An all-in-one machine for preventing falls and assisting walking and rehabilitation training

Abstract

The present invention relates to the technical field of rehabilitation training devices, in particular to an anti-fall walking-aid rehabilitation training all-in-one machine, an electric wheelchair, comprising a seat cushion that can be converted between horizontal and vertical states; a sit-to-stand conversion mechanism comprising a crank slider mechanism and its driving member that moves in a vertical plane, with the seat cushion serving as a crank component in the crank slider mechanism; a balance assist system comprising a backrest rod, a support arm mechanism, and a waist connector, the backrest rod being rotatably connected to the seat cushion, one end of the support arm mechanism being slidably connected to the backrest rod, and the other end being rotatably connected to the waist connector, the support arm mechanism being composed of two support arms, each of which has a plurality of rotary joints, and the rotary joints arranged at the head end being configured with a series elastic driver. By changing the overall form of the machine, the conversion between the wheelchair mode and the assisted walking mode is achieved. In the assisted walking mode, by adjusting the output torque value of the rotary joint and the height of the linear slider, the current user's walking state can be adapted at any time, and fall protection can be provided.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training devices, in particular to an all-in-one fall prevention and walking assistance rehabilitation training machine. Background Art

[0002] Physiological aging, neurological damage, and musculoskeletal limitations are common causes of impaired balance. Balance control significantly impacts independence and gait in daily activities because it is a fundamental motor skill and a prerequisite for maintaining a variety of postures and activities. The consequence of weakened balance control is falls, with the elderly at high risk for falls, accounting for over 90% of fractures in the elderly. Furthermore, a significant portion of people with lower limb disabilities due to congenital diseases, stroke, sports injuries, and traffic accidents can regain walking ability through rehabilitation training, but high-intensity training significantly increases the risk of falls. Falls not only increase the psychological burden on patients with impaired balance but also impact their quality of life and physical and mental health, as well as that of themselves and their families.

[0003] Fall prevention devices are designed to help people with impaired balance overcome their fear of falling and move about their daily lives with greater confidence and independence. However, existing fall prevention devices are primarily intended for use in medical institutions rather than at home or in the community, and they are bulky and lack mobility. Furthermore, most fall prevention devices lack a sit-to-stand function, meaning they cannot transform into a powered wheelchair when the user wishes to sit down, rest, or move. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention aims to provide an all-in-one anti-fall walking and rehabilitation training device that has a sit-to-stand conversion function and can prevent falls during walking rehabilitation training, achieving multi-purpose use and being suitable for both home and community use. To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0005] The present invention provides an all-in-one machine for preventing falls and assisting walking and rehabilitation training, comprising:

[0006] An electric wheelchair, including a seat cushion capable of switching between a horizontal and a vertical position;

[0007] The sit-to-stand conversion mechanism includes a crank slider mechanism and a driving member that moves in a vertical plane, wherein the seat cushion serves as a crank member in the crank slider mechanism;

[0008] The balance assist system includes a backrest rod, a support arm mechanism and a waist connector. The backrest rod is rotatably connected to the seat cushion. One end of the support arm mechanism is slidably connected to the backrest rod, and the other end is rotatably connected to the waist connector. The support arm mechanism consists of two support arms, each support arm has multiple rotational joints and the rotational joint arranged at the head end is configured with a series elastic driver.

[0009] As a further implementation method, the sit-to-stand conversion mechanism also includes two double rocker mechanisms that move in the horizontal plane and are symmetrically arranged, and are respectively connected to the guide wheels of the electric wheelchair. The double rocker mechanism is linked with the crank slider mechanism to increase the distance between the two guide wheels while the wheelchair is performing a sit-to-stand conversion.

[0010] As a further implementation, the crank slider mechanism and the double rocker mechanism are linked by setting a double slider mechanism.

[0011] As a further implementation, the driving member is a linear actuator, which drives the wheelchair to convert from sitting to standing while increasing the distance between the guide wheel and the driving wheel.

[0012] As a further implementation, the crank slider mechanism, the double rocker mechanism and the double slider mechanism are compositely connected.

[0013] As a further implementation, the support arm mechanism and the backrest rod are provided with a linear joint to achieve sliding.

[0014] As a further implementation, adjacent rotation joints of the same support arm are connected via a rod.

[0015] As a further implementation, a rod is provided between the rotation joints at the ends of the support arms, and a rotation joint rotating around the rod is provided on the rod.

[0016] As a further implementation, except for the rotary joint at the head end, the other rotary joints are all freely movable joints and are equipped with position encoders.

