An assistive walking device for lumbar and hip rehabilitation

Abstract

This invention provides an assistive walking device for lumbar and hip rehabilitation, characterized by comprising a stretching mechanism, a motor with a clutch, a retractable waist belt, a leg assist device, and a back strap; the stretching mechanism includes a disc cam, a roller follower driven by the disc cam, and a belt winding device; the belt winding device includes a roller and upper grooves and a rotating component fixed at both ends of the roller, the rotating component being rotatably connected to a fixed component, and the outer edge of the fixed component being fixedly connected to the retractable waist belt; the device can realize three modes—rehabilitation training assistive walking linkage mode, assistive walking mode, and rehabilitation training mode—through sensor detection and external manual settings, and can also set the walking stride speed and the degree of lumbar load relief.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation and assistive devices, specifically to an assistive walking device for lumbar and hip rehabilitation. Background Technology

[0002] Population aging will drive the development of the "aging industry." This industry is a sunrise industry both domestically and globally, with broad market prospects. Muscle strength declines with age, most notably in the lower limbs. Some elderly people may even experience mobility issues due to illness, impacting their mobility and quality of life. The number of paralyzed patients due to diseases such as cerebrovascular and neurological disorders is increasing. With the surge in traffic, more and more people are becoming disabled due to lower limb injuries from traffic accidents. Many disabled individuals suffer from severe psychological problems due to loss of mobility. How to help disabled individuals improve their quality of life and alleviate their psychological burden is a social issue that requires attention.

[0003] In jobs requiring repetitive lifting movements, workers often suffer from lower back and hip injuries or conditions due to prolonged external loads. There is an urgent need for methods or devices to alleviate the load on their bodies during work. Patients with lower back and hip injuries require limb training to restore function and prevent muscle atrophy and joint stiffness. Rehabilitation training devices are typically attached to the limbs to facilitate movement. These rehabilitation and assistive devices integrate sensing, control, information, fusion, and motion computing, providing a wearable, integrated mechanical mechanism for the operator. However, they cannot simultaneously provide leg assistance and lower back load relief. Summary of the Invention

[0004] The purpose of this invention is to provide an assistive walking device for lumbar and hip rehabilitation. Through feedback control of sensors and an external mobile phone platform, it realizes the linkage function of leg assistance and lumbar load relief, and can carry out rehabilitation training or enhance assistance according to the different needs of users.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] An assistive walking device for lumbar and hip rehabilitation includes a stretching mechanism 1, a motor 2 with a clutch, a retractable waist belt 4, a leg assist device 5, and a back strap 6. The stretching mechanism 1 includes a disc cam 11, a roller follower 12 driven by the disc cam 11, and a winding device 13. The winding device 13 includes a shaft 132, upper grooves 131 fixed at both ends of the shaft, and a rotating component 133. The rotating component 133 is rotatably connected to a fixed component 134, the outer edge of which is fixed. The motor 2 is fixedly connected to the retractable waist belt 4; the motor 2 includes a motor base 21 and a motor main shaft 22; the retractable waist belt 4 includes a ring formed by a pre-tensioning section 41, an elastic telescopic section 42, and a back strap connecting section 43. The telescopic section 42 is located on the user's side waist. The telescopic section 42 has an elongated groove 45. A slider 44 is slidably connected inside the groove 45. A spring 46 is installed inside the groove 45. One end of the spring 46 is fixedly connected to the inner wall of the groove 45 near the front abdomen, and the other end is fixedly connected to... On the slider 44, the shoulder strap connecting section 43 is located at one point on the user's lower back and two points on the front abdomen; the leg assist device 5 includes a leg drive plate 51 and a leg strap part 52 connected to the leg drive plate 51; the motor base 21 is fixed on the pre-tensioning section 41, the motor main shaft 22 is connected to the leg drive plate 51 through an electromagnetic clutch, and a disc cam 11 is fixedly connected to the motor main shaft 22; the roller follower 12 includes a large roller 122 and a small roller 123 connected through a connecting rod 121, wherein the large roller 122... The disc cam 11 is connected to the disc cam 11 via an electromagnetic clutch. The small roller 123 is fixedly connected to the upper groove 131 of the winding device 13. One end of the winding tape 135 is wound on the winding shaft 132, and the other end of the winding tape 135 is fixedly connected to the slider 44. The motor spindle 22 is perpendicular to the leg drive plate 51, the winding shaft 132 is parallel to the leg drive plate 51, the axis of the disc cam 11 is parallel to the motor spindle 22, the leg drive plate 51 is located on the outer side of the leg, and the shoulder strap 6 is fixedly connected to the shoulder strap connecting section 43.

