Lower limb exoskeleton rehabilitation robot dynamic balance testing device and method
By combining a testing device and method with digital displacement sensors and optical counting, the adaptability and operability issues of dynamic balance evaluation for lower limb exoskeleton rehabilitation robots have been solved. This has enabled effective monitoring and evaluation of the robot's bilateral balance, thereby improving product quality and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANDONG INST OF MEDICAL DEVICES & DRUG PACKAGING INSPECTION
- Filing Date
- 2023-09-21
- Publication Date
- 2026-06-26
AI Technical Summary
Existing technologies lack universally applicable and easy-to-operate methods for evaluating the dynamic balance of lower limb exoskeleton rehabilitation robots, which affects rehabilitation outcomes and safety of use.
A dynamic balance testing device and method are provided, which employs digital displacement sensors, light sources and detectors, adjustable loads and mounting structures to calculate bilateral balance by measuring stride length and stride frequency.
This achievement enables an objective evaluation of the dynamic balance of lower limb exoskeleton rehabilitation robots, improves product quality control and supervision, and ensures patient safety.
Smart Images
Figure CN117122494B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of intelligent medical device technology, specifically relating to a dynamic balance testing device and method for a lower limb exoskeleton rehabilitation robot. Background Technology
[0002] With the increasing aging population and the expanding disabled population, the demand for rehabilitation training is rapidly growing. Scientific and effective rehabilitation training can help patients quickly regain limb function, promote their health, and thus improve their quality of life. Currently, with the rapid development of the medical industry, lower limb exoskeleton rehabilitation robots, as an emerging medical device to replace traditional purely manual and structural rehabilitation methods, are being rapidly researched, developed, and widely applied. Figure 1 As shown, the lower limb exoskeleton rehabilitation robot is an intelligent rehabilitation system that simulates the gait of the human lower limbs to help patients with rehabilitation training. It supports and protects the patient's lower limb exoskeleton through hardware, and then controls the range of motion of the hip, knee and ankle joints simulated by the robot through software, helping the patient to complete sitting up, sitting down and walking movements, and achieve the expected training gait.
[0003] The balance of a lower limb exoskeleton rehabilitation robot refers to the balance of gait on both sides. Since users are usually people with lower limb dysfunction, if the balance of the lower limb exoskeleton rehabilitation robot is poor and the gait is uneven, it will affect the rehabilitation effect and may even cause the patient to lose balance and fall.
[0004] Current industry standards for rehabilitation training equipment, as well as the draft industry standard for medical lower limb exoskeleton robots, primarily specify operational requirements such as walking speed, stride length, resistance, and angle, as well as safety and protection requirements such as workload, static load strength, and fatigue strength. They lack established evaluation requirements and methods for balance. Some literature indicates that the balance of lower limb exoskeleton rehabilitation robots has been a focus of research and development by both designers and clinical users. These studies have addressed static balance assessment from a design perspective; some have designed internal assessment schemes based on the risk of patient imbalance and falls, improving control methods to maintain relative stability of the robot's center of gravity; and others have conducted gait stability analysis based on the human walking balance mechanism in clinical practice. These studies mainly focus on center of gravity stability, primarily serving the design optimization and structural safety of lower limb exoskeleton rehabilitation robots. Furthermore, the evaluation methods used in these studies have limited applicability and do not propose universally applicable and easily operable bilateral dynamic balance evaluation methods. Summary of the Invention
[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a dynamic balance testing device and method for a lower limb exoskeleton rehabilitation robot to solve the above-mentioned technical problems.
