A robotic system for gait training

Abstract

The present application belongs to the technical field of rehabilitation medical apparatus and instruments, and particularly relates to a robot system for gait training, which comprises a chassis module, the front and rear ends of the chassis module are provided with steering wheels, the chassis module further comprises a directional wheel and a driving wheel, and the directional wheel is connected with a lifting assembly; a pair of lifting modules are arranged in the middle of the chassis module, each lifting module is connected with a body state control module, and each body state control module is driven to move up and down through the lifting module; the robot system for gait training provided by the present application enables the pelvis of a patient to move freely, so that the patient can perform balance training.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation medical device technology, specifically relating to a robotic system for gait training. Background Technology

[0002] In recent years, with the aging population, various unhealthy lifestyles, and the increasing number of traffic accidents and work-related injuries, patients with walking dysfunction caused by stroke, spinal cord injury, or accidents have become a common group in modern society. Besides medication and surgery, the main treatment for these patients relies on physical therapy, i.e., rehabilitation training.

[0003] The pelvis connects to the lumbar spine at the top and the femur at the bottom, forming the hip joint. It serves as a bridge between the spine and lower limbs. Body weight is transmitted to the lower limbs through the pelvis, and vibrations from the lower limbs are also transmitted to the spine through the pelvis. Therefore, the pelvis moves both as part of the spine and, with the hip joint as its axis, relative to the lower limbs. A normal human pelvis has six degrees of freedom: three rotational degrees of freedom (torsion, pitch, and lateral tilt) at the hip joint, and three degrees of freedom for movement in the left-right, forward-backward, and vertical directions during walking. Studies have shown that the pelvis plays a crucial role in balance during various daily activities such as walking, dressing, bathing, and exercise. Abnormal pelvic movement directly affects gait characteristics. Based on the principles of neural facilitation technology, strengthening pelvic control can promote lower limb motor function. Pelvic training can improve bilateral balance and accelerate the rehabilitation of hemiplegic patients. Most existing lower limb rehabilitation robots lack a pelvic mechanism, significantly restricting patient movement during training and neglecting the importance of balance training for hemiplegic rehabilitation, thus hindering the rehabilitation process. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic system for gait training that allows free movement of the patient's pelvis, enabling the patient to perform balance training.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robot system for gait training includes a chassis module with steering wheels at both ends. The chassis module also includes directional wheels and drive wheels, with lifting components connected to the directional wheels. A pair of lifting modules are located in the middle of the chassis module, and each lifting module is connected to a body control module. Each body control module moves up and down by being driven by the lifting module.

[0006] Furthermore, the chassis module includes a parallel left chassis and a right chassis, with a front crossbeam and a rear crossbeam connecting the left chassis and the right chassis. The left chassis, right chassis, front crossbeam and rear crossbeam form a quadrilateral frame structure; a pair of lifting modules are respectively set in the middle of the left chassis and the right chassis.

[0007] Furthermore, the lifting assembly includes a connecting seat fixed to the chassis module, a linear bearing fixed to the connecting seat, a wheel frame slidably connected to the linear bearing, the wheel frame being located below the connecting seat, and a directional wheel rotatably connected to the wheel frame; a directional screw parallel to the linear bearing is rotatably connected to the connecting seat, the directional screw is screwed to the wheel frame, and a directional motor is connected to the directional screw.

[0008] Furthermore, the posture control module includes a waist belt seat connected to the lifting module. A spline is fixedly connected inside the waist belt seat, and the spline is parallel to the left chassis. A sleeve is slidably connected to the spline, and a pair of buffer springs are also fitted on the spline. The sleeve is positioned between the two buffer springs. Front and rear sensors are fixedly connected to the waist belt seat. One buffer spring is positioned between the front and rear sensors and the sleeve, and the other buffer spring is positioned between the sleeve and the waist belt seat. A waist belt connecting module is rotatably connected to the sleeve.

