An exoskeleton for rehabilitation

Abstract

The present application discloses an exoskeleton for rehabilitation, which includes a mounting base, a rotating frame, and a first driving mechanism for driving the rotation of the rotating frame. The rotating frame is provided with a first support block for supporting the forearm. The exoskeleton for rehabilitation further includes: a grip, which is arranged on the rotating frame; a wrist support block, which is mounted on the rotating frame, and a first chute is provided at one end of the wrist support block away from the first support block; a hollow strip-shaped airbag sleeve, an arc-shaped elastic strip is fixed on the outer side wall of the airbag sleeve, and the arc-shaped elastic strip is slidably arranged on the first chute. The airbag sleeve has an initial working position and a gripping working position; in the initial working position, all or part of the arc-shaped elastic strip is located on the first chute, and the airbag sleeve is integrally strip-shaped; in the gripping working position, all or part of the arc-shaped elastic strip disengages from the first chute, and the arc-shaped elastic strip drives the airbag sleeve to bend and deform, so that the airbag sleeve surrounds the outside of the grip. The present application can enable patients with weak fingers to hold the grip, facilitating subsequent rehabilitation training.

Description

Technical Field

[0001] The present invention relates to the field of exoskeletons, and particularly to an exoskeleton for rehabilitation. Background Art

[0002] Existing upper limb rehabilitation devices are all provided with grips. When in use, the patient's fingers hold the grip and then perform rehabilitation training. However, for patients with weak fingers, it is very difficult to hold the grip reliably. Summary of the Invention

[0003] In view of the above problems, the present invention provides an exoskeleton for rehabilitation.

[0004] The technical solution adopted by the present invention is as follows:

[0005] An exoskeleton for rehabilitation, comprising a mounting base, a rotating frame rotatably mounted on the mounting base, and a first driving mechanism for driving the rotating frame to rotate. The rotating frame is provided with a first support block for supporting the forearm. The exoskeleton for rehabilitation further comprises:

[0006] A grip, arranged on the rotating frame;

[0007] A wrist support block, mounted on the rotating frame. One end of the wrist support block away from the first support block is provided with a first chute;

[0008] A hollow strip-shaped airbag sleeve, the outer side wall of the airbag sleeve is fixed with an arc-shaped elastic strip, the arc-shaped elastic strip is slidably arranged on the first chute, and the airbag sleeve has an initial working position and a holding working position; in the initial working position, all or part of the arc-shaped elastic strip is located on the first chute, and the airbag sleeve is integrally in a strip shape; in the holding working position, all or part of the arc-shaped elastic strip is separated from the first chute, and the arc-shaped elastic strip drives the airbag sleeve to bend and deform, so that the airbag sleeve surrounds the outside of the grip.

[0009] In the initial state, the arc-shaped elastic strip is embedded in the first chute, and the airbag sleeve is in a straight strip shape; when wearing, four fingers (excluding the thumb) are inserted into the airbag sleeve until the tiger's mouth abuts against the end of the airbag sleeve. As the arm moves forward, it drives the airbag sleeve and the arc-shaped elastic strip to move. When part of the arc-shaped elastic strip moves out of the first chute, under the action of the arc-shaped elastic strip, the airbag sleeve bends (i.e., drives the four fingers in the airbag sleeve to bend), forming a fist shape and holding on the outside of the grip. By such a setting, patients with weak fingers can hold the grip, facilitating subsequent rehabilitation training.

[0010] In actual operation, one training method is: the first driving mechanism rotates, driving the forearm and the wrist to rotate synchronously around the elbow joint.

[0011] In actual use, the rehabilitation exoskeleton of the present application can be installed on an exoskeleton robot and used as an upper limb exoskeleton.

[0012] In one embodiment of the present invention, the airbag cover has an air inflation and deflation pipeline, the air inflation and deflation pipeline is used to connect to an air pump, and a pressure sensor is disposed on the inner side wall of the airbag cover.