[0006] In a first aspect, the present invention provides a dynamic balance testing device for a lower limb exoskeleton rehabilitation robot, comprising: a digital displacement sensor, a light source and a detector, an adjustable load and a mounting structure, wherein the mounting structure comprises a base and a movable rod and a fixed rod erected on the base;
[0007] The fixed rod is fixedly connected to the base at its bottom end for securing the tested lower limb exoskeleton rehabilitation robot. A movable rod is positioned next to the fixed rod, with its bottom end movably connected to a sliding rail on the base. One end of the sliding rail faces the fixed rod, and the top end of the movable rod is connected to a digital displacement sensor. A light source and detector are fixed upwards on the base next to the fixed rod, located below the tested lower limb exoskeleton rehabilitation robot. Downward-facing marker stickers are affixed to the bottom of the lower limbs on both sides of the tested lower limb exoskeleton rehabilitation robot, opposite the positions of the light source and detector. When the light emitted by the light source is aligned with the marker sticker, the sticker reflects the light back to the detector. An adjustable load is fixed inside the thigh and calf straps of the tested lower limb exoskeleton rehabilitation robot.
[0008] Furthermore, the mounting structure also includes a main unit column, the bottom of which is fixedly connected to the base, and the top of which is connected to the microprocessor; the digital displacement sensor, the light source and detector, and the adjustable load are electrically connected to the microprocessor respectively.
[0009] Secondly, the present invention provides a method for dynamic balance testing of a lower limb exoskeleton rehabilitation robot, comprising:
[0010] The test conditions include the load percentage of the rated load for each test part of the tested lower limb exoskeleton rehabilitation robot and the motion control adjustment level. The load percentage of the rated load for each test part of the tested lower limb exoskeleton rehabilitation robot includes: the load percentage of the left thigh, right thigh, left calf, and right calf is 100% of the rated load; only one of the left thigh, right thigh, left calf, and right calf has a load percentage of 50% of the rated load, while the others are still 100% of the rated load. The motion control adjustment level includes the maximum level and the intermediate level. There are a total of ten test conditions.
[0011] Under different test conditions, the tested lower limb exoskeleton rehabilitation robot was started, and the lower limbs swung and pushed the moving rod; the stride length of the tested lower limb exoskeleton rehabilitation robot was measured by the displacement sensor, and the step frequency of the tested lower limb exoskeleton rehabilitation robot was measured by the detector;
[0012] After the test, the bilateral balance 'a' is calculated based on the stride length and cadence of the left and right lower limbs under all test conditions to determine the balance performance of the tested lower limb exoskeleton rehabilitation robot. A smaller calculated value of 'a' indicates better balance of the exoskeleton rehabilitation robot. The calculation method for the bilateral balance 'a' is as follows:
[0013] ;
[0014] in, l 10 ~ l 19 The stride length was measured under different test conditions for the left lower limb. f 10 ~ f 19 The cadence of the left lower limb was measured under different test conditions; l 20 ~ l 29 The stride length was measured under different test conditions for the right lower limb. f 20 ~ f 29 The step frequency was measured under different test conditions for the right lower limb.
[0015] Furthermore, before each test condition begins, the initialization state of the tested lower limb exoskeleton rehabilitation robot is adjusted, including: fixing the waist plate of the tested lower limb exoskeleton rehabilitation robot to the fixed rod, setting the lower limbs to a natural hanging state initially, placing them between the fixed rod and the moving rod, and moving the moving rod closer to the fixed rod; attaching the marking stickers to the bottom of both lower limbs of the tested lower limb exoskeleton rehabilitation robot, and aligning the light source with the initial position marking stickers of both lower limbs.
[0016] Furthermore, it also includes: using displacement sensors to measure displacement results as the stride of the tested lower limb exoskeleton rehabilitation robot; counting once each time the detector receives reflected light; and obtaining the stride frequency of the tested lower limb exoskeleton rehabilitation robot based on the counting time.
[0017] The beneficial effects of this invention are as follows: It proposes a universally applicable dynamic balance testing device and method for lower limb exoskeleton rehabilitation robots. Based on the device's functions of adjusting load, measuring displacement, and optical counting, it can monitor the bilateral operation of the robot during normal movement. Furthermore, it provides a method for calculating dynamic balance based on stride length and stride frequency, aiming to achieve an effective and highly adaptable objective evaluation method. This fills the gap in bilateral dynamic balance evaluation methods for lower limb exoskeleton rehabilitation robots, promotes the integrity of the evaluation system for such products, and safeguards patient health and safety. Its operability solves the problem that traditional methods can only achieve evaluation during the design and development stage, effectively compensating for the difficulty of existing methods in meeting the challenges of socially credible testing. The promotion of this method will improve the quality control and supervision level of such products. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 This is a structural diagram of a lower limb exoskeleton rehabilitation robot, where: 101, lumbar support; 102, left hip joint; 103, right hip joint; 104, left knee; 105, right knee; 106, left ankle joint; 107, right ankle joint; 108, left thigh; 109, right thigh; 110, left calf; 111, right calf; 112, left thigh strap; 113, right thigh strap; 114, left calf strap; 115, right calf strap; 116, lumbar strap.
