Fall protection system based on lower limb exoskeleton rehabilitation robot

Abstract

The present invention relates to the field of medical rehabilitation robots, specifically a fall protection system based on a lower limb exoskeleton rehabilitation robot, including a lower limb exoskeleton rehabilitation robot, a fall protection belt and a support rod, the support rod is fixed on the fall protection belt, and also includes a human body inclination monitoring feedback alarm unit, a power module, a reset module, a power supply system and multiple multi-stage telescopic devices, the human body inclination monitoring feedback alarm unit and the power module are integrated in the fall protection belt, and are electrically connected to the multiple multi-stage telescopic devices, and control the operation of the multi-stage telescopic devices. The present invention can adapt to a variety of terrain environments, not only flat ground, but also rugged gravel ground; it can run fully automatically, does not require patient intervention, and is safer and more reliable; the controller will not lose power due to a failure of the lower limb exoskeleton rehabilitation robot, and the safety performance is greatly improved; it can be reused; it uses carbon fiber material, is light in weight, and has high strength.

Description

Technical Field

[0001] The present invention relates to the field of medical rehabilitation robots, and in particular to a fall protection system based on a lower limb exoskeleton rehabilitation robot. Background Art

[0002] The lower limb exoskeleton rehabilitation robot is a human-mechanical-electrical integrated system that couples the robot with the wearer. It helps patients with lower limb motor dysfunction caused by diseases such as spinal cord injury and stroke to exercise their lower limb muscles and restore lower limb motor function by simulating the normal walking gait of the human body. Lower limb motor dysfunction caused by stroke, accidental falls, etc. often occurs in the middle-aged and elderly population. The use of lower limb exoskeleton rehabilitation robots for motor function rehabilitation training has become a new hope for patients with lower limb motor dysfunction. As an important branch of medical robots, lower limb rehabilitation robots achieve the effect of rehabilitation treatment by assisting patients to complete limb training movements. In this process, special attention should be paid to preventing secondary injuries to patients (such as falls) due to various reasons. After wearing the exoskeleton robot, the weight of the overall human-machine system increases, and the damage caused by falls is more serious.

[0003] At present, there are few studies on fall protection in the research of lower limb exoskeleton rehabilitation robots. Some lower limb exoskeleton rehabilitation robots can only prevent falls by locking the hip and knee joints, which will only be triggered when the lower limb exoskeleton rehabilitation robot is powered off. When patients are about to fall, they are often panicked, and it is very difficult to disconnect the power supply in time. In addition, the locking of the mechanical structure cannot effectively protect the human body. When the human body tilts too much, the patient cannot support himself to keep the center of gravity stable, and will still fall. There are also some exoskeleton robots that detect human body information through gyroscopes and propose balance control algorithms to prevent falls. This method can adapt to complex ground environments, but it is very dependent on the proposed control algorithm, and once the exoskeleton robot fails or loses power, it cannot protect the human body.

[0004] The patent application publication number CN109730903 A introduces a fall protection device for lower limb exoskeleton robots. By monitoring the pressure sensor on the soles of the patient's feet, the pressure will decrease when the body falls and tilts. When the pressure is less than a certain threshold, the head protection cotton sleeve behind the back will bounce to the back of the patient's head with the rotating plate to protect the patient's head. However, this patent does not take into account the protection measures when the patient falls in other directions, and the impact force of the patient falling vertically to the ground is very large, and the damage to other parts of the body cannot be ignored.

[0005] The patent application publication number CN108836759 A introduces a fall prevention system based on a lower limb exoskeleton robot. 12 vibrators are evenly arranged on the waist belt. The direction of the vibration of the vibrator is used to prompt the patient to which direction to shift the center of gravity. If the vibrator is not vibrating, it means that the center of gravity transfer has been completed. However, this method is more suitable for patients with certain motor abilities. For patients in the early stages of rehabilitation, since they have not walked or even stood for a long time, they do not have the ability to shift their center of gravity by themselves, and it is also dangerous. Summary of the invention

[0006] In view of this, the purpose of the present invention is to propose a lower limb exoskeleton anti-fall system that can provide all-round protection, adapt to various environments and is independent of the patient's own abilities.

