals are transmitted from the computer unit 701 to the drive motor, which then drives the second linkage unit 401 to adjust the user's walking assistance intensity to strong, medium, and weak. For example, when climbing a mountain, the user inputs a strong control signal, while for general walking assistance, they input a weak control signal, thereby enhancing the user's freedom and situational suitability in controlling the intensity of their walking assistance.

[0011] Blood Flow Restriction (BFR) is an emerging training method, also known as Kaatsu (compression training), used to improve muscle mass and strength performance. BFR works by partially restricting arterial blood flow in and completely restricting venous blood return to the heart from muscle tissue during exercise, rather than completely blocking arterial and venous blood flow. By applying pressure with a compression cuff to the proximal upper or lower limbs, BFR can be combined with various types of exercise and has significant effects on rehabilitation, muscle strength, and muscle hypertrophy. It is suitable for athletes, the general population, and seniors; it is also widely used in medicine for patients with various diseases. BFR leads to the accumulation of metabolites such as lactate, inorganic phosphate (Pi), and hydrogen ions (H+) in muscle cells. These metabolites affect hormone release, hypoxia, reactive oxygen species (ROS), and cell swelling, and initiate anabolistic signaling to promote muscle growth, muscle hypertrophy, and energy metabolism adaptation. In terms of applications, it can be combined with resistance exercise (RE) and aerobic exercise (AE). Recent research has also explored combining it with neuromuscular stimulation, such as electrical stimulation (EMG) and whole-body vibration (WBV). Regarding exercise prescriptions for BFR in resistance training, a recommended approach is to design and implement four sets of 30, 15, 15, and 15 repetitions for a total of 75 repetitions, with continuous blood flow occlusion for 60 seconds between sets. Training at 20%-40% of one's individual maximum muscle strength (1RM) is most effective in improving muscle strength and hypertrophy. This training method is suitable for most population groups.

[0012] To help the review committee better understand the practical application scenarios of this invention, examples are given for its application in rehabilitation and muscle building, such as Figure 5 showing a usage scenario of this rehabilitation exoskeleton robot. This invention is a rehabilitation exoskeleton robot worn by a user around the waist and legs. The waist fixing unit 101 has a waist opening, and a fastener 1011 is provided at the waist opening for closing. The waist fixing unit 101 is worn around the user's waist 801. Two first linkage units 201 are symmetrically connected to both sides of the waist fixing unit 101. Two rotating shaft units 301 are symmetrically connected to the two first linkage units 201, and the rotating shaft unit 301 is... Unit 301 is equipped with a drive motor; the two second linkage units 401 are symmetrically connected to the two rotating shaft units 301, and the drive motor of the rotating shaft unit 301 drives the second linkage unit 401 to rotate; the two blood flow blocking units 501 are connected to the second linkage unit 401, and each blood flow blocking unit 501 is provided with a restraint opening, and a first strap 5011 is provided in the restraint opening to close it; the blood flow blocking unit 501 is equipped with a blood pressure sensor, an inflation device, and an airbag. The inflation device is connected to the airbag, and the inflation device provides gas to the airbag, causing the airbag to expand, contract, and deflate. The blood flow blocking unit 501 is worn around the user's leg 901. The two leg fixing units 601 are symmetrically connected to the second linkage unit 401, and each leg fixing unit 601 has a leg opening with a second strap 6011 for closing the leg opening. The leg fixing unit 601 is worn around the user's leg 901; and a computer unit 70. 1. The computer unit 701 is equipped with a data processor, a memory, a data storage device and a power supply device. The computer unit 701 is connected to the drive motor of the rotating shaft unit 301, the inflation unit of the blood flow blocking unit 501 and a blood pressure sensor. The computer unit 701 collects signals from the drive motor, the inflation unit and the blood pressure sensor, and calculates the user's movement frequency, leg restraint status and blood pressure status, so as to output feedback the rotation frequency of the drive motor, the inflation frequency of the inflation unit and the opening and closing signals of the blood pressure sensor.

[0013] Furthermore, this new invention has the function of preventing falls. The waist fixation unit 101 is designed to be equipped with a fall prevention and injury system. The fall prevention and injury system includes an airbag 1012, a gunpowder and an accelerometer. When the accelerometer detects the acceleration generated when the user falls, it ignites the gunpowder to fill the airbag 1012.

[0014] This novel exoskeleton robot for rehabilitation incorporates a blood flow occlusion (BFR) training method using a blood flow occlusion unit 501. This BFR training method is a cutting-edge physical therapy approach for improving muscle mass, strength, and endurance. Its principle is to achieve the same effect as high-intensity exercise training with only low-intensity training volume. By wrapping the upper or lower limbs with the BFR unit 501, and adjusting the pressure via airbags as needed, blood flow is blocked, thereby improving muscle strength. This novel rehabilitation exoskeleton robot combines blood flow occlusion training with the BFR unit 501, a feature distinct from previously known techniques, demonstrating its novelty, advancement, and practical benefits. Therefore, it effectively addresses shortcomings in existing techniques and has significant practical applicability.