[0020] Figure 2 This is a schematic diagram of the dynamic balance testing device for a lower limb exoskeleton robot, where 100 is the lower limb exoskeleton robot, 200 is the base, 300 is the main column, 400 is the digital displacement sensor, 500 is the fixed rod, 600 is the moving rod, 700 is the light source and detector, 800 is the microprocessor, 900 is the adjustable load, and 1000 is the marker sticker. Detailed Implementation
[0021] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.
[0022] This invention is based on Figure 1 The existing lower limb exoskeleton rehabilitation robot shown includes: a lumbar support 101, a left hip joint 102, a right hip joint 103, a left knee 104, a right knee 105, a left ankle joint 106, a right ankle joint 107, a left thigh 108, a right thigh 109, a left calf 110, a right calf 111, a left thigh strap 112, a right thigh strap 113, a left calf strap 114, a right calf strap 115, and a lumbar strap 116.
[0023] Because my country's lower limb exoskeleton rehabilitation robot field is still in a period of rapid development, relevant standards are still being drafted, and evaluation methods need continuous creation and improvement. A review of domestic and international literature also reveals a lack of referable evaluation methods for bilateral dynamic balance. Furthermore, the market offers a wide variety of innovative lower limb exoskeleton rehabilitation robots, making the establishment of a universally applicable and operable evaluation method challenging. Additionally, for these reasons, current evaluation requirements and methods focus more on core performance and routine safety indicators, neglecting the crucial indicator of balance. To ensure safe use and improve rehabilitation outcomes, it is urgently necessary to establish an evaluation method for the bilateral dynamic balance of lower limb exoskeleton rehabilitation robots as soon as possible, in order to promote industry regulation and safeguard public health.
[0024] like Figure 2 As shown, this embodiment provides a dynamic balance testing device for a lower limb exoskeleton rehabilitation robot, including: a digital displacement sensor, a light source and a detector, an adjustable load, and a mounting structure. The mounting structure includes a base and a movable rod and a fixed rod erected on the base. The bottom end of the fixed rod is fixedly connected to the base and is used to fix the left or right limb of the lower limb exoskeleton rehabilitation robot under test. The movable rod is located next to the fixed rod, and its bottom end is movably connected to a sliding rail on the base. One end of the sliding rail faces the fixed rod, and the top end of the movable rod is connected to the digital displacement sensor. The light source and detector are fixed upwards on the base next to the fixed rod and are located below the lower limb exoskeleton rehabilitation robot under test. Downward-facing marker stickers are affixed to the bottom of the lower limbs on both sides of the lower limb exoskeleton rehabilitation robot under test, opposite to the positions of the light source and detector. When the light emitted by the light source is aligned with the marker stickers, the marker stickers will reflect to the detector. The adjustable load is fixed inside the thigh strap and the lower leg strap of the lower limb exoskeleton rehabilitation robot under test.
[0025] In this embodiment, the binding position of the adjustable load determines the load that can be adjusted later on the left thigh, right thigh, left calf, and right calf. The sliding rail is used to limit the displacement position of the moving rod, facilitating the measurement of the robot's stride. The marking sticker is a highly reflective sticker; the microprocessor can receive signals generated and transmitted by the displacement sensor, light source, and detector. The detector is a photodetector with a response wavelength covering 650nm; the light source is a semiconductor laser with a center wavelength of 650nm. This testing device uses a 650nm laser light source and a photodetector for automatic testing, and adopts a digital displacement sensor combined with a fixed rod and a moving rod to achieve automatic stride testing. It innovates the testing method structurally. Based on the displacement distance provided by the displacement sensor and the count provided by the detector, the step frequency and stride can be judged manually or automatically, thereby judging the motion stability of the robot under test.