[0013] The air pump can be used to inflate and deflate the airbag so that the airbag sleeve can better cover the handle. The pressure sensor can monitor the pressure to prevent the patient's fingers from being hurt due to excessive pressure. In actual use, multiple pressure sensors are provided, distributed in different areas of the airbag sleeve.

[0014] In one embodiment of the present invention, the rehabilitation exoskeleton further comprises:

[0015] A fixing seat, fixedly connected to the wrist supporting block;

[0016] A rotating frame, rotatably mounted on the fixed seat, and the handle is arranged on the rotating frame;

[0017] A docking block is fixed on the rotating frame, the docking block is located at the end of the wrist support block, and a second slide groove is provided on the docking block, the second slide groove is arranged opposite to the first slide groove, and the arc-shaped elastic strip is slidably arranged on the first slide groove and the second slide groove; when the airbag sleeve is in the holding working position, the arc-shaped elastic strip is completely separated from the first slide groove, and the arc-shaped elastic strip is partially separated from the second slide groove;

[0018] The second driving mechanism is arranged on the fixing seat and is used for driving the rotating frame to rotate, and drives the patient's wrist to twist through the synchronous rotation of the docking block, the airbag sleeve and the handle on the rotating frame.

[0019] With this setup, the rehabilitation exoskeleton has a second training method:

[0020] In the initial state, the arc-shaped elastic strip is embedded in the first slide groove or in the first slide groove and the second slide groove, and the airbag cover is in the shape of a straight strip; when wearing, four fingers (without the thumb) are inserted into the airbag cover until the base of the thumb touches the end of the airbag cover, and the arm moves forward, driving the airbag cover and the arc-shaped elastic strip to move until the arc-shaped elastic strip is completely moved out of the first slide groove, and most of the arc-shaped elastic strip is moved out of the second slide groove. At this time, under the action of the arc-shaped elastic strip, the airbag cover bends (that is, the four fingers in the airbag cover are driven to bend), forming a fist shape, and is held on the outside of the handle;

[0021] Then the second driving mechanism works to drive the rotating frame to rotate (twist at a small angle). When the rotating frame twists, the docking block, the airbag sleeve and the handle on the rotating frame also twist synchronously, thereby driving the patient's wrist to perform twisting movement.

[0022] In one embodiment of the present invention, the docking block and the wrist support block are in clearance fit.

[0023] In one embodiment of the present invention, the cross-sections of the first chute and the second chute are both trapezoidal, and the arc-shaped elastic strip has a trapezoidal anti-disengagement portion for being embedded in the first chute and the second chute.

[0024] In one embodiment of the present invention, the rotating frame has a slide rail, the wrist support block and the fixed seat are slidably mounted on the slide rail, and the rehabilitation exoskeleton further includes a locking structure for locking the wrist support block and the slide rail.

[0025] The provision of the slide rail can adjust the positions of the wrist support block and the fixed seat (i.e., adjust the distance from the first support block), so as to adapt to different patients.

[0026] In one embodiment of the present invention, the locking structure includes a threaded hole provided on the wrist support block or the fixed seat and a locking bolt screwed into the threaded hole.

[0027] In one embodiment of the present invention, it further includes a second support block mounted on the mounting seat for supporting the upper arm.

[0028] In one embodiment of the present invention, bushings and straps for locking the arm are mounted on the first support block, the second support block, and the wrist support block.

[0029] In one embodiment of the present invention, it further includes a lifting seat, an electric lifting mechanism is mounted on the lifting seat, and the mounting seat is fixed to the lifting element of the electric lifting mechanism.

[0030] The rehabilitation exoskeleton of the present application can also be used alone (i.e., not mounted on the exoskeleton robot). By providing the lifting seat, the distance of the mounting seat can be adjusted. That is, for a patient sitting on a stool or a bed, the mounting seat can be lifted to a suitable position according to the height position of his / her arm, which is convenient for the patient to use.