[0015] In summary, the specific structure disclosed in this invention can indeed provide users with the application of exoskeleton robots that help with walking and training muscle strength. In terms of its overall structure, it has never been seen in similar products, nor has it been disclosed before the application. It has indeed met the statutory requirements of the Patent Law, and therefore a new utility model patent application is filed in accordance with the law.

[0016] However, the above description is only one preferred embodiment of this invention and should not be construed as limiting the scope of this invention. All equivalent changes and modifications made in accordance with the scope of the patent application and the contents of the invention specification should still fall within the scope of this invention.

[0017] 101: Waist Support Unit 1011: Fasteners 1012: Airbag 201: First Link Unit 301: Rotating shaft unit 401: Second Link Unit 501: Blood Flow Intervention Unit 5011: First Strap 601: Leg Fixation Unit 6011: Second strap 701: Computer Unit 801: User's waist 901: User's legs

Claims

1. A rehabilitation exoskeleton robot, which is worn by a user on the waist and legs, comprising: a waist fixation unit having a waist opening and a fastener for closing the waist opening, the waist fixation unit being worn around the user's waist; two first linkage units symmetrically connected to both sides of the waist fixation unit; two rotation shaft units symmetrically connected to the two first linkage units, and each rotation shaft unit having a drive motor; and two second linkage units symmetrically connected to the two rotation shaft units, the drive motor of each rotation shaft unit driving the second linkage unit to rotate. At least one blood flow blocking unit is connected to the second linkage unit, and the blood flow blocking unit is provided with a restraint opening. The restraint opening is provided with a first strap, which provides closure of the restraint opening. The blood flow blocking unit is provided with a blood pressure sensor, an inflation device, and an air bladder. The inflation device is connected to the air bladder and provides gas to the air bladder, causing the air bladder to expand, contract, and deflate. The blood flow blocking unit is worn around the user's legs. Furthermore, the blood flow blocking unit is provided with a physiological response sensing device, which includes at least one heart rate sensor, a pressure sensor, a hormone release sensor, a muscle vascular response sensor, and a neuromuscular sensor to detect changes in the physiological response sensing device and activate the inflation device to cause the air bladder to expand, contract, and deflate. Two leg fixation units, symmetrically connected to the second linkage unit, each leg fixation unit having a leg opening and a second strap for closing the opening; the leg fixation unit is worn around the user's legs; and a computer unit, which includes a data processor, a memory, a data storage device, and a power supply device. The computer unit is connected to the drive motor of the rotating shaft unit, the inflation unit of the blood flow blocking unit, and a blood pressure sensor. The computer unit collects signals from the drive motor, the inflation unit, and the blood pressure sensor, and calculates the user's movement frequency, leg restraint status, and blood pressure status to provide feedback on the rotation frequency of the drive motor, the inflation frequency of the inflation unit, and the opening and closing signals of the blood pressure sensor.

2. The rehabilitation exoskeleton robot as described in claim 1, wherein, The waist support unit is made of carbon fiber.

3. The rehabilitation exoskeleton robot as described in claim 1, wherein, The fasteners of this lumbar support unit are adjustable in length to fit the user's waist length.

4. The rehabilitation exoskeleton robot as described in claim 1, further comprising a fall protection system in the waist fixation unit, the fall protection system comprising an airbag, a propellant and an accelerometer, wherein the accelerometer ignites the propellant to fill the airbag when it detects the acceleration generated when the user falls.

5. The rehabilitation exoskeleton robot as described in claim 1, wherein, The first link unit and the first link unit are made of carbon fiber material or aluminum alloy.

6. The rehabilitation exoskeleton robot as described in claim 1, wherein, The rotating shaft unit is equipped with a speed-changing gear.

7. The rehabilitation exoskeleton robot as described in claim 1, wherein, The blood flow blocking unit controls the inflation frequency of the inflation unit and the opening and closing of the blood pressure sensor in accordance with the user's muscle usage status.

8. The rehabilitation exoskeleton robot as described in claim 1, wherein, The leg restraint unit is made of fabric and is designed to secure the user's legs.

9. The rehabilitation exoskeleton robot as described in claim 1, wherein, The first and second straps are Velcro-structured to secure the restraint opening and the leg opening, respectively.

10. The rehabilitation exoskeleton robot as described in claim 1, further comprising a communication device in which the computer unit is connected to an external server to update data and software in the data storage device; further comprising the user being able to input strong, medium and weak control signals to the computer unit through the communication device, the control signals being transmitted by the computer unit to the drive motor, which in turn drives the second linkage unit to adjust the strength of the user's walking assistance to strong, medium and weak.

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