[0017] As a further implementation, each of the support arms is provided with three rotation joints.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. This invention utilizes a sit-to-stand conversion mechanism to change the overall form of the device, enabling transitions between wheelchair mode and assisted walking mode. In wheelchair mode, the all-in-one device functions as a standard electric wheelchair, providing the user with a means of transportation. In assisted walking mode, the balance-assist mechanism adjusts the output torque of the rotary joint and the height of the linear slider to adapt to the user's current walking state and provide fall protection.

[0020] 2. The sit-to-stand conversion mechanism of this invention uses multiple mechanisms to change the overall configuration of the machine while simultaneously assisting users in standing up. The sit-to-stand conversion mechanism utilizes a dual rocker mechanism and a dual slider mechanism to adjust the distance between the guide wheels and the distance between the guide wheels and the drive wheels when assisting the user in standing. This not only ensures the user's walking space but also improves the overall balance of the machine, providing better protection for the user.

[0021] 3. The waist connector of the present invention is inherently compliant. When the all-in-one device is in the following state, the series elastic actuator is controlled in zero-force mode. The waist connector freely adjusts its posture to compensate for the posture error caused by the mismatch between the electric wheelchair's movement and the user's movement, thereby achieving the goal of following the user's movement. When instability is detected, the series elastic actuator will instantly activate based on the position encoder information and predicted human gait characteristics, outputting a certain torque to conform to the human body's movement and subsequently driving the waist connector to return to its initial position. This can maintain the user's center of gravity in a safe area, ensuring that the user will not fall and facilitating the user's recovery of balance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0023] Figure 1 This is a schematic diagram of the structure of the integrated machine in an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of a balancing auxiliary mechanism in an embodiment of the present invention;

[0025] Figure 3 2. It is a front view of the sit-to-stand conversion mechanism according to an embodiment of the present invention;

[0026] Figure 4 is an axonometric view of a sit-to-stand conversion mechanism according to an embodiment of the present invention;

[0027] Figure 5 Schematic diagram of a slider crank mechanism according to an embodiment of the present invention;

[0028] Figure 6 is a schematic diagram of a double rocker mechanism in an embodiment of the present invention;

[0029] Figure 7 Schematic diagram of a double-slider mechanism in an embodiment of the present invention;

[0030] Figure 8 is a top view of the sit-to-stand conversion mechanism in wheelchair mode according to an embodiment of the present invention;

[0031] Figure 9 2. It is a top view of the sit-to-stand conversion mechanism in the assisted walking mode according to an embodiment of the present invention;

[0032] Figure 10 is a schematic diagram of a wheelchair mode in an embodiment of the present invention;

[0033] Figure 11 Schematic diagram of the assisted walking mode in an embodiment of the present invention.

[0034] In the figure: the distances or sizes between parts are exaggerated to show the positions of various parts, and the schematic diagram is for reference only.

[0035] Among them: 101, control button; 102, seat cushion; 103, mobile control joystick; 104, wheelchair pedal; 105, guide wheel; 106, drive wheel; 107, battery; 201, linear actuator; 202, double rocker mechanism; 203, crank slider mechanism; 2031, connecting rod; 2032, frame; 2033, slide rod; 204, double slider mechanism; 301, backrest rod; 302, linear slider base; 303, support arm mechanism; 304, waist connector; R1, first rotary joint; R2, second rotary joint; R3, third rotary joint; R4, fourth rotary joint; R5, fifth rotary joint; R6, sixth rotary joint; R7, seventh rotary joint; P1, linear joint; L1, guide wheel spacing; L2, distance between guide wheel and drive wheel. DETAILED DESCRIPTION

[0036] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0037] In a typical embodiment of the present invention, referring to Figures 1-11 As shown, an anti-fall walking aid rehabilitation training all-in-one machine includes an electric wheelchair, a sit-to-stand conversion mechanism and a balance assistance system.

[0038] Among them, Figure 1 As shown, the electric wheelchair consists of control buttons 101, a motion control joystick 103, wheelchair pedals 104, a seat cushion 102, guide wheels 105, drive wheels 106, and a battery 107. The electric wheelchair serves as a mobile base, with the drive wheels 106 equipped with hub motors located on either side of the wheelchair. A battery 107 is placed between the two wheels to provide power for the entire device. Guide wheels 105 are mounted on either side of the front of the electric wheelchair, with wheelchair pedals 104 located between them. The control buttons 101 and motion control joystick 103 are mounted on the armrests on either side of the wheelchair, with a seat cushion 102 positioned in the middle. The seat cushion 102 can rotate to switch between horizontal and vertical positions.