[0007] Based on the above-mentioned purpose, the present invention provides a fall protection system based on a lower limb exoskeleton rehabilitation robot, including a lower limb exoskeleton rehabilitation robot, a fall protection belt and a support rod, wherein the support rod is fixed on the fall protection belt, and the lower limb exoskeleton rehabilitation robot is fixed on one end of the support rod extending downward, characterized in that it also includes a human body inclination monitoring feedback alarm unit composed of an inclination detection module, a controller, a data analysis module and an alarm module, a power supply module, a reset module, a power supply system and multiple multi-stage telescopic devices, wherein the human body inclination monitoring feedback alarm unit and the power supply module are integrated in the fall protection belt. The multi-stage telescopic devices are in the protective belt and are electrically connected to the multi-stage telescopic devices and control the operation of the multi-stage telescopic devices; the power supply system is integrated in the lower limb exoskeleton rehabilitation robot; the top ends of the multi-stage telescopic devices are hinged with connecting parts, and the multiple connecting parts are fixed on the outer periphery of the fall protection belt in a circular equidistant array; limiting parts are arranged in the multiple connecting parts, and the limiting parts limit the angles of the multi-stage telescopic devices on the connecting parts; the bottom ends of the multi-stage telescopic devices are installed with rollers, and the multiple rollers are arranged with shock absorbers, and the shock absorbers buffer and absorb the vibration generated when touching the ground.

[0008] As a preferred technical solution of the present invention, the plurality of multi-stage telescopic devices are composed of a telescopic first section, a plurality of linear motor primaries, a suction cup electromagnet, a joint, a linear motor secondary, and a telescopic second section. The telescopic first section is sleeved on the telescopic second section, the plurality of linear motor primaries are equidistantly embedded on the inner wall of the telescopic first section, the linear motor secondary is arranged on one end of the telescopic second section, the suction cup electromagnet is connected to the linear motor secondary, and the joint is arranged on one side of the suction cup electromagnet.

[0009] As a preferred technical solution of the present invention, the plurality of linear motor primaries, suction cup electromagnets and linear motor secondaries are electrically connected to the controller, and the linear motor primaries, suction cup electromagnets and linear motor secondaries all quickly accept and execute commands issued by the controller.

[0010] As a preferred technical solution of the present invention, the tilt detection module is a motion processing sensor, the motion processing sensor is electrically connected to the data analysis module, and the data analysis module is electrically connected to the controller and the alarm module respectively.

[0011] As a preferred technical solution of the present invention, a cover plate is embedded on the back of the fall protection belt, a groove is opened in the middle of the cover plate, a reset button is installed in the groove, and the reset button is electrically connected to the controller and the reset module.

[0012] As a preferred technical solution of the present invention, the power module is isolated from the power supply system of the lower limb exoskeleton rehabilitation robot.

[0013] As a preferred technical solution of the present invention, the limiting members of the plurality of connecting members all include soft rubber anti-collision blocks and limiting rods, and the soft rubber anti-collision blocks and limiting rods are respectively arranged on the inner top and one side of the connecting member.

[0014] As a preferred technical solution of the present invention, the roller has a hub inside, the shock absorber is installed on the hub, the shock absorber consists of a damping element and two springs, the two springs are fixed on the hub, and the damping element is fixed between the two springs.

[0015] As a preferred technical solution of the present invention, the plurality of multi-stage telescopic devices and the fall protection belt are all made of carbon fiber material.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. The fall protection device of the lower limb exoskeleton rehabilitation robot of the present invention can adapt to a variety of terrain environments, not only to flat ground, but also to rugged and gravel ground.

[0018] 2. It can run fully automatically without patient intervention, which is safer and more reliable. Generally, when patients are about to fall, they will panic. For some anti-fall systems that require patient intervention, accidents may occur, causing secondary injuries to patients.

[0019] 3. The safety of patient rehabilitation training is greatly improved. A spring is installed at the connection part of the telescopic rod and the roller. When the telescopic rod is extended and touches the ground, the spring part provides buffering. Moreover, when the telescopic rod swings outward and hits the soft rubber anti-collision block, it can also increase buffering and reduce the impact on the patient.

[0020] 4. The power module of the controller is isolated from the power supply system of the lower limb exoskeleton rehabilitation robot. The controller will not lose power due to a failure of the lower limb exoskeleton rehabilitation robot, which greatly improves the safety performance.

[0021] 5. It can be reused. After each use, when the inclination detection module detects that the inclination angle of the human body is less than the set inclination angle, the controller controls the linear motor to retract the telescopic rod for the next use.

[0022] 6. Carbon fiber material is used, which is light in weight and high in strength. The belt is installed on the lower limb exoskeleton rehabilitation robot to reduce the weight on the human body.

