Working method of a hip exoskeleton rehabilitation robot

Abstract

This invention relates to the field of medical device technology, specifically disclosing a working method for a hip joint exoskeleton rehabilitation robot. The rehabilitation robot includes: a lumbar strap device; a leg strap device; a first angle sensor mounted on the lumbar strap device; a second angle sensor mounted on the leg strap device; an adjustment device, vertically arranged, with one end connected to the first angle sensor and the other end connected to the second angle sensor; a controller; and a terminal. The controller is communicatively connected to the first and second angle sensors. The controller has a preset mirror algorithm calculation model to analyze and calculate the received first and second angle information, and simulate the patient's current movement state. This solves the problems of poor comfort, poor flexibility, and unsmooth mechanical movement found in existing hip joint exoskeleton rehabilitation robots.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a working method of a hip joint exoskeleton rehabilitation robot. Background Technology

[0002] Currently, hip exoskeleton rehabilitation robots on the market are typically driven primarily by active or passive mechanisms, and the system mainly consists of three parts: a control unit, a drive motor, and a mechanical structure. For rehabilitation patients, hip exoskeleton rehabilitation robots suffer from drawbacks such as poor comfort, limited flexibility, and rough mechanical movements, leading to fatigue and discomfort during use and impacting gait rehabilitation outcomes. Therefore, simulating the movement patterns of the patient's unaffected side to increase patient comfort and improve rehabilitation effectiveness is a crucial research topic in this field, and doctors and device engineers are continuously seeking solutions.

[0003] Based on market research, clinical analysis, and postoperative follow-up, current hip joint exoskeleton rehabilitation robots have three drawbacks: ① Poor comfort: The mechanical structure lacks length adjustability (i.e., body size compatibility); ② Poor flexibility: Both the waist and leg straps are fixed, failing to simulate real human movement; ③ Unsmooth mechanical movement: During movement, the exoskeleton provides assistance based on a set percentage, unable to provide corresponding assistance according to the patient's actual situation, leading to fatigue and discomfort for the patient during use, thus affecting rehabilitation outcomes.

[0004] Based on this issue, a more reasonable technical solution needs to be proposed to address the current technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a working method for a hip exoskeleton rehabilitation robot. This method allows for the acquisition of data from the patient's healthy side via mirror therapy, enabling the robot to coordinate and adjust various mechanical parts to simulate the patient's healthy side's movement, thereby increasing patient comfort and improving rehabilitation outcomes. This addresses the problems of poor comfort, low flexibility, and unsmooth mechanical movement found in existing hip exoskeleton rehabilitation robots.

[0006] To achieve the above objectives, the present invention provides a method for operating a hip joint exoskeleton rehabilitation robot, comprising:

[0007] A lumbar strap device for use in securing a patient's waist;

[0008] Leg strap device, used to strap onto the patient's legs;

[0009] The first angle sensor is mounted on the waist strap device;

[0010] The second angle sensor is mounted on the leg strap device;

[0011] Adjustment device, vertically installed, includes:

[0012] A connecting rod, one end of which is connected to a second angle sensor, which is connected to the leg strap device, for detecting the second angle information of the lower end of the adjustment device during patient movement; the other end of which is equipped with a rack; and

[0013] A cannula has one end connected to the first angle sensor and the other end equipped with a third angle sensor, the gear of which meshes with the rack. The first angle sensor is connected to the waist strap device to detect the first angle information of the upper end of the adjustment device when the patient moves. The third angle sensor is used to detect its current third angle information. The other end of the cannula is equipped with a motor, and the output shaft of the motor is drivenly connected to the gear of the third angle sensor. The output shaft of the motor is correspondingly equipped with a fourth angle sensor, which is used to detect the fourth angle information of the motor.

[0014] The third and fourth angle sensors are respectively communicatively connected to the controller. The controller performs corresponding analysis and calculation based on the third and fourth angle information and transmits the calculation results to the terminal.