[0009] Furthermore, the posture control module includes a waist bar connecting seat connected to the lifting module. The waist bar connecting seat is slidably connected to the waist belt seat and the sliding direction is perpendicular to the spline. A posture lead screw perpendicular to the spline is rotatably connected to the waist bar connecting seat. Left and right sensors are screwed onto the posture lead screw and are fixedly connected to the waist belt seat. A posture motor is connected to the posture lead screw.

[0010] Furthermore, the rear crossbeam includes two movable sections that are rotatably connected to the left and right chassis, respectively.

[0011] Furthermore, a handrail is connected to the front end of the lifting module, and a touch screen is connected to the handrail.

[0012] Furthermore, the directional motor is connected to the directional lead screw via a synchronous pulley set, and the body motor is connected to the body lead screw via a synchronous pulley set.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: Existing technologies typically place the waist belt above the rear end of the chassis module. This application places the steering wheels at the front and rear ends of the chassis module, and the waist belt above the middle of the chassis module, allowing patients to turn in place and reducing the turning radius, enabling training even in smaller spaces. The inclusion of height-adjustable directional wheels allows them to rise during turning without affecting the steering of the steering wheels; during forward training, lowering the directional wheels ensures stable robot movement, making patient training more stable and safer.

[0014] This invention features a simple structure and is easy to use. During rehabilitation, the posture control module's posture motor can control the left and right width of the waist belt based on the patient's actual body data, and adjust the body posture based on sensor data during training, thus controlling the forward and backward, left and right directions. In use, the waist belt is clamped to both sides of the patient's pelvis, ensuring five degrees of freedom for the patient's pelvis during gait rehabilitation training: vertical, forward and backward, left and right, twisting, and pitching. This allows the pelvis to move freely without restriction, improving comfort during training and simultaneously training lower limb walking function and balance, achieving better training results. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the chassis module according to Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the right chassis of Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the directional locking mechanism of Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the display interaction module in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the posture control module in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the connection structure between the waist belt and the waist bar connector in Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the belt width being larger in Embodiment 2 of the present invention; Figure 9 This is a schematic diagram of the belt width being smaller in Embodiment 2 of the present invention; Figure 10 This is a schematic diagram of the belt shifting to the left in Embodiment 2 of the present invention; Figure 11 This is a schematic diagram of the belt shifting to the right in Embodiment 2 of the present invention; Figure 12 This is a schematic diagram of the belt twisting downwards and to the right in Embodiment 2 of the present invention; Figure 13 This is a schematic diagram of the belt twisting downwards and to the left in Embodiment 2 of the present invention.

[0016] In the diagram: Chassis module 1, Electrical module 2, Lifting module 3, Display and interaction module 4, Body control module 5, Right chassis 6, Left chassis 7, Front crossbeam 8, Rear crossbeam 9, Universal wheel 10, Beam frame 11, Drive wheel 12, Direction locking mechanism 13, Direction motor 14, Synchronous belt pulley set 15, Directional wheel 16, Linear bearing 17, Direction screw 18, Connecting seat 19, Wheel frame 20, Handrail frame 21, Waist bar connecting seat 22, Body linear bearing 23, Body screw 24, Body motor 25, Body synchronous belt pulley set 26, Waist belt seat 27, Left and right sensors 28, Buffer spring 29, Spline 30, Front and rear sensors 31, Waist belt connecting module 32, Waist belt 33. Detailed Implementation

[0017] Example 1 A robotic system for gait training, such as Figure 1-7 As shown, the system includes a chassis module 1, on which an electrical module 2 is mounted. Steering wheels (10) are located at both the front and rear ends of the chassis module 1. The chassis module 1 also includes a direction locking mechanism 13 and drive wheels 12. The chassis module 1 can move forward and backward, supporting the entire robot system's forward movement and turning. A pair of vertical lifting modules 3 are located in the middle of the chassis module 1. Each lifting module 3 is connected to a body posture control module 5, and each lifting module 3 controls the raising and lowering of the body posture control module 5. A display and interaction module 4 is connected to the lifting module 3.