[0026] Optionally, as an embodiment of the present invention, the mounting structure further includes a main unit column, the bottom end of which is fixedly connected to the base, and the top end of which is connected to a microprocessor; the digital displacement sensor, the light source and the detector and the adjustable load are respectively electrically connected to the microprocessor.
[0027] In this embodiment, the host column is equipped with power lines and signal transmission lines. The host column can be used to route digital displacement sensors, light sources, detectors, adjustable loads, and microprocessors. The microprocessor collects stride and stride frequency information and performs calculations automatically.
[0028] This invention also provides a method for dynamic balance testing of a lower limb exoskeleton rehabilitation robot, which is based on... Figure 2 The test apparatus shown specifically includes:
[0029] The left and right limbs of the lower limb exoskeleton rehabilitation robot were tested sequentially, with different test conditions applied. These conditions included the load percentage of the rated load for each test site of the robot and the motion control adjustment level. The load percentage of the rated load for each test site included: 100% for the left thigh, right thigh, left calf, and right calf; and only one of these four sites had a load percentage of 50% of the rated load, while the others remained at 100%. The motion control adjustment levels included the maximum setting and the intermediate setting. A total of ten test conditions were applied.
[0030] It should be noted that the target group of this invention includes patients with unilateral limb movement disorders. The relatively normal limb on the other side will compensate for some of the force, thereby reducing the load on the robot. Therefore, in actual use, the load on both sides of the robot is often uneven. The embodiments of this invention can reduce a portion of the load for testing, to simulate the side without movement disorders.
[0031] It should be noted that motion control settings refer to the settings of the robot's operating parameters. Typically, speed settings can be set, but some robots can also set frequency, stride length, etc.
[0032] Under different test conditions, the tested lower limb exoskeleton rehabilitation robot is started, and the lower limb swings and pushes the moving rod; the stride of the tested lower limb exoskeleton rehabilitation robot is measured by the displacement sensor, and the step frequency of the tested lower limb exoskeleton rehabilitation robot is measured by the detector; in this embodiment, since the purpose is to test bilateral balance, the load on the waist can be fixed at the rated load.
[0033] After the test, the bilateral balance 'a' is calculated based on the stride length and cadence of the left and right lower limbs under all test conditions to determine the balance performance of the tested lower limb exoskeleton rehabilitation robot. A smaller calculated value of 'a' indicates better balance of the exoskeleton rehabilitation robot. The calculation method for the bilateral balance 'a' is as follows:
[0034]
[0035] in, l 10 ~ l 19 The stride length was measured under different test conditions for the left lower limb. f 10 ~ f 19 The cadence of the left lower limb was measured under different test conditions; l 20 ~ l 29 The stride length was measured under different test conditions for the right lower limb. f 20 ~ f 29 The step frequency was measured under different test conditions for the right lower limb.
[0036] It should be noted that the 10 test conditions are only one implementation method of this embodiment. Those skilled in the art can modify the test conditions according to the actual situation of the test components and motion control adjustment gears of the robot under test. The rated load can be obtained from the instruction manual of the robot under test.
[0037] Optionally, as an embodiment of the present invention, before each test condition begins, the initialization state of the tested lower limb exoskeleton rehabilitation robot is adjusted, including: fixing the waist plate of the tested lower limb exoskeleton rehabilitation robot to the fixed rod, setting the lower limbs to a natural hanging state initially, placing them between the fixed rod and the moving rod, and moving the moving rod closer to the fixed rod; attaching the marking stickers to the bottom of both lower limbs of the tested lower limb exoskeleton rehabilitation robot, and aligning the light source with the initial position marking stickers of both lower limbs.
[0038] This embodiment describes a method for placing the robot under test on the testing device before testing.