[0015] A controller, communicatively connected to the first, second, third, and fourth angle sensors, is equipped with a pre-set mirror algorithm calculation model to analyze and calculate the received first, second, third, and fourth angle information, simulate the patient's current motion state, and transmit the calculation results to the terminal; and

[0016] A terminal, which is communicatively connected to the controller, is used to convert the motion state simulated by the controller into voice or image.

[0017] This working method includes the following steps:

[0018] Obtain collision information of the lumbar support device during patient movement;

[0019] Acquire information on the extension and retraction of the adjustment device during patient movement;

[0020] Obtain motor rotation information during patient movement;

[0021] Obtain the rotation angle information of the upper end of the adjustment device during patient movement;

[0022] Obtain the rotation angle information of the lower end of the adjustment device during patient movement;

[0023] The controller performs mirroring algorithm processing based on the received collision information, extension and retraction information, motor rotation information, and rotation angle information at the upper / lower ends of the adjustment device;

[0024] The controller transmits the result of the mirroring algorithm processing to the terminal;

[0025] The controller adjusts the motor's motion state based on the results of the mirror algorithm.

[0026] In one possible design, the waist strap device includes a fixing strap, a support body for conforming to the waist, and waist straps that can bend and deform under pressure. The fixing straps are arranged in two sets and spaced apart, and the waist straps are arranged in two sets. The two ends of the two sets of waist straps are detachably connected to the fixing straps by first buckles. The support body is arc-shaped and attached to the inner side of the fixing straps, and the support body is flexible. The first angle sensor is connected to the fixing straps.

[0027] In one possible design, the leg strap device includes a positioning plate, a buffer body for conforming to the leg, and a leg strap that can bend and deform under pressure; the buffer body is flexible and arc-shaped and conforms to the inner side of the positioning plate, and the two ends of the leg strap are detachably connected to the positioning plate by second buckles; the second angle sensor is connected to the positioning plate.

[0028] In one possible design, the first and second angle sensors are configured as rotation angle sensors of model MK315B.

[0029] In one possible design, the waist strap device is equipped with a collision sensor for detecting current collision information of the waist strap device, and the collision sensor is communicatively connected to the controller.

[0030] Specifically, the hip exoskeleton rehabilitation robot using mirror therapy technology integrates various mechanical parts. For example, an adjustment device can regulate the length of the leg extension during patient movement; a second angle sensor on the leg strap device can measure the rotation angle of the leg strap during patient movement; a first angle sensor on the waist strap device can adjust the rotation angle of the waist strap during patient movement; and a controller can calculate, analyze, and judge based on the data from the first and second angle sensors, and then feed the results back to the terminal. The patient can then self-adjust based on the results displayed on the terminal.

[0031] By linking the controller of the hip exoskeleton rehabilitation robot, each mechanical part can play a different role while also being interconnected, thereby simulating the movement state of the patient's unaffected side. Compared to hip exoskeleton rehabilitation robots on the market, this improved hip exoskeleton rehabilitation robot effectively solves the shortcomings of existing rehabilitation robots, such as poor comfort, poor flexibility, and unsmooth mechanical movements. Furthermore, the hip exoskeleton rehabilitation robot using mirror therapy technology can accurately adapt to the wearer's movement state, thereby monitoring the patient's movements in real time and providing rapid feedback, thus helping the patient to actively and effectively carry out rehabilitation exercises.

[0032] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0033] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings:

[0034] Figure 1 This is a three-dimensional structural diagram of a hip exoskeleton rehabilitation robot that applies mirror therapy technology in one embodiment.

[0035] Figure 2 yes Figure 1 Enlarged structural diagram of section A;

[0036] Figure 3 yes Figure 1 Enlarged structural diagram of section B.

[0037] Explanation of reference numerals in the attached figures

[0038] 1-Waist strap device, 11-Fixing strap, 12-Support body, 13-Waist strap, 2-Leg strap device, 21-Positioning plate, 22-Buffer body, 23-Leg strap, 3-First angle sensor, 4-Second angle sensor, 5-Adjusting device, 51-Connecting rod, 52-Sleeve, 53-Motor, 6-Terminal, 7-Third angle sensor, 8-Fourth angle sensor. Detailed Implementation

[0039] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0040] According to a specific embodiment of the present invention, a hip exoskeleton rehabilitation robot applying mirror therapy technology is provided. It should be noted that, in this text, "healthy side" refers to the side of the patient's body that is healthy, and "affected side" refers to the side of the body that is malfunctioning and requires rehabilitation. Figures 1 to 3 One specific embodiment is shown.