[0031] In actual use, the first driving mechanism and the second driving mechanism can be motors.

[0032] In one embodiment of the present invention, the second driving mechanism is slidably provided on the fixed seat, and it further includes an electric push rod provided on the fixed seat for driving the second driving mechanism to reciprocate;

[0033] A vibration motor is provided inside the grip, and the outer surface of the grip has massage bumps.

[0034] The beneficial effects of the present invention are as follows: In the initial state of the present application, the arc-shaped elastic strip is embedded in the first chute, and the airbag sleeve is in a straight strip shape. When wearing, four fingers (excluding the thumb) are inserted into the airbag sleeve until the tiger's mouth abuts against the end of the airbag sleeve. As the arm moves forward, it drives the airbag sleeve and the arc-shaped elastic strip to move. When a part of the arc-shaped elastic strip moves out of the first chute, under the action of the arc-shaped elastic strip, the airbag sleeve bends (i.e., drives the four fingers inside the airbag sleeve to bend), forming a fist shape and gripping the outside of the handle. By such a setting, patients with weak fingers can hold the handle, facilitating subsequent rehabilitation training. Brief Description of the Drawings

[0035] Figure 1 is a schematic diagram of the exoskeleton for rehabilitation in Embodiment 1;

[0036] Figure 2 is a schematic diagram after the rotating frame rotates upward relative to the mounting base in Embodiment 1;

[0037] Figure 3 is a schematic diagram of the exoskeleton for rehabilitation in Embodiment 2;

[0038] Figure 4 is a schematic diagram after the second driving mechanism drives the rotating frame to twist in Embodiment 2;

[0039] Figure 5 is a schematic diagram after the rotating frame rotates upward relative to the mounting base in Embodiment 2;

[0040] Figure 6 is a schematic diagram of the exoskeleton for rehabilitation in Embodiment 3.

[0041] Each reference numeral in the figure is as follows:

[0042] 1, mounting base; 2, rotating frame; 3, first driving mechanism; 4, first support block; 5, handle; 6, wrist support block; 7, first chute; 8, airbag sleeve; 9, arc-shaped elastic strip; 10, fixed seat; 11, rotating frame; 12, docking block; 13, second chute; 14, second driving mechanism; 15, slide rail; 16, second support block; 17, lifting seat; 18, anti-detachment part; 19, electric push rod; 20, massage bump. Detailed Embodiments

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Generally, the components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations.

[0044] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "inner" and "outer" is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is usually placed during use. It is only for the convenience of describing the present application 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 should not be construed as a limitation to the present application. In addition, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0045] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "set" and "connected" 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 directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0046] The following will describe the present invention in detail with reference to the accompanying drawings.

[0047] Embodiment 1

[0048] As Figure 1 and 2 shown, an exoskeleton for rehabilitation includes a mounting base 1, a rotating frame 2 rotatably mounted on the mounting base 1, and a first driving mechanism 3 for driving the rotation of the rotating frame 2. The rotating frame 2 is provided with a first support block 4 for supporting the forearm. The exoskeleton for rehabilitation further includes:

[0049] A grip 5, arranged on the rotating frame 2;

[0050] A wrist support block 6, mounted on the rotating frame 2. One end of the wrist support block 6 away from the first support block 4 is provided with a first chute 7;

[0051] A hollow strip-shaped airbag sleeve 8. An arc-shaped elastic strip 9 is fixed on the outer side wall of the airbag sleeve 8. The arc-shaped elastic strip 9 is slidably arranged on the first chute 7. The airbag sleeve 8 has an initial working position and a gripping working position. In the initial working position, the arc-shaped elastic strip 9 is all or partially located on the first chute 7, and the airbag sleeve 8 is integrally in a long strip shape. In the gripping working position, the arc-shaped elastic strip 9 is all or partially separated from the first chute 7, and the arc-shaped elastic strip 9 drives the airbag sleeve 8 to bend and deform, so that the airbag sleeve 8 surrounds the outside of the grip 5.