[0039] Optionally, as an embodiment of the present invention, it further includes: using the displacement result measured by the displacement sensor as the stride of the tested lower limb exoskeleton rehabilitation robot, counting once each time the detector receives reflected light, and obtaining the stride frequency of the tested lower limb exoskeleton rehabilitation robot based on the counting time.
[0040] In this embodiment, the robot under test moves by pushing a movable rod along a sliding track with its lower limbs. A digital displacement sensor on the movable rod measures the displacement distance, which represents the robot's stride. In this embodiment, the robot can swing its lower limbs multiple times, and the maximum displacement distance is taken as the stride. When the marker stickers on the bottom of the robot's lower limbs swing to the same vertical line as the light source and detector, the laser light from the light source is reflected to the detector. Multiple swings of the robot's lower limbs allow for multiple receptions of reflected light, thereby obtaining the swinging step frequency of the tested lower limb exoskeleton rehabilitation robot.
[0041] To facilitate understanding of the present invention, the dynamic balance testing method for the lower limb exoskeleton rehabilitation robot provided by the present invention will be further described below, based on the dynamic balance principle of the lower limb exoskeleton rehabilitation robot and the testing device provided in the above embodiments.
[0042] Specifically, the dynamic balance testing method for the lower limb exoskeleton rehabilitation robot includes:
[0043] S1: Configure the loads for the left thigh, right thigh, left calf, right calf and waist according to the rated load distribution specified in its technical documents, and configure them as rated load conditions.
[0044] S2: Adjust the robot's motion control to the maximum setting.
[0045] S3: Fix the waist plate of the lower limb exoskeleton rehabilitation robot to be tested, and initially set the lower limb to a natural hanging state, placing it between the fixed rod and the moving rod.
[0046] S4: Move the moving rod as close as possible to the fixed rod.
[0047] S5: Apply the marking stickers to the bottom of both lower limbs.
[0048] S6: Aim the light source at the initial position markers on both lower limbs.
[0049] S7: Start the lower limb exoskeleton rehabilitation robot, allowing its two lower limbs to swing autonomously and push the moving rod to the farthest distance. At this time, the displacement sensor can automatically transmit the maximum displacement distance to the microprocessor.
[0050] S8: During the test, the light source continuously emits laser light. When the laser light is aligned with the marker, the marker emits the light. The reflected light is incident on the detector. Each time the detector receives the light reflected from the marker, it automatically sends counting information to the microprocessor.
[0051] S9: The microprocessor can obtain stride information by receiving signals from the displacement sensor and stride frequency information by receiving signals from the detector.
[0052] S10: Adjust the load on the left thigh in S1 to 50% of the rated load, and then repeat steps S2~S9 to obtain another pair of stride length information and stride frequency information.
[0053] S11: Change the left thigh in S10 to the left calf, right thigh, and right calf in sequence, and repeat step S10 to obtain three more pairs of stride length and stride frequency information.
[0054] S12: Reconfigure the load distribution according to the rated load specified in its technical documents, and configure the load on the left thigh, right thigh, left calf, right calf and waist respectively to ensure that the configuration is at the rated load condition.
[0055] S13: Adjust the robot's motion control to the middle setting, repeat steps S3~S11, and obtain five pairs of step frequency and stride information.
[0056] S14: The microprocessor records ten sets of stride length and ten sets of step frequency on the left side, and calculates the bilateral balance a.
[0057] Although the present invention has been described in detail with reference to the accompanying drawings and preferred embodiments, the invention is not limited thereto. Various equivalent modifications or substitutions can be made to the embodiments of the invention by those skilled in the art without departing from the spirit and essence of the invention, and such modifications or substitutions should all be within the scope of the invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the invention should also be covered within the protection scope of the invention. Therefore, the protection scope of the invention should be determined by the scope of the claims.