[0039] like Figure 1 As shown, the sit-to-stand conversion mechanism consists of a linear actuator 201 and a triple composite mechanism. The linear actuator 201 is installed below the seat cushion 102 and can drive the triple composite mechanism to deform. The triple composite mechanism consists of a crank slider mechanism 203 that moves in the vertical plane, and a double rocker mechanism 202 and double slider mechanism 204 that move in the horizontal plane.

[0040] like Figure 3As shown, a crank slider mechanism 203 that moves in a vertical plane and its driving member, in this embodiment, the driving member is a linear actuator 201, and the seat cushion 102 serves as the crank component of the crank slider mechanism 203. The crank slider mechanism 203 also includes a connecting rod 2031, a frame 2032, and a slide bar 2033. The frame 2032 has a vertical section and a horizontal section, and the horizontal section serves as a sliding path for the slide bar 2033. The slide bar 2033 serves as the slider component of the crank slider mechanism 203. The top of the vertical section of the frame 2032 is rotatably connected to the seat cushion. The linear actuator 201 is threadedly connected to the slide bar 2033, and the rotation drives the slide bar 2033 to move.

[0041] like Figure 4 As shown, the sit-to-stand conversion mechanism includes a double rocker mechanism 202 that moves in a horizontal plane and is symmetrically arranged. There are two double rocker mechanisms 202, which are respectively connected to the guide wheels 105 of the electric wheelchair. The double rocker mechanism 202 is linked with the crank slider mechanism 203 to increase the distance between the two guide wheels 105 while the wheelchair is performing a sit-to-stand conversion.

[0042] The crank slider mechanism 203 and the double rocker mechanism 202 are linked by a double slider mechanism 204. Since the linear actuator 201 is used for driving, the driving wheel 106 increases the distance between the guide wheel 105 and the driving wheel 106 while the chair is performing a sit-to-stand conversion.

[0043] It can be understood that for the sake of compact structure, the crank slider mechanism 203, the double rocker mechanism 202 and the double slider mechanism 204 are compositely connected. The simplified schematic diagrams of the three mechanisms are as follows: Figure 5 、 Figure 6 and Figure 7 Specifically, Figure 4 As shown, the vertical section of the slide bar 2033 serves as a component of the crank slider mechanism 203, and the two horizontal sections symmetrically arranged at the bottom of the vertical section serve as components of the double slider mechanism 204. The rods of the horizontal sections are slidably and rotationally connected to the rockers in the double rocker mechanism 202.

[0044] When the training machine switches from wheelchair mode to assisted walking mode, the linear actuator 201 rotates, driving the double rocker mechanism 202 and double slider mechanism 204 to deploy. Simultaneously, the crank slider mechanism 203 also lifts the seat cushion 102 from the horizontal direction to the vertical direction. After the double rocker mechanism 202 and double slider mechanism 204 deploy, the distance between the two guide wheels (L1) and the distance between the guide wheels and the drive wheels (L2) increase (to the center distance) compared to the wheelchair mode. Figure 8 and Figure 9When the training machine is switched to wheelchair mode, the crank slider mechanism 203 retracts the seat cushion 102 to a horizontal position, providing a seat for the user, and the double rocker mechanism 202 and double slider mechanism 204 retract to a reasonable distance, providing the user with a wheelchair as a means of transportation. Figure 10 and Figure 11 Schematic diagram showing wheelchair mode and assisted walking mode.

[0045] like Figure 1 and Figure 2 As shown, the balance assist system includes a backrest rod 301, a support arm mechanism 303 and a waist connector 304. The backrest rod 301 is connected to the seat cushion 102 and rotates around it. One end of the support arm mechanism 303 is slidably connected to the backrest rod 301, and the other end is connected to the waist connector 304. The support arm mechanism 303 is composed of two correspondingly arranged support arms, each support arm has multiple rotation joints and the rotation joint arranged at the head end is configured with a series elastic drive.

[0046] In this embodiment, the support arm mechanism 303 and the backrest rod 301 are provided with a linear joint P1 to achieve sliding, and a linear sliding base 302 is provided here, and the linear sliding base 302 is provided with a linear joint P1.

[0047] Adjacent rotational joints on the same support arm are connected by rods. Each support arm has three rotational joints, for a total of six rotational joints whose rotation axes are parallel to the backrest rod 301. The rotational joints of the two support arms are arranged symmetrically. The rotational joints of one support arm include a first rotational joint R1, a third rotational joint R3, and a fifth rotational joint R5; the other support arm includes a second rotational joint R2, a fourth rotational joint R4, and a sixth rotational joint R6.