[0023] 7. The data transmission speed between each module is fast, and the controller has strong solving ability. It can quickly receive and process the inclination information, and then send control commands to the linear motor to provide timely protection before the patient falls. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0025] In the attached picture:

[0026] Figure 1 It is a three-dimensional structural schematic diagram of the fall protection system based on the lower limb exoskeleton rehabilitation robot of the present invention when it is activated;

[0027] Figure 2 It is a schematic diagram of the three-dimensional structure of the fall protection system based on the lower limb exoskeleton rehabilitation robot of the present invention when it is not activated;

[0028] Figure 3 It is a schematic diagram of the working process of the fall protection system based on the lower limb exoskeleton rehabilitation robot of the present invention;

[0029] Figure 4 It is a schematic diagram of the control flow of the fall protection system based on the lower limb exoskeleton rehabilitation robot of the present invention;

[0030] Figure 5 It is a schematic diagram of the internal cross-sectional plan structure of the multi-stage telescopic device of the fall protection system based on the lower limb exoskeleton rehabilitation robot of the present invention;

[0031] Figure 6 It is a schematic diagram of the three-dimensional structure of the connector of the fall protection system based on the lower limb exoskeleton rehabilitation robot of the present invention;

[0032] Figure 7 It is a schematic diagram of the roller plane structure of the fall protection system based on the lower limb exoskeleton rehabilitation robot of the present invention;

[0033] Figure 8 It is a schematic diagram of a perspective structure of a roller inner shock absorber of a fall protection system based on a lower limb exoskeleton rehabilitation robot according to the present invention;

[0034] Fig. 9 It is a three-dimensional structural schematic diagram of the reset button structure of the fall protection system based on the lower limb exoskeleton rehabilitation robot of the present invention.

[0035] In the figure: 1. telescopic section; 2. primary of linear motor; 3. suction cup electromagnet; 4. damping; 5. spring; 6. joint; 8. secondary of linear motor; 9. telescopic section 2; 10. multi-stage telescopic device; 11. lower limb exoskeleton rehabilitation robot; 12. fall protection belt; 13. roller; 14. support rod; 15. connector; 16. soft rubber anti-collision block; 17. limit rod; 18. wheel hub; 19. shock absorber. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0037] Example: Figure 1-Figure 9 As shown, the fall protection system of the lower limb exoskeleton rehabilitation robot of the present invention comprises a lower limb exoskeleton rehabilitation robot 11, a fall protection belt 12 and a support rod 14, wherein the support rod 14 is fixed on the fall protection belt 12, and the lower limb exoskeleton rehabilitation robot 11 is fixed on one end of the support rod 14 extending downward, and further comprises a human body inclination monitoring feedback alarm unit composed of an inclination detection module, a controller, a data analysis module and an alarm module, a power supply module, a reset module, a power supply system and a plurality of multi-stage telescopic devices 10, wherein the human body inclination monitoring feedback alarm unit and the power supply module are integrated in the fall protection belt 12 The multi-stage telescopic devices 10 are electrically connected to each other and control the operation of the multi-stage telescopic devices 10; the power supply system is integrated in the lower limb exoskeleton rehabilitation robot 11; the tops of the multi-stage telescopic devices 10 are hinged with connecting parts 15, and the multiple connecting parts 15 are fixed on the outer periphery of the fall protection belt 12 in a circular equidistant array; limiting parts are arranged in the multiple connecting parts 15, and the limiting parts limit the angle of the multi-stage telescopic devices 10 on the connecting parts 15; the bottom ends of the multi-stage telescopic devices 10 are installed with rollers 13, and the multiple rollers 13 are provided with shock absorbers 19, which buffer and absorb the vibration generated when touching the ground.

[0038] A plurality of multi-stage telescopic devices 10 are composed of a telescopic first section 1, a plurality of linear motor primaries 2, a suction cup electromagnet 3, a joint 6, a linear motor secondary 8, and a telescopic second section 9. The telescopic first section 1 is sleeved on the telescopic second section 9, and a plurality of linear motor primaries 2 are equidistantly embedded on the inner wall of the telescopic first section 1. The linear motor secondary 8 is arranged on one end of the telescopic second section 9. The suction cup electromagnet 3 is connected to the linear motor secondary 8, and the joint 6 is arranged on one side of the suction cup electromagnet 3. After the suction cup electromagnet 3 is energized to generate suction to absorb the joint 6 into the cavity of the telescopic first section 1, the joint 6 will not block the movement of the telescopic second section 9. Then, the linear motor primary 2 is powered, and the secondary magnetic field is affected by the entire primary magnetic flux. Under the action of the magnetic field force, it moves upward, and the telescopic second section 9 is retracted into the telescopic first section 1. If the multi-stage telescopic device 10 is to be extended, the linear motor can be powered in reverse, so that the multi-stage telescopic device 10 can be transformed from a contracted state to an extended state, such as Figure 2 Convert to Figure 1 .