[0052] In the initial state, the arc-shaped elastic strip 9 is embedded in the first chute 7, and the airbag sleeve 8 is straight; when wearing, four fingers (excluding the thumb) are inserted into the airbag sleeve 8 until the tiger's mouth abuts against the end of the airbag sleeve 8. As the arm moves forward, it drives the airbag sleeve 8 and the arc-shaped elastic strip 9 to move. When a part of the arc-shaped elastic strip 9 moves out of the first chute 7, under the action of the arc-shaped elastic strip 9, the airbag sleeve 8 bends (i.e., drives the four fingers inside the airbag sleeve 8 to bend), forming a fist shape and gripping the outside of the grip 5. By such a setting, patients with weak fingers can hold the grip 5, facilitating subsequent rehabilitation training.

[0053] In actual use, one training method is: the first driving mechanism 3 rotates, driving the forearm and the wrist to rotate synchronously around the elbow joint.

[0054] In actual use, the rehabilitation exoskeleton of the present application can be installed on an exoskeleton robot and used as an upper limb exoskeleton.

[0055] In this embodiment, the airbag sleeve 8 has an air charging and discharging pipeline (omitted and not shown in the figure), and the air charging and discharging pipeline is used to connect an air pump. A pressure sensor (omitted and not shown in the figure) is provided on the inner side wall of the airbag sleeve 8.

[0056] The air pump can be used to charge and discharge air, enabling the airbag sleeve 8 to better wrap around the grip 5. The pressure sensor is provided to monitor the pressure and prevent damage to the patient's fingers due to excessive pressure. In actual use, multiple pressure sensors are provided and distributed in different areas of the airbag sleeve 8.

[0057] In this embodiment, the cross-section of the first chute 7 is trapezoidal, and the arc-shaped elastic strip 9 has a trapezoidal anti-disengagement portion 18 for embedding in the first chute 7.

[0058] In this embodiment, the rotating frame 2 has a slide rail 15, and the wrist support block 6 is slidably installed on the slide rail 15. The rehabilitation exoskeleton further includes a locking structure (omitted and not shown in the figure) for locking the wrist support block 6 and the slide rail 15.

[0059] The slide rail 15 is provided to adjust the positions of the wrist support block 6 and the fixed seat 10 (i.e., adjust the distance from the first support block 4), so as to adapt to different patients. In actual use, the locking structure includes a threaded hole provided on the wrist support block 6 or the fixed seat 10 and a locking bolt screwed into the threaded hole.

[0060] As Figure 1 and 2 shown, in this embodiment, it further includes a second support block 16 installed on the mounting seat 1 for supporting the upper arm.

[0061] In actual use, bushings and straps for locking the arm are installed on the first support block 4, the second support block 16, and the wrist support block 6, which are omitted in this embodiment and not shown.

[0062] In actual use, the first driving mechanism 3 can be a motor.

[0063] Embodiment 2

[0064] As Figure 3 、 4 and shown in Figure 5, the difference between this embodiment and Embodiment 1 is that the rehabilitation exoskeleton further includes:

[0065] A fixed seat 10, fixedly connected to the wrist support block 6;

[0066] A rotating frame 11, rotatably mounted on the fixed seat 10, and a grip 5 is arranged on the rotating frame 11;

[0067] A docking block 12, fixed on the rotating frame 11, the docking block 12 is located at the end of the wrist support block 6, the docking block 12 has a second chute 13, the second chute 13 is arranged opposite to the first chute 7, and the arc-shaped elastic strip 9 is slidably arranged on the first chute 7 and the second chute 13; when the airbag sleeve 8 is in the holding working position, the arc-shaped elastic strip 9 completely disengages from the first chute 7, and the arc-shaped elastic strip 9 partially disengages from the second chute 13;

[0068] A second driving mechanism 14, arranged on the fixed seat 10, for driving the rotating frame 11 to rotate, and driving the patient's wrist to perform a twisting action through the synchronous rotation of the docking block 12, the airbag sleeve 8, and the grip 5 on the rotating frame 11.