[0041] See Figures 1 to 3 As shown, the hip exoskeleton rehabilitation robot using mirror therapy technology includes: a lumbar strap device 1 for strapping to the patient's waist; a leg strap device for strapping to the patient's legs; a first angle sensor 3 mounted on the lumbar strap device 1; a second angle sensor 4 mounted on the leg strap device; and an adjustment device 5, vertically mounted, with one end connected to the first angle sensor 3 and the other end connected to the second angle sensor 4. The first angle sensor 3 is connected to the lumbar strap device 1 to detect the first angle information at the upper end of the adjustment device 5 during patient movement; the second angle sensor 4 is connected to the leg strap device to detect the second angle information at the lower end of the adjustment device 5 during patient movement.

[0042] The hip exoskeleton rehabilitation robot also includes a controller and a terminal 6. The controller is communicatively connected to the first angle sensor 3 and the second angle sensor 4. The controller has a pre-set image processing algorithm model to analyze and calculate the received first and second angle information and simulate the patient's current motion state. The terminal 6 is communicatively connected to the controller and is used to convert the motion state simulated by the controller into voice or images.

[0043] Specifically, the hip exoskeleton rehabilitation robot using mirror therapy technology integrates various mechanical parts. For example, the adjustment device 5 can adjust the length of the leg extension during patient movement; the second angle sensor 4 on the leg strap device can measure the rotation angle of the leg strap during patient movement; the first angle sensor 3 on the waist strap device 1 can adjust the rotation angle of the waist strap 13 during patient movement; the controller can calculate, analyze, and judge based on the data from the first angle sensor 3 and the second angle sensor 4, and then feed the results back to the terminal 6. The patient can then self-adjust based on the results on the terminal 6.

[0044] By linking the controller of the hip exoskeleton rehabilitation robot, each mechanical part can play a different role while also being interconnected, thereby simulating the movement state of the patient's unaffected side. Compared to hip exoskeleton rehabilitation robots on the market, this improved hip exoskeleton rehabilitation robot effectively solves the shortcomings of existing rehabilitation robots, such as poor comfort, poor flexibility, and unsmooth mechanical movements. Furthermore, the hip exoskeleton rehabilitation robot using mirror therapy technology can accurately adapt to the wearer's movement state, thereby monitoring the patient's movements in real time and providing rapid feedback, thus helping the patient to actively and effectively carry out rehabilitation exercises.

[0045] In one embodiment provided in this disclosure, the adjustment device 5 includes: a connecting rod 51, one end of which is connected to a second angle sensor 4, and the other end of which is provided with a rack; a sleeve 52, one end of which is provided with a third angle sensor 7, and the gear of the third angle sensor 7 is meshed with the rack, the third angle sensor 7 being used to detect its current third angle information; the other end of the sleeve 52 is provided with a motor 53, and the output shaft of the motor 53 is drivenly connected to the gear of the first angle sensor 3; the output shaft of the motor 53 is correspondingly provided with a fourth angle sensor 8, the fourth angle sensor 8 being used to detect the fourth angle information of the motor 53. The third angle sensor 7 and the fourth angle sensor 8 are respectively communicatively connected to a controller, the controller performs corresponding analysis and calculation based on the third angle information and the fourth angle information, and transmits the calculation results to the terminal 6.

[0046] In this way, more data information about the patient's behavior can be obtained through the third corner sensor 7 and the fourth corner sensor 8. This allows for a more comprehensive acquisition of the patient's rehabilitation movements, which is beneficial to improving the accuracy and effectiveness of the analysis results. This enables the output of appropriate mimicry images or sound information, allowing the patient to adjust their movement state, thereby scientifically rehabilitating and avoiding sports injuries, and ultimately helping the patient to rehabilitate effectively.