[0039] Multiple linear motor primaries 2, suction cup electromagnets 3 and linear motor secondaries 8 are all electrically connected to the controller, and the linear motor primaries 2, suction cup electromagnets 3 and linear motor secondaries 8 quickly receive and execute commands issued by the controller; multiple linear motor primaries 2 and linear motor secondaries 8 are connected to the controller via a CAN bus, and the CAN bus is a serial communication network that effectively supports distributed control or real-time control. The data communication between each node of the network formed by the CAN bus has strong real-time performance, which enables the linear motor to quickly receive and execute commands issued by the controller, thereby providing timely protection before the patient falls.

[0040] The inclination detection module is a motion processing sensor, which is electrically connected to the data analysis module, and the data analysis module is electrically connected to the controller and the alarm module respectively; the model of the motion processing sensor is: MPU6050, which integrates a 3-axis MEMS gyroscope and a 3-axis MEMS accelerometer, which not only solves the defect that the gyroscope will produce cumulative errors when measuring angles for a long time, but also solves the defect that the accelerometer cannot detect the yaw angle and the y motion detection is inaccurate. MPU6050 directly outputs the attitude data after attitude solution to the main controller through the I2C interface, reducing the amount of calculation of the main controller. Its attitude solution frequency can reach up to 200Hz, and it can quickly and accurately output the current inclination of the human body in a dynamic environment.

[0041] A cover plate 20 is embedded on the back of the fall protection belt 12. A groove 22 is opened in the middle of the cover plate 20. A reset button 21 is installed in the groove 22. The reset button 21 is electrically connected to the controller and the reset module. The reset button 21 is installed on the back of the fall protection belt 12 to prevent the patient from accidentally touching it. After the multi-stage telescopic device 10 is straightened to support the human body, when the patient's inclination angle is less than the preset safety angle, the reset button 21 is pressed, and the controller and the reset module work in coordination to control the retraction of the multi-stage telescopic device 10, so that the entire device returns to the normal position. Figure 2 state, achieving a reusable effect.

[0042] The power module is isolated from the power supply system of the lower limb exoskeleton rehabilitation robot 11; if the power supply system of the lower limb exoskeleton rehabilitation robot 11 is obstructed due to some unpredictable reasons, the patient will find it difficult to support the weight of himself and the lower limb exoskeleton rehabilitation robot and will fall down accidentally, but the power module will not be powered off, and the fall protection system can still work normally to protect the patient.

[0043] The limiting parts in the multiple connecting parts 15 all include soft rubber anti-collision blocks 16 and limiting rods 17, which are respectively arranged on the inner top and one side of the connecting parts 15; the soft rubber anti-collision blocks 16 can not only limit the outward swinging angle of the multi-stage telescopic device 10, but also stop when the multi-stage telescopic device 10 swings outward until it hits the soft rubber anti-collision blocks 16, so that the structure stably supports the human body, and can also provide a buffer to reduce the impact on the patient; the limiting rod 17 prevents the multi-stage telescopic device 10 from hindering the movement of the lower limb exoskeleton rehabilitation robot when the fall protection system is not enabled.

[0044] The roller 13 has a wheel hub 18, and a shock absorber 19 is installed on the wheel hub 18. The shock absorber 19 is composed of a damping element 4 and two springs 5. The two springs 5 ​​are fixed on the wheel hub 18, and the damping element 4 is fixed between the two springs 5. The springs 5 ​​resolve and absorb the impact of the road surface on the human body, and the damping element 4 absorbs the excess vibration and bounce generated during the repeated expansion and contraction and elongation of the springs 5, so that the multi-stage telescopic device 10 can normally support the human body even on a rugged road surface (such as a gravel road).

[0045] Multiple multi-stage telescopic devices 10 and the fall protection belt 12 are all made of carbon fiber material; carbon fiber material has low density, high specific strength and specific modulus, is light and strong, has good anti-fatigue properties and is more durable, and the belt is installed on the lower limb exoskeleton rehabilitation robot 11 to reduce the weight on the human body.

[0046] When in use: After wearing the device, turn on the switch to work normally. When the wearer is performing rehabilitation training with the lower limb exoskeleton rehabilitation robot 11, the inclination detection module will detect the wearer's current body inclination information in real time, and send the detected inclination to the data analysis module for comparison with the manually preset safety angle. The data analysis module sends the analyzed data to the controller, and the controller controls the linear motors in the multiple multi-stage telescopic devices 10. If the inclination is greater than the manually preset safety angle, the multi-stage telescopic device 10 starts to work, extending to touch the ground to support and protect the human body. At the same time, it will also send a signal to the alarm module to attract the attention of people around. After completing a fall protection function, the multi-stage telescopic device 10 is in a fully opened and straightened state. Press the reset button 21 on the fall protection belt 12, and when the wearer's body inclination remains within the normal range, a signal will be sent to the controller to control the linear motor to contract the multi-stage telescopic device 10 to form a Figure 2 status shown for next use.