[0048] A rod is provided between the rotary joints at the ends of each support arm and a rotary joint rotating around the rod is provided on the rod. The rotary joint is the seventh rotary joint R7, and its rotation axis is perpendicular to the rotation axes of other rotary joints. The waist connector 304 is connected to the seventh rotary joint R7, so that the waist connector 304 can be flipped up and down.

[0049] Except for the revolute joint at the head end, all other revolute joints are free-moving joints and equipped with position encoders. That is, the first revolute joint R1 and the second revolute joint R2 are equipped with series elastic actuators, while the remaining revolute joints are free-moving passively driven joints and equipped with position encoders to measure joint position.

[0050] One end of the waist connector 304 is mounted on the linear joint P1, and the other end is connected to the waist of the user's body through the seat belt bracket. The waist area is selected as the contact point because it is close to the center of gravity of the human body and can more effectively transmit the auxiliary force.

[0051] The support arm mechanism 303 can be adjusted vertically on the backrest bar 301 via a linear joint P1 to accommodate users of different heights. The inertial measurement unit (IMU) and force sensor to be installed on the waist connector will measure the user's upper body posture and contact force, respectively. A 2D laser sensor mounted on the wheelchair base and an IMU worn on the leg joints will capture the motion status of the left and right legs.

[0052] Unlike other gait-assistance devices that use rigid connection interfaces and force sensors and track user movements through feedback control, the waist connector 304 of this all-in-one anti-fall walking aid rehabilitation trainer is inherently compliant. When the all-in-one anti-fall walking aid rehabilitation trainer is in the following state, the series elastic actuator is controlled in zero-force mode. At this time, the first and second rotary joints R1 and R2 are free to move. The waist connector 304 can freely adjust its posture to compensate for the posture error caused by the mismatch between the movement of the electric wheelchair and the user, thereby achieving the goal of compliantly following the user's movement.

[0053] The compliance property of this embodiment separates the dynamics of the mobile base from the user, thereby reducing the inertial effect of the mobile platform on the user. When instability is detected, the anti-fall walking aid rehabilitation training all-in-one machine enters the fall intervention state. In this state, the electric wheelchair will stop moving, and the series elastic drive connected to the first rotary joint R1 and the second rotary joint R2 will be activated instantaneously according to the position encoder information and the predicted human gait characteristics to output a certain torque to comply with human movement and then drive the waist connector 304 to restore its initial position. This can keep the user's center of gravity in a safe area, ensure that the user will not fall, and facilitate the user to regain balance. After the user regains balance, the series elastic drive returns to the zero-force control mode, and the waist connector 304 restores its compliance.

[0054] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An all-in-one machine for preventing falls and assisting walking and rehabilitation training, characterized in that: include: An electric wheelchair, including a seat cushion capable of switching between a horizontal and a vertical position; A sit-to-stand conversion mechanism includes a crank slider mechanism and a driving member that moves in a vertical plane, wherein the seat cushion serves as a crank member in the crank slider mechanism; A balance assist system comprising a backrest rod, a support arm mechanism, and a waist connector. The backrest rod is rotatably connected to the seat cushion. One end of the support arm mechanism is slidably connected to the backrest rod and the other end is rotatably connected to the waist connector. The support arm mechanism comprises two support arms, each of which has multiple rotational joints, and the rotational joint arranged at the head end is configured with a series elastic drive. The sit-to-stand conversion mechanism also includes two double rocker mechanisms that move in a horizontal plane and are symmetrically arranged, and are respectively connected to the guide wheels of the electric wheelchair. The double rocker mechanisms are linked with the crank slider mechanism to increase the distance between the two guide wheels while the wheelchair is performing a sit-to-stand conversion.

2. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 1, characterized in that: The crank slider mechanism and the double rocker mechanism are linked by setting a double slider mechanism.

3. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 2, characterized in that: The driving member is a linear actuator, which drives the wheelchair to convert from sitting to standing while increasing the distance between the guide wheel and the driving wheel.

4. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 3, characterized in that: The crank slider mechanism, the double rocker mechanism and the double slider mechanism are compositely connected.

5. The anti-fall walking aid rehabilitation training all-in-one machine according to any one of claims 1 to 4, characterized in that: The support arm mechanism and the backrest rod are provided with a linear joint to achieve sliding.

6. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 5, characterized in that: The adjacent rotation joints of the same support arm are connected through a rod.

7. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 6, characterized in that: A rod is provided between the rotation joints at the end of each support arm, and a rotation joint rotating around the rod is provided on the rod.

8. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 7, characterized in that: Except for the rotary joint at the head end, the other rotary joints are all freely movable joints and are equipped with position encoders.

9. The anti-fall walking aid rehabilitation training all-in-one machine according to claim 6, characterized in that: Each of the support arms is provided with three rotation joints.

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