[0007] As a preferred technical solution of the present invention, the motor base 21 is fixedly connected to the retractable waist belt 4 through the motor connector 3.

[0008] As a preferred technical solution of the present invention, the motor base 21 includes a motor and a reducer.

[0009] As a preferred technical solution of the present invention, the inner ring surface of the retractable waist belt 4 has an elastic layer.

[0010] As a preferred technical solution of the present invention, the ends of the pre-tightening section 41 are connected as one unit by a snap-fit ​​device.

[0011] As a preferred technical solution of the present invention, the assistive walking device further includes a control chip and an electromyography (EMG) sensor, wherein the EMG sensor is installed on the leg strap portion 52.

[0012] As a preferred technical solution of the present invention, a spring is connected to the large roller 122, and the other end of the spring is connected to the retractable waist belt 4.

[0013] Another object of the present invention is to provide a control system for an assistive walking device for lumbar and hip rehabilitation, comprising an organization level, a coordination level, and a control level;

[0014] The organization level is the central hub of this control structure, which is the Bluetooth communication system and the microcontroller control system. It receives and interprets input commands and feedback from the system, sets tasks, and transmits these instructions to the control level to solve tasks such as walking planning, obstacle avoidance, and gait selection.

[0015] The coordination level includes a sensor system based on electromyography sensors and a microcontroller control system. Its task is to feed back information from the sensor system and the control level to the tissue level, and to receive walking command parameters such as stride length and stride speed from the tissue level. After being synthesized by a certain algorithm, it generates reference commands for controlling the joints and sends them to the next level—the control level.

[0016] The control level consists of a motor controller and a motor-based execution system. It is responsible for receiving and executing the received reference commands. The movements of each joint after execution together constitute the gait of the lower limbs.

[0017] This invention provides a comfortable, safe, and practical wearable hip joint rehabilitation and assistive device. Through feedback control via sensors and an external mobile phone platform, its three movement modes can be used for rehabilitation training or enhanced assistance according to the user's different needs. It also relieves lumbar load during leg movements, realizing the linkage function of leg assistance and lumbar load relief. Attached Figure Description

[0018] Figure 1 This is one of the overall schematic diagrams of this device.

[0019] Figure 2 This is the second overall schematic diagram of the device.

[0020] Figure 3 This is a schematic diagram of the tensioning mechanism.

[0021] Figure 4 This is a schematic diagram of a motor with a clutch.

[0022] Figure 5 This is a schematic diagram of the motor connector.

[0023] Figure 6 This is one of the schematic diagrams for a retractable waist belt.

[0024] Figure 7 This is the second illustration of a retractable belt.

[0025] Figure 8 This is one of the schematic diagrams of a leg-assist device.

[0026] Figure 9 This is the second schematic diagram of a leg-assist device.

[0027] Figure 10 This is a diagram of the baby carrier strap.

[0028] Figure 11 This is a schematic diagram of an electromyography (EMG) sensor.

[0029] Figure 12 This is a flowchart of the control method of this device.

[0030] Figure 13 This is a structural diagram of the control system of this device.

[0031] The labels in the attached diagram are as follows: 1: tensioning mechanism; 11: disc cam; 12: spring-loaded roller follower; 13: belt winding device; 2: motor with clutch; 21: motor base; 22: motor spindle; 3: motor connector; 4: retractable waist belt; 41: retractable waist belt pretensioning section; 42: retractable waist belt telescopic section; 43: retractable waist belt back strap connecting section; 5: leg assist device; 51: leg assist plate; 52: leg strap part; 6: back strap. Detailed Implementation

[0032] The invention is further defined in the following embodiments. Based on the following description and these embodiments, those skilled in the art can determine the basic features of the invention, and various changes and modifications can be made to the invention to make it suitable for various uses and conditions without departing from the nature and scope of the invention.