[0047] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0048] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A fall protection system based on a lower limb exoskeleton rehabilitation robot, comprising a lower limb exoskeleton rehabilitation robot (11), a fall protection belt (12) and a support rod (14), wherein the support rod (14) is fixed to the fall protection belt (12), and the lower limb exoskeleton rehabilitation robot (11) is fixed to an end of the support rod (14) extending downward, characterized in that: The invention also comprises a human body inclination monitoring feedback alarm unit composed of an inclination detection module, a controller, a data analysis module and an alarm module, a power module, a reset module, a power supply system and a plurality of multi-stage telescopic devices (10), wherein the human body inclination monitoring feedback alarm unit and the power supply module are both integrated in the fall protection belt (12), and are both electrically connected to the plurality of multi-stage telescopic devices (10), and control the operation of the multi-stage telescopic devices (10); the power supply system is integrated in the lower limb exoskeleton rehabilitation robot (11); and the plurality of multi-stage telescopic devices The top ends of the multi-stage telescopic devices (10) are hinged with connecting pieces (15), and the connecting pieces (15) are fixed on the outer periphery of the fall protection belt (12) in a circular equidistant array; limiting pieces are arranged inside the connecting pieces (15), and the limiting pieces limit the angle of the multi-stage telescopic devices (10) on the connecting pieces (15); the bottom ends of the multi-stage telescopic devices (10) are installed with rollers (13), and the rollers (13) are arranged with shock absorbers (19), and the shock absorbers (19) buffer and absorb the vibration generated when touching the ground.

2. The fall protection system based on the lower limb exoskeleton rehabilitation robot according to claim 1 is characterized in that: The plurality of multi-stage telescopic devices (10) are each composed of a telescopic first section (1), a plurality of linear motor primaries (2), a suction cup type electromagnet (3), a joint (6), a linear motor secondary (8), and a telescopic second section (9); the telescopic first section (1) is sleeved on the telescopic second section (9); the plurality of linear motor primaries (2) are equidistantly embedded on the inner side wall of the telescopic first section (1); the linear motor secondary (8) is arranged on one end of the telescopic second section (9); the suction cup type electromagnet (3) is connected to the linear motor secondary (8); and the joint (6) is arranged on one side of the suction cup type electromagnet (3).

3. The fall protection system based on the lower limb exoskeleton rehabilitation robot according to claim 2 is characterized in that: The plurality of linear motor primaries (2), suction cup electromagnets (3) and linear motor secondary (8) are all electrically connected to the controller, and the linear motor primaries (2), suction cup electromagnets (3) and linear motor secondary (8) all quickly receive and execute commands issued by the controller.

4. The fall protection system based on the lower limb exoskeleton rehabilitation robot according to claim 3 is characterized in that: The tilt detection module is a motion processing sensor, the motion processing sensor is electrically connected to the data analysis module, and the data analysis module is electrically connected to the controller and the alarm module respectively.

5. The fall protection system based on the lower limb exoskeleton rehabilitation robot according to claim 4 is characterized in that: A cover plate (20) is embedded on the back of the fall protection belt (12), a groove (22) is opened in the middle of the cover plate (20), a reset button (21) is installed in the groove (22), and the reset button (21) is electrically connected to the controller and the reset module.

6. The fall protection system based on the lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The power supply module is isolated from the power supply system of the lower limb exoskeleton rehabilitation robot (11).

7. The fall protection system based on the lower limb exoskeleton rehabilitation robot according to claim 1 is characterized in that: The limiting members in the plurality of connecting members (15) all comprise a soft rubber anti-collision block (16) and a limiting rod (17), and the soft rubber anti-collision block (16) and the limiting rod (17) are respectively arranged on the inner top and one side of the connecting member (15).

8. The fall protection system based on the lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The roller (13) has a wheel hub (18) inside, and the shock absorber (19) is mounted on the wheel hub (18). The shock absorber (19) is composed of a damping element (4) and two springs (5). The two springs (5) are fixed on the wheel hub (18), and the damping element (4) is fixed between the two springs (5).

9. The fall protection system based on the lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The plurality of multi-stage telescopic devices (10) and the fall protection belt (12) are all made of carbon fiber material.

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