[0069] In actual use, the second driving mechanism 14 can be a motor.

[0070] After such a setting, the rehabilitation exoskeleton has a second training method:

[0071] In the initial state, the arc-shaped elastic strip 9 is embedded in the first chute 7 or embedded in the first chute 7 and the second chute 13, and the airbag sleeve 8 is in a straight strip shape; when wearing, four fingers (the thumb is not put in) are inserted into the airbag sleeve 8 until the tiger's mouth abuts against the end of the airbag sleeve 8, and the arm moves forward, driving the airbag sleeve 8 and the arc-shaped elastic strip 9 to move until the arc-shaped elastic strip 9 completely moves out of the first chute 7, and most of the arc-shaped elastic strip 9 moves out of the second chute 13. At this time, under the action of the arc-shaped elastic strip 9, the airbag sleeve 8 bends (that is, drives the four fingers in the airbag sleeve 8 to bend), forming a fist shape and holding on the outside of the grip 5;

[0072] Then the second driving mechanism 14 works to drive the rotating frame 11 to rotate (twist at a small angle). When the rotating frame 11 twists, the docking block 12, the airbag sleeve 8 and the handle 5 on the rotating frame 11 also twist synchronously, thereby driving the patient's wrist to perform twisting movement.

[0073] In this embodiment, the docking block 12 and the wrist supporting block 6 are clearance-matched.

[0074] In this embodiment, the cross section of the second slide groove 13 is also trapezoidal, and the anti-slip portion 18 of the arc-shaped elastic strip 9 is used to be embedded in the first slide groove 7 and the second slide groove 13 .

[0075] In this embodiment, the wrist support block 6 and the fixing seat 10 are both slidably mounted on the slide rail 15 .

[0076] In this embodiment, the rehabilitation exoskeleton further includes a lifting seat 17 , on which an electric lifting mechanism is installed, and the mounting seat 1 is fixed to the lifting element of the electric lifting mechanism.

[0077] The rehabilitation exoskeleton of the present application can also be used alone (i.e. not installed on an exoskeleton robot). By setting a lifting seat 17, the distance of the mounting seat 1 can be adjusted. That is, for a patient sitting on a stool or a bed, the mounting seat 1 can be raised or lowered to a suitable position according to the height of the patient's arm, making it convenient for the patient to use.

[0078] Example 3

[0079] like Figure 6 As shown, the difference between this embodiment and embodiment 2 is that:

[0080] 1. The second driving mechanism 14 is slidably disposed on the fixed seat 10. This embodiment further includes an electric push rod 19 disposed on the fixed seat 10. The electric push rod 19 is used to drive the second driving mechanism 14 to reciprocate.

[0081] 2. In this embodiment, a vibration motor is disposed inside the handle 5 , and the outer surface of the handle 5 has massage convex points 20 .

[0082] When the patient's fingers are flexed and cannot be opened due to hemiplegia or other reasons, the doctor will slowly pry open the patient's hands and do some massage movements to help the patient relieve the flexion caused by excessive muscle tension. In this embodiment, the second drive mechanism 14 is slidably set on the fixed seat 10, and the electric push rod 19 is set to drive the second drive mechanism 14 and the rotating frame 11 to move, so that the airbag cover 8 can be slowly deployed, that is, the patient's hand can be slowly opened; in this embodiment, the vibration motor and massage convex point 20 can be set to transmit vibration to the airbag cover 8, combined with the inflation and deflation operation of the airbag cover 8 itself, it can achieve the effect of massaging the patient's hand, thereby alleviating the flexion problem caused by excessive muscle tension.