[0018] like Figure 2-3 As shown, chassis module 1 includes a left chassis 7 and a right chassis 6 that are parallel to each other. A front crossbeam 8 and a rear crossbeam 9 connect the left chassis 7 and the right chassis 6. The left chassis 7, right chassis 6, front crossbeam 8, and rear crossbeam 9 form a quadrilateral frame structure, ensuring sufficient vehicle body strength. A pair of lifting modules 3 are respectively located in the middle of the left chassis 7 and the right chassis 6. The rear crossbeam 9 includes two movable sections that are rotatably connected to the left chassis 7 and the right chassis 6, respectively, and the rotation axis is consistent with the length direction of the left chassis 7 and the right chassis 6. When a patient enters the robot system, the two movable sections rotate and separate, allowing the patient to enter the quadrilateral frame structure. Then, rotating the movable sections can close and lock the rear crossbeam 9.

[0019] The left chassis 7 and the front crossbeam 8 are connected by bolts, and the right chassis 6 and the front crossbeam 8 are connected by bolts; the rear crossbeam 9 is connected to the left chassis 7 and the right chassis 6 by hinges, so that the two parts of the rear crossbeam 9 can rotate around the left chassis 7 and the right chassis 6; the left chassis 7 and the right chassis 6 in chassis module 1 are symmetrical structures; both the left chassis 7 and the right chassis 6 include a beam frame 11, the length direction of the beam frame 11 is in the front-to-back direction, the front and rear ends of the beam frame 11 are connected to casters 10, and the middle of the beam frame 11 is also connected to a drive wheel 12, and a directional locking mechanism 13 is provided between each caster 10 and the drive wheel 12. The caster wheel 10 and the beam frame 11 are connected by bolts. The caster wheel 10 can rotate freely, making walking more balanced and steering more convenient. The drive wheel 12 is composed of a hub motor, which is small in size and is used to control the forward movement of the chassis. The steering locking mechanism 13 and the beam frame 11 are connected by bolts. When the steering locking mechanism 13 is fully lowered, the vehicle body can only move forward.

[0020] like Figure 4 As shown, the directional locking mechanism 13 includes a connecting seat 19 fixed to the beam frame 11. A vertical linear bearing 17 is fixed to the connecting seat 19, and a wheel frame 20 is slidably connected to the linear bearing 17. The wheel frame 20 is located below the connecting seat 19, and a directional wheel 16 is rotatably connected to the wheel frame 20. The directional wheel 16 can only move forward and backward. The directional locking mechanism 13 also includes a directional motor 14 fixedly connected to the connecting seat 19, and a synchronous pulley set 15 connected to the directional motor 14. The directional motor 14 is connected to a directional screw 18 through the synchronous pulley set 15. The directional screw 18 is rotatably connected to the connecting seat 19 and axially fixed. The wheel frame 20 is screwed to the directional screw 18. The directional motor 14 drives the directional screw 18 to rotate through the synchronous pulley set 15, thereby driving the wheel frame 20 to move, making the up-and-down movement of the wheel frame 20 controllable. At the same time, the self-locking property of the directional screw 18 makes the position of the directional wheel controllable. The omnidirectional wheel 10 and the directional wheel 16 cooperate to achieve forward movement and turning.

[0021] like Figure 5 As shown, electrical module 2 consists of a battery and a control board, providing power and control for the robot system. Lifting module 3 consists of a lead screw and a slider; the lead screw drives the slider to rise and fall, and the slider is equipped with a force sensor. Display and interaction module 4 includes a handrail 21 fixedly connected to the front end of lifting module 3, with a touchscreen connected to the handrail 21. The touchscreen displays equipment information and allows for manual control of the system. When the patient selects their rehabilitation program on the touchscreen, lifting module 3 will raise the slider and posture control module 5 to a suitable waist position. During rehabilitation, posture control module 5 can control the size of the waist belt 33 based on the patient's actual body data and adjust body posture based on sensor data during training, enabling control in the forward / backward and left / right directions.