Claims
1. A dynamic balance testing device for a lower limb exoskeleton rehabilitation robot, characterized in that, include: A digital displacement sensor, a light source and a detector, an adjustable load and a mounting structure, the mounting structure including a base and a movable rod and a fixed rod erected on the base; The fixed rod is fixedly connected to the base at its bottom end for securing the tested lower limb exoskeleton rehabilitation robot. A movable rod is positioned next to the fixed rod, with its bottom end movably connected to a sliding rail on the base. One end of the sliding rail faces the fixed rod, and the top end of the movable rod is connected to a digital displacement sensor. A light source and detector are fixed upwards on the base next to the fixed rod, located below the tested lower limb exoskeleton rehabilitation robot. Downward-facing marker stickers are affixed to the bottom of the lower limbs on both sides of the tested lower limb exoskeleton rehabilitation robot, opposite the positions of the light source and detector. When the light emitted by the light source is aligned with the marker sticker, the sticker reflects the light back to the detector. An adjustable load is fixed inside the thigh and calf straps of the tested lower limb exoskeleton rehabilitation robot. A digital displacement sensor is used in combination with a fixed rod and a moving rod to realize automatic stride testing. Based on the displacement distance provided by the displacement sensor and the count provided by the detector, the step frequency and stride are judged manually or automatically to determine the motion stability of the robot under test.
2. The dynamic balance testing device for the lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that, The mounting structure also includes a main support column, the bottom of which is fixedly connected to the base, and the top of which is connected to a microprocessor; the digital displacement sensor, the light source and detector and the adjustable load are electrically connected to the microprocessor respectively.
3. A method for dynamic balance testing of a lower limb exoskeleton rehabilitation robot, characterized in that, The dynamic balance testing device for the lower limb exoskeleton rehabilitation robot according to claim 1 includes: The test conditions include the load percentage of the rated load for each test part of the tested lower limb exoskeleton rehabilitation robot and the motion control adjustment level. The load percentage of the rated load for each test part of the tested lower limb exoskeleton rehabilitation robot includes: the load percentage of the left thigh, right thigh, left calf, and right calf is 100% of the rated load; only one of the left thigh, right thigh, left calf, and right calf has a load percentage of 50% of the rated load, while the others are still 100% of the rated load. The motion control adjustment level includes the maximum level and the intermediate level. There are a total of ten test conditions. Under different test conditions, the tested lower limb exoskeleton rehabilitation robot was started, and the lower limbs swung and pushed the moving rod; the stride length of the tested lower limb exoskeleton rehabilitation robot was measured by the displacement sensor, and the step frequency of the tested lower limb exoskeleton rehabilitation robot was measured by the detector; After the test, the bilateral balance 'a' is calculated based on the stride length and cadence of the left and right lower limbs under all test conditions to determine the balance performance of the tested lower limb exoskeleton rehabilitation robot. A smaller calculated value of 'a' indicates better balance of the lower limb exoskeleton rehabilitation robot. The calculation method for the bilateral balance 'a' is as follows: ； in, l 10 ~ l 19 The stride length was measured under different test conditions for the left lower limb. f 10 ~ f 19 The cadence of the left lower limb was measured under different test conditions; l 20 ~ l 29 The stride length was measured under different test conditions for the right lower limb. f 20 ~ f 29 The step frequency was measured under different test conditions for the right lower limb.
4. The dynamic balance testing method for the lower limb exoskeleton rehabilitation robot according to claim 3, characterized in that, Before each test condition begins, the initial state of the tested lower limb exoskeleton rehabilitation robot is adjusted, including: fixing the waist plate of the tested lower limb exoskeleton rehabilitation robot to the fixed rod, setting the lower limbs to a natural hanging state, placing them between the fixed rod and the moving rod, and moving the moving rod closer to the fixed rod; attaching the marking stickers to the bottom of both lower limbs of the tested lower limb exoskeleton rehabilitation robot, and aligning the light source with the initial position marking stickers of both lower limbs.
5. The dynamic balance testing method for the lower limb exoskeleton rehabilitation robot according to claim 4, characterized in that, Also includes: The displacement result measured by the displacement sensor is used as the stride of the tested lower limb exoskeleton rehabilitation robot. The detector counts once for each reflected light received, and the stride frequency of the tested lower limb exoskeleton rehabilitation robot is obtained based on the counting time.