[0083] The above are only the preferred embodiments of the present invention, and thus do not limit the patent protection scope of the present invention. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention, directly or indirectly applied in other related technical fields, shall be included in the protection scope of the present invention by the same token.

Claims

1. An exoskeleton for rehabilitation, comprising a mounting base, a rotating frame rotatably mounted on the mounting base, and a first driving mechanism for driving the rotation of the rotating frame, characterized in that The rotating frame is provided with a first support block for supporting the forearm, and the rehabilitation exoskeleton further includes: A grip, arranged on the rotating frame; A wrist support block, mounted on the rotating frame, and one end of the wrist support block away from the first support block has a first chute; A hollow strip-shaped airbag sleeve, an arc-shaped elastic strip is fixed on the outer side wall of the airbag sleeve, and the arc-shaped elastic strip is slidably arranged on the first chute. The airbag sleeve has an initial working position and a gripping working position; in the initial working position, all or part of the arc-shaped elastic strip is located on the first chute, and the airbag sleeve is integrally strip-shaped; in the gripping working position, all or part of the arc-shaped elastic strip disengages from the first chute, and the arc-shaped elastic strip drives the airbag sleeve to bend and deform, so that the airbag sleeve surrounds the outside of the grip; The rehabilitation exoskeleton further includes: A fixed seat, fixedly connected to the wrist support block; A rotating frame, rotatably mounted on the fixed seat, and the grip is arranged on the rotating frame; A docking block, fixed on the rotating frame, the docking block is located at the end of the wrist support block, and the docking block has a second chute, the second chute is arranged opposite to the first chute, and the arc-shaped elastic strip is slidably arranged on the first chute and the second chute; when the airbag sleeve is in the gripping working position, all of the arc-shaped elastic strip disengages from the first chute, and part of the arc-shaped elastic strip disengages from the second chute; A second driving mechanism, arranged on the fixed seat, for driving the rotating frame to rotate, and driving the patient's wrist to perform a twisting action through the synchronous rotation of the docking block, the airbag sleeve and the grip on the rotating frame.

2. The exoskeleton for rehabilitation according to claim 1, wherein, The airbag sleeve is provided with a charging and discharging pipeline, and the charging and discharging pipeline is used to connect an air pump, and a pressure sensor is arranged on the inner side wall of the airbag sleeve.

3. The exoskeleton for rehabilitation according to claim 1, characterized in that, The docking block and the wrist support block are in clearance fit.

4. The exoskeleton for rehabilitation according to claim 3, wherein, The cross-sections of the first chute and the second chute are both trapezoidal, and the arc-shaped elastic strip has a trapezoidal anti-disengagement part, and the anti-disengagement part is used for being embedded in the first chute and the second chute.

5. The exoskeleton for rehabilitation according to claim 1, wherein The rotating frame has a slide rail, and the wrist support block and the fixed seat are slidably mounted on the slide rail. The rehabilitation exoskeleton further includes a locking structure for locking the wrist support block and the slide rail.

6. The exoskeleton for rehabilitation according to claim 5, wherein, The locking structure includes a threaded hole arranged on the wrist support block or the fixed seat and a locking bolt screwed on the threaded hole.

7. The exoskeleton for rehabilitation according to claim 1, wherein, It further includes a second support block mounted on the mounting seat for supporting the upper arm; It further includes a lifting seat, an electric lifting mechanism is mounted on the lifting seat, and the mounting seat is fixed to the lifting element of the electric lifting mechanism.

8. The exoskeleton for rehabilitation according to claim 7, wherein Bushings and straps for locking the arm are mounted on the first support block, the second support block and the wrist support block.

9. The exoskeleton for rehabilitation according to claim 1, wherein, The second driving mechanism is slidably arranged on the fixed seat, and an electric push rod is further arranged on the fixed seat, and the electric push rod is used for driving the second driving mechanism to move reciprocally; A vibration motor is arranged in the grip, and massage bumps are arranged on the outer surface of the grip.

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