[0033] Please see Figure 1 , 2The entire wearable hip joint rehabilitation and assistive device consists of a stretching mechanism 1, a motor 2 with a clutch device, a motor connector 3, a retractable waist belt 4, a leg assist device 5, and a back strap 6. The user wears the entire device through the retractable waist belt 4, the leg strap 52, and the back strap 6, so that the device fits the user's body tightly. Under the action of the motor 2 and the clutch device, the leg assist device 5 and the retractable waist belt 4 work together to achieve the functions of assisting walking and relieving lumbar load. The stretching mechanism 1 includes a disc cam 11, a roller follower 12 driven by the disc cam 11, and a belt winding device 13. The belt winding device 13 includes a roller 132, upper grooves 131 fixed at both ends of the roller, and a rotating component 133. The rotating component 133 is rotatably connected to a fixed component 134, and the outer edge of the fixed component 134 is fixedly connected to the retractable waist belt 4. The motor 2 includes a motor base 21 and a motor spindle 22. The retractable waist belt 4 includes a ring formed by a pre-tension section 41, an elastic telescopic section 42, and a back strap connecting section 43. The telescopic section 42 is located on the user's side waist and has an elongated groove 45. A slider 44 is slidably connected inside the groove 45, and a spring 46 is installed inside the groove 45. One end of the spring 46 is fixedly connected to the inner wall of the groove 45 near the front abdomen, and the other end is fixedly connected to the slider 44. The back strap connecting section 43 is located at the user's lower back and front waist. Two locations on the abdomen; the leg assist device 5 includes a leg drive plate 51 and a leg binding part 52 connected to the leg drive plate 51; the motor base 21 is fixed on the pre-tensioning section 41, the motor main shaft 22 is connected to the leg drive plate 51 via an electromagnetic clutch, and a disc cam 11 is fixedly connected to the motor main shaft 22; the roller follower 12 includes a large roller 122 and a small roller 123 connected via a connecting rod 121, and the large roller 122 is connected to the disc cam 11 via an electromagnetic clutch. The small roller 123 is fixedly connected to the upper groove 131 of the tape winding device 13. One end of the tape 135 is wound on the winding shaft 132, and the other end of the tape 135 is fixedly connected to the slider 44. The motor main shaft 22 is perpendicular to the leg drive plate 51, the winding shaft 132 is parallel to the leg drive plate 51, the axis of the disc cam 11 is parallel to the motor main shaft 22, the leg drive plate 51 is located on the outer side of the leg, and the shoulder strap 6 is fixedly connected to the shoulder strap connecting section 43.

[0034] In some embodiments, the motor base 21 is fixedly connected to the retractable waist belt 4 via the motor connector 3.

[0035] In some embodiments, the motor base 21 includes a motor and a reducer.

[0036] In some embodiments, the inner ring surface of the retractable waistband 4 has an elastic layer.

[0037] In some embodiments, the ends of the pre-tightening section 41 are connected as one unit by a snap-fit ​​device.

[0038] In some embodiments, the assistive walking device further includes a control chip and an electromyography (EMG) sensor, the EMG sensor being mounted on the leg strap portion 52.

[0039] In some embodiments, a spring is connected to the large roller 122, and the other end of the spring is connected to the retractable belt 4.

[0040] Please see Figure 3 The telescopic mechanism 1 consists of a disc cam 11, a spring-loaded roller 12 follower, and a belt winding device 13. The telescopic mechanism 1 works in conjunction with the retractable waist belt 4 to relieve the user's lumbar load. Under the action of the clutch device, the motor 2 and the leg assist device 5 separate, the relative position of the motor 2 moves backward, and the relative position of the disc cam 11 mounted on it also moves backward, so that the disc cam 11 can achieve close contact with the roller follower 12 fixed on the motor connector 3. Driven by the motor 2, the roller follower 12 reciprocates according to the contour curve of the disc cam 11, and at the same time drives the belt winding device 13 to rotate through the small roller on the other side, so as to realize the winding or unwinding of the belt winding device 13, thereby driving the extension and retraction of the telescopic section 42 of the retractable waist belt, so as to relieve the user's lumbar load when performing actions such as bending over.

[0041] It should be noted that the profile curve of the disc cam 11 is designed to match the size and relative position of the roller follower 12 and the winding device 13, so that the roller follower 12, driven by the disc cam 11, can just make the winding device 13 reciprocate. The connecting rod between the large roller and the small roller in the roller follower 12 is a telescopic rod with a telescopic function, which can ensure the toughness and stability during the movement. The small roller is fixed in the groove at the upper end of the winding device 13. During the normal movement of the winding device, the relative position of the small roller and the winding device does not change. However, when an overload occurs, the small roller slides relative to the groove, causing the winding device 13 to stop moving and no longer winding or unwinding the belt, thus ensuring the safety and reliability of the device in the event of an unexpected power overload.