[0022] like Figure 6-7As shown, the posture control module 5 includes a waist rod connecting seat 22 connected to a vertical force sensor, which is positioned between the waist rod connecting seat and the slider. The waist rod connecting seat 22 is slidably connected to a waist belt seat 27 via a posture linear bearing 23, with the sliding direction being left and right. The waist rod connecting seat 22 is fixedly connected to the bearing rod of the posture linear bearing 23, and the waist belt seat 27 is fixedly connected to the bearing on the bearing rod. A posture lead screw 24, positioned to the left and right, is rotatably connected to the waist rod connecting seat 22. Left and right sensors 28 are fixedly connected to the lead screw nut of the posture lead screw 24, with one side of the sensor fixedly connected to the lead screw nut and the other side fixedly connected to the waist belt seat 27. When the left and right sensors 28 sense force, the posture lead screw 24 rotates, causing the waist belt seat 27 to move. The posture lead screw 24 is connected to a posture motor 25 via a posture synchronous pulley set 26, and the posture motor 25 is fixedly connected to the waist rod connecting seat 22.

[0023] A spline 30 is fixedly connected inside the belt seat 27, and the spline 30 is parallel to the beam frame 11. A sleeve is slidably connected to the spline 30, and a belt connecting module 32 is rotatably connected to the sleeve, allowing the belt connecting module 32 to move back and forth along the spline 30. The belt 33 is fixed to the belt connecting module 32 by screws. A pair of buffer springs 29 are also fitted on the spline 30, and the sleeve is positioned between the two buffer springs 29. A front and rear sensor 31 is fixedly connected to the front and rear end of the belt seat 27 by screws. One buffer spring 29 presses between the front and rear sensor 31 and the sleeve, and the other buffer spring 29 presses between the sleeve and the rear end of the belt seat 27.

[0024] When the human body moves forward, the front and rear sensors 31 sense signals to control the drive wheel 12 to move forward and backward; the left and right sensors 28 sense the left and right body shape and control the waist belt seat 27 to move in opposite, opposite or the same direction, while controlling the drive wheel 12 to move forward and backward and turn.

[0025] Example 2 This embodiment describes a robot system for gait training using the following method, including the following steps: Step 1, adjust the position of the waist belt 33 to fix the patient: The patient performs various walking modes such as flat ground, steps, ramps, and obstacles according to rehabilitation needs. Using the touchscreen, the patient selects rehabilitation programs, inputs their body data, and the lifting module 3 raises the posture control module 5 to a suitable waist position based on the patient's body data. For example... Figure 8-9 As shown, based on the patient's waist width, the body movement motor 25 drives the body movement screw 24 to rotate, the body movement screw 24 drives the left and right sensors 28 and the waist belt seat 27 to move left and right, and the waist belt seat 27 drives the spline 30, sleeve and waist belt connecting module 32 to move left and right, so that the two waist belt connecting modules 32 move towards each other or away from each other, so that the distance between the waist belt connecting modules 32 is adapted to the patient's waist width; then the waist belt 33 is wrapped around the patient's pelvic position, so that the patient is connected to the training robot.

[0026] Step 2, Training: After the patient connects the waist belt 33, they can move their body freely, performing up-and-down, forward-and-backward, and left-and-right movements, as well as twisting and pitching. Figure 10-11 As shown, when the patient moves left and right, the pelvis applies a force in the left and right direction to the waist belt connecting module 32, which is transmitted to the left and right sensors 28 through the waist belt connecting module 32, sleeve, spline 30 and waist belt seat 27. After the left and right sensors 28 are subjected to force, the two body movement motors 25 drive the body movement screw 24 to rotate through the synchronous pulley group. The body movement screw 24 drives the pressure sensor and waist belt seat 27 to move left and right. Finally, the two waist belt connecting modules 32 drive the waist belt 33 to move left or right, which is consistent with the patient's left and right movement direction and can provide assistance to the patient, making the left and right movement of the waist very flexible.

[0027] like Figure 12-13 As shown, when the patient twists up and down, the pelvis applies a force in the up and down direction to the waist belt connecting module 32 through the waist belt 33, and transmits it to the up and down force sensor through the waist belt connecting module 32, sleeve, spline 30, waist belt seat 27, body linear bearing 23 and waist bar connecting seat 22. The up and down force sensor senses the signal and causes the two lifting modules 3 to control the screw to rotate, driving the two sliders to move up and down in different directions, thereby realizing the twisting of the patient's body.