[0047] In one embodiment of this disclosure, the waist strap device 1 includes a fixing strap 11, a support body 12 for conforming to the waist, and waist straps 13 that can bend and deform under pressure. Two sets of fixing straps 11 are arranged at intervals, and two sets of waist straps 13 are also arranged. The two ends of the two sets of waist straps 13 are detachably connected to the fixing strap 11 via first buckles. The support body 12 is arc-shaped and conforms to the inner side of the fixing strap 11, and the support body 12 is flexible. A first angle sensor 3 is connected to the fixing strap 11. This configuration can accommodate patients of different body types. Furthermore, based on the support body, the waist strap device 1 can effectively conform to the patient's waist and provide a certain degree of soft cushioning, improving the patient's comfort when wearing the waist strap device 1.

[0048] In one embodiment of this disclosure, the leg strap device includes a positioning plate 21, a buffer body 22 for conforming to the leg, and a leg strap that can bend and deform under pressure. The buffer body 22 is flexible and arc-shaped and conforms to the inner side of the positioning plate 21. The two ends of the leg strap are detachably connected to the positioning plate 21 by second buckles. A second angle sensor 4 is connected to the positioning plate 21. This configuration can accommodate patients with different leg shapes. Furthermore, based on the buffer body 22, the leg strap device can effectively conform to the patient's leg and provide a certain degree of flexible cushioning, improving the patient's comfort when wearing the leg strap device.

[0049] Specifically, the support and buffer 22 can be configured as an arc-shaped block made of sponge, cotton, or flexible foam; or it can be configured as an airbag with an inflatable structure. Those skilled in the art can make flexible configurations based on the technical concept of this disclosure.

[0050] In one embodiment provided in this disclosure, the first rotation angle sensor 3 and the second rotation angle sensor 4 are configured as rotation angle sensors of model MK315B. The rotation angle sensor has a sensor body and a gear connected to the sensor body. Since this rotation angle sensor is prior art, this disclosure provides only an exemplary description.

[0051] In this disclosure, a collision sensor is used to detect the current collision information of the lumbar support device 1, and the collision sensor is communicatively connected to the controller. In this way, the collision sensor installed on the lumbar region can be subjected to collisions or compression when the patient moves, and can transmit this information to the controller, thus waking up or activating the controller's program.

[0052] In one embodiment provided in this disclosure, terminal 6 is configured as a speaker and / or a display. Specifically, in this disclosure, terminal 6 is configured as a speaker.

[0053] In the embodiments provided in this disclosure, the controller may be configured as a central processing unit (CPU).

[0054] In other embodiments, it can also be a PLC programmable logic controller or an integrated circuit chip, both of which have signal processing capabilities.

[0055] In implementation, the aforementioned functions can be accomplished through integrated logic circuits in the controller hardware or through software instructions. The controller can also be a general-purpose processor, including a network processor (NP); or a digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. Those skilled in the art can obtain these through conventional improvements based on existing technology.

[0056] In this disclosure, the first angle sensor 3, the second angle sensor 4, the terminal 6, and the controller can transmit data via various wireless transmission protocols known in the art, such as GPRS, WiFi, and Bluetooth, thereby reducing the laying of signal cables. Of course, wired data transmission can also be achieved through communication cables, etc., and this invention does not limit this.

[0057] A method for operating a hip joint exoskeleton rehabilitation robot, the method employing the hip joint exoskeleton rehabilitation robot as described above. The method includes the following steps:

[0058] Obtain collision information of the lumbar strap device 1 during patient movement;

[0059] Acquire the extension and retraction information of the adjustment device 5 during patient movement;

[0060] Obtain the rotation information of motor 53 when the patient moves;

[0061] Obtain the rotation angle information of the upper end of the adjustment device 5 during the patient's movement;

[0062] Obtain the rotation angle information of the lower end of the adjustment device 5 during patient movement;

[0063] The controller performs mirror algorithm processing based on the received collision information, extension and retraction information, rotation information of motor 53, and rotation angle information at both ends of the adjustment device 5.