[0042] Please see Figure 4The motor 2 with clutch device consists of a motor base 21 and a motor spindle 22. It should be noted that the motor base is an assembly of the motor and a reducer, allowing adjustment of the motor spindle 22's speed via sensors and external manual settings, thus achieving different functions at different speeds. A disc cam 11 is mounted on the motor spindle 22, and an electromagnetic clutch is installed at its end, matching the electromagnetic clutch on the leg assist device. When leg assist is needed, the motor spindle 22 and the leg assist device 5 are connected via the electromagnetic clutch. The motor spindle 22 moves towards the body. At this time, the large roller of the roller follower 12 is in close contact with the disc cam 11. After the motor spindle 22 rotates, it drives the disc cam 11 to rotate, which in turn drives the reel 132 to rotate, which in turn drives the belt 135 to wind and unwind. Through the design of the relative position relationship, the belt 135 provides a forward force to the lower back during the leg movement, effectively relieving the load on the waist during walking. The retractable waist belt 4 is filled with elastic washers, and the force exerted on the lower back by the elastic retractable section 42 is greater than the elasticity of the elastic washers. When the user needs to bend over or turn, the motor spindle 22 and the leg assist device 5 are separated due to the action of the electromagnetic clutch, and the leg assist device 5 does not work. When the user needs to assist walking, the large roller of the roller follower 12 separates from the disc cam 11 under the action of the electromagnetic clutch, the leg assist device 5 does not work, and the waist is not under pressure. When the user needs rehabilitation training, the motor spindle 22 is disconnected from the leg assist device 5 via an electromagnetic clutch, and the motor spindle 22 drives the disc cam 11 to rotate, thereby controlling the extension and retraction of the retractable waist belt extension section 42.

[0043] Please see Figure 5 The motor connector 3 has two small through holes at the front and back, which facilitates the installation of the motor and the retractable belt with screws. At the same time, the large through hole in the middle provides space and fixation for the motor spindle 22 to pass through, thus realizing the overall connection.

[0044] Please see Figure 6 and 7The retractable waist belt 4 consists of a pre-tensioning section 41, a telescopic section 42, and a back strap connecting section 43. The pre-tensioning section 41 is located at the front end of the retractable waist belt and can be adjusted for initial tightness when the belt is wrapped around the body via a bidirectional adjustable buckle. The telescopic section 42 is mainly a telescopic belt made of a highly elastic material, with sliders connected to both ends. The other end of each slider is connected to a long spring, all designed inside the waist belt. Under the winding or unwinding movement of the external drive belt, the slider slides back and forth on the retractable waist belt, thereby causing the telescopic belt to tighten or loosen regularly, reducing the load on the waist. The long spring plays a role in buffering, shock absorption, and energy storage during the extension and retraction process. The back strap connecting section 43 is located at part of the front and rear ends of the retractable waist belt and is used to connect the back strap part, facilitating the tightness adjustment of the back strap part. It should be noted that the inner ring of the entire retractable waist belt 4 that fits against the waist should be padded with an elastic layer. The padded layer uses soft sponge material, but is not limited to this material, to improve wearing comfort and fit.

[0045] Please see Figure 8 and 9 The leg assist device 5 consists of a leg assist plate 51 and a leg strap part 52. The upper part of the leg drive plate 51 has an electromagnetic clutch that matches the motor spindle 22, and the lower part is connected to the leg strap part 52 by screws. After the motor spindle 22 is connected to the leg drive plate 51, the leg drive plate achieves a certain stride and speed under the driving action of the motor spindle 22, thereby driving the user's legs. The leg strap part 52 is connected to the leg drive plate 51 by screws, and the tightness of the leg strap can be adjusted by adjusting the length of the leg strap, which plays a role in fixing the entire leg assist device.

[0046] Please see Figure 10 The shoulder strap 6 is connected to the shoulder strap connecting section 43 of the retractable waist belt. The tension of the shoulder can be adjusted by stretching its length, thus fixing the entire device to the upper body.

[0047] Please see Figure 11This is a schematic diagram of an electromyography (EMG) sensor. By fixing the EMG sensor to the leg strap 52 and the back strap 6, it measures different changes in the muscle state of the user's corresponding parts, thereby determining the user's different movement states and enabling the control system to implement different control methods for the device. The EMG sensor captures the body's movement information by detecting the electromyographic signals transmitted within the body and transmits the signals to the control system for analysis and processing. The calculation results processed by the control chip are output to the motor to realize the corresponding action. The control chip communicates with the mobile phone via Bluetooth. After setting the corresponding speed and other data on the mobile phone, the data can be compiled by software and sent to the control chip via Bluetooth. After processing by the control chip, it is applied to the motor. By analyzing the EMG signals generated by various people during different movements, the control chip can determine the appropriate assistance method and, combined with the input signals from the mobile phone, make decisions to determine the currently used assistance method and suitable control parameters and output them. It also provides real-time feedback control based on external needs and internal protection programs to realize the corresponding action.