[0028] When the patient moves up and down, the pelvis transmits the force in the up and down direction to the up and down force sensor, which causes the two lifting modules 3 to control the screw to rotate, driving the two sliders to rise or fall simultaneously, thus realizing the patient's up and down movement.

[0029] When the patient moves forward, the pelvis applies a force in the front-back direction to the waist belt connecting module 32 through the waist belt 33, and transmits it to the front and back sensors 31 through the waist belt connecting module 32, sleeve, and buffer spring 29. The front and back sensors 31 sense signals to control the drive wheel 12 to move forward and backward. The left and right sensors 28 simultaneously sense signals from the left and right sides of the body to control the two waist belt seats 27 to move towards each other, away from each other, or in the same direction, while controlling the drive wheel 12 to move forward and turn.

[0030] Example 3 This embodiment is the same as other parts of embodiment 1, except that a control system is installed in the electrical module 2. The control system controls the range, angle, and intensity of motion parameters of each degree of freedom to assist the patient in rehabilitation training. The motion parameters are adjusted according to the patient's different training periods, allowing the patient to perform training modes of different intensities such as active, assisted, and passive movements. Sensors measure the patient's motion intensity, range, and other related parameters to understand the patient's rehabilitation status in real time. The therapist can flexibly change the training plan based on the data measured by the sensors, which is more conducive to the patient's rehabilitation.

Claims

1. A robotic system for gait training, comprising a chassis module, characterized in that, The chassis module includes a parallel left chassis and a right chassis, connected by a front crossbeam and a rear crossbeam. The left chassis, right chassis, front crossbeam, and rear crossbeam form a quadrilateral frame structure. The rear crossbeam includes two movable sections that are rotatably connected to the left and right chassis respectively. Steering wheels are provided at both ends of the chassis module. The chassis module also includes directional wheels and drive wheels, and a steering locking mechanism. A pair of lifting modules are provided in the middle of the chassis module, with the pair of lifting modules respectively located in the middle of the left and right chassis. Each lifting module is connected to a posture control module, which controls the raising and lowering of the posture control module. The posture control module includes a waist belt seat connected to the lifting module. A spline is fixedly connected inside the waist belt seat and is parallel to the left chassis. A sleeve is slidably connected to the spline, and a pair of buffer springs are also sleeved on the spline. The sleeve is positioned between the two buffer springs. Front and rear sensors are fixedly connected to the waist belt seat. One buffer spring is positioned between the front and rear sensors and the sleeve, and the other buffer spring is positioned between the sleeve and the waist belt seat. A waist belt connecting module is rotatably connected to the sleeve. The posture control module includes a waist bar connecting seat connected to the lifting module. The waist bar connecting seat is slidably connected to the waist belt seat and the sliding direction is perpendicular to the spline. A posture lead screw perpendicular to the spline is rotatably connected to the waist bar connecting seat. Left and right sensors are screwed onto the posture lead screw and are fixedly connected to the waist belt seat. A posture motor is connected to the posture lead screw.

2. The robot system for gait training as described in claim 1, characterized in that, The directional locking mechanism includes a connecting seat fixed to the chassis module, a linear bearing fixed to the connecting seat, a wheel frame slidably connected to the linear bearing, the wheel frame being disposed below the connecting seat, and a directional wheel being rotatably connected to the wheel frame; a directional screw parallel to the linear bearing is rotatably connected to the connecting seat, the directional screw is screwed to the wheel frame, and a directional motor is connected to the directional screw.

3. The robotic system for gait training as described in claim 2, characterized in that, The lifting module is connected to a handrail at its front end, and a touch screen is connected to the handrail.

4. The robot system for gait training as described in claim 3, characterized in that, The directional motor is connected to the directional lead screw via a synchronous pulley set, and the body motor is connected to the body lead screw via a synchronous pulley set.

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