[0064] The controller transmits the result of the mirroring algorithm processing to terminal 6;

[0065] The controller adjusts the motion state of motor 53 based on the results of the mirror algorithm.

[0066] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

Claims

1. A working method of a hip exoskeleton rehabilitation robot, characterized in that, The rehabilitation robot includes: A waist strap device (1) is used to strap onto the patient's waist; Leg strap device, used to strap onto the patient's legs; The first angle sensor (3) is mounted on the waist strap device (1); The second angle sensor (4) is mounted on the leg strap device; Adjustment device (5), vertically installed, includes: A connecting rod (51), one end of which is connected to a second angle sensor (4), which is connected to the leg strap device for detecting the second angle information at the lower end of the adjustment device (5) during patient movement; and a rack at the other end; and A sleeve (52) is connected at one end to the first angle sensor (3) and at the other end to a third angle sensor (7). The gear of the third angle sensor (7) is meshed with the rack. The first angle sensor (3) is connected to the waist strap device (1) to detect the first angle information of the upper end of the adjustment device (5) when the patient moves. The third angle sensor (7) is used to detect its current third angle information. The other end of the sleeve (52) is provided with a motor (53), and the output shaft of the motor (53) is driven to the gear of the third angle sensor (7). The output shaft of the motor (53) is correspondingly provided with a fourth angle sensor (8), which is used to detect the fourth angle information of the motor (53). The controller is communicatively connected to the first angle sensor (3), the second angle sensor (4), the third angle sensor (7), and the fourth angle sensor (8). The controller has a pre-set mirror algorithm calculation model to analyze and calculate the received first, second, third, and fourth angle information, simulate the patient's current motion state, and transmit the calculation results to the terminal (6). The terminal (6) is connected to the controller and is used to convert the motion state simulated by the controller into voice or image. The waist strap device (1) is equipped with a collision sensor, which is used to detect the current collision information of the waist strap device (1). The collision sensor is communicatively connected to the controller. This working method includes the following steps: Obtain collision information of the lumbar strap device (1) during patient movement; Obtain the extension and retraction information of the adjustment device (5) during the patient's movement; Obtain rotation information of the motor (53) during patient movement; Obtain the rotation angle information of the upper end of the adjustment device (5) during the patient's movement; Obtain the rotation angle information of the lower end of the adjustment device (5) during the patient's movement; The controller performs mirror algorithm processing based on the received collision information, extension information, motor (53) rotation information and the rotation angle information at the upper / lower ends of the adjustment device (5); The controller transmits the result of the mirroring algorithm to the terminal (6). The controller adjusts the motion state of the motor (53) based on the result of the mirror algorithm.

2. The working method of the hip exoskeleton rehabilitation robot according to claim 1, characterized in that, The waist strap device (1) includes a fixing strap (11), a support body (12) for fitting the waist, and a waist strap (13) that can bend and deform under pressure. The fixing strap (11) is arranged in two sets and spaced apart. The waist strap (13) is arranged in two sets. The two ends of the two sets of waist straps (13) are detachably connected to the fixing strap (11) by a first buckle. The support body (12) is arc-shaped and attached to the inner side of the fixing strap (11), and the support body (12) is flexible. The first angle sensor (3) is connected to the fixing strap (11). 3.The working method of the hip exoskeleton rehabilitation robot according to claim 1, wherein, The leg strap device includes a positioning plate (21), a buffer body (22) for conforming to the leg, and a leg strap that can bend and deform under pressure; the buffer body (22) is flexible and arc-shaped and conforms to the inner side of the positioning plate (21), and the two ends of the leg strap are detachably connected to the positioning plate (21) by a second buckle; the second angle sensor (4) is connected to the positioning plate (21). 4.The working method of the hip exoskeleton rehabilitation robot according to claim 1, wherein, The first rotation angle sensor (3) and the second rotation angle sensor (4) are configured as rotation angle sensors of model MK315B.

5. The working method of the hip exoskeleton rehabilitation robot according to any one of claims 1-4, characterized in that, The terminal (6) is equipped with a speaker and / or a display.

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