[0048] Please see Figure 12 and 13 The control system comprises an organization level, a coordination level, and a control level. The organization level is the central hub of this control structure, consisting of a Bluetooth communication system and a microcontroller control system. It receives and interprets input commands and feedback from the system, sets tasks, and transmits these instructions to the control level to solve tasks such as walking planning, obstacle avoidance, and gait selection. The coordination level includes a sensor system, primarily composed of electromyography (EMG) sensors, and a microcontroller control system. Its task is to provide feedback from the sensor system and the control level to the organization level, and to receive walking command parameters from the organization level, such as stride length and stride speed. After synthesizing these parameters using a certain algorithm, it generates reference commands for controlling the joints and sends them to the next level—the control level. The control level consists of a motor controller and a motor-based execution system. It is responsible for receiving the received reference commands and executing them. The movements of each joint after execution collectively constitute the gait of the lower limbs.

[0049] In this invention, the device can realize three modes through sensor detection and external human settings: rehabilitation training-assisted walking linkage mode, assisted walking mode, and rehabilitation training mode. At the same time, the walking stride speed and the degree of load relief on the waist can be set.

[0050] In embodiments of the present invention, the device is securely fastened to the user's waist by a retractable waistband, while the design of leg straps and back straps further improves the fit between the device and the human body.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. An assistive walking device for lumbar and hip rehabilitation, characterized in that: The device includes a stretching mechanism, a motor with a clutch, a retractable waist belt, a leg assist device, and a back strap. The stretching mechanism comprises a disc cam, a roller follower driven by the disc cam, and a belt winding device. The belt winding device includes a spool, upper grooves fixed to both ends of the spool, and a rotating component. The rotating component is rotatably connected to a fixed component, and the outer edge of the fixed component is fixedly connected to the retractable waist belt. The motor includes a motor base and a motor shaft. The retractable waist belt comprises a pre-tensioned section, an elastic telescopic section, and a back strap connecting section forming a ring. The telescopic section is located on the user's side waist and has an elongated groove. A slider is slidably connected inside the groove, and a spring is installed inside the groove. One end of the spring is fixedly connected to the inner wall of the groove near the front abdomen, and the other end is fixedly connected to the slider. The carrying strap connection section is located at one point on the user's lower back and two points on the front abdomen; the leg assist device includes a leg drive plate and a leg strap connected to the leg drive plate; the motor base is fixed on the pre-tensioning section, the motor spindle is connected to the leg drive plate via an electromagnetic clutch, and a disc cam is fixedly connected to the motor spindle; the roller follower includes a large roller and a small roller connected via a connecting rod, the large roller is connected to the disc cam via an electromagnetic clutch, the small roller is fixedly connected to the upper groove of the tape winding device, one end of the tape is wound on the reel, and the other end of the tape is fixedly connected to the slider; the motor spindle is perpendicular to the leg drive plate, the reel is parallel to the leg drive plate, the axis of the disc cam is parallel to the motor spindle, the leg drive plate is located on the outer side of the leg, and the carrying strap is fixedly connected to the carrying strap connection section.

2. The assistive walking device for lumbar and hip rehabilitation as described in claim 1, characterized in that: The motor base is fixedly connected to the retractable waist belt via a motor connector.

3. The assistive walking device for lumbar and hip rehabilitation as described in claim 1, characterized in that: The motor base includes a motor and a reducer.

4. The assistive walking device for lumbar and hip rehabilitation as described in claim 1, characterized in that: The retractable waist belt has an elastic layer on its inner ring surface.

5. The assistive walking device for lumbar and hip rehabilitation as described in claim 1, characterized in that: The ends of the pre-tightening section are connected as one unit by a snap-fit ​​device.

6. The assistive walking device for lumbar and hip rehabilitation as described in claim 1, characterized in that: The aforementioned walking aid also includes a control chip and an electromyography (EMG) sensor, with the EMG sensor mounted on the leg strap.

7. The assistive walking device for lumbar and hip rehabilitation as described in claim 1, characterized in that: A spring is connected to the large roller, and the other end of the spring is connected to a retractable belt.

Images