A cerebral palsy child rehabilitation walking exoskeleton robot

Abstract

The application discloses a cerebral palsy child rehabilitation walking-aid exoskeleton robot, which solves the knee joint adduction problem of cerebral palsy children in walking, and provides a kind of alignment on biomechanics through the force of knee joint band, to ensure that the knee joint keeps proper trajectory in the movement process.The cerebral palsy child rehabilitation walking-aid exoskeleton robot comprises a lower limb structure; the lower limb structure comprises a hip joint assembly, a thigh assembly, a thigh binding, a knee joint assembly, a lower leg assembly, a lower leg binding and a foot bottom assembly; the hip joint assembly is connected with the upper end of the thigh assembly, and the thigh binding is fixed on the thigh assembly; the upper motor support of the knee joint assembly is connected with the lower end of the thigh assembly, the stator of the knee joint motor is fixed with the upper motor support, the rotor of the knee joint motor is fixedly connected with the lower motor support, the lower motor support is connected with the upper end of the lower leg assembly, and the knee joint band is connected with the knee joint motor rotor through the knee joint fixing plate.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and relates to a cerebral palsy child rehabilitation walking assisting exoskeleton robot. BACKGROUND

[0002] As a wearable technology for assisting human walking, the lower limb exoskeleton is widely applied to walking rehabilitation of paraplegic patients and walking assistance of normal people.

[0003] In the field of lower limb exoskeletons, there are relatively more and more mature structural designs for adult rehabilitation. However, for children, especially cerebral palsy children, relatively less research is conducted. There is no mature system designed for cerebral palsy children. Compared with adults, cerebral palsy children have adduction, which makes it impossible to directly use the exoskeleton system of adults. Considering the difference in gait of cerebral palsy children, it is crucial to design a suitable structure to correct their gait. SUMMARY

[0004] Therefore, the application provides a cerebral palsy child rehabilitation walking assisting exoskeleton robot, which solves the problem of knee joint adduction of cerebral palsy children during walking, and provides a knee joint binding force that can realize biomechanical alignment, and ensure that the knee joint maintains a proper trajectory during movement.

[0005] To solve the above problems, the embodiment of the application provides a cerebral palsy child rehabilitation walking assisting exoskeleton robot, which is characterized in that:

[0006] The lower limb structure includes a left and right symmetrical lower limb structure;

[0007] The lower limb structure includes a hip joint assembly, a thigh assembly, a thigh binding, a knee joint assembly, a calf assembly, a calf binding, and a foot bottom assembly;

[0008] The hip joint assembly is connected with the upper end of the thigh assembly, and the thigh binding is fixed on the thigh assembly;

[0009] The knee joint assembly includes a knee joint motor, an upper motor support, a lower motor support, a knee joint fixing plate, and a knee joint binding, the upper motor support is connected with the lower end of the thigh assembly, the stator of the knee joint motor is fixed with the upper motor support, the rotor of the knee joint motor is fixedly connected with the lower motor support, the lower motor support is connected with the upper end of the calf assembly, and the knee joint binding is connected with the rotor of the knee joint motor through the knee joint fixing plate,

[0010] The calf binding is fixed on the calf assembly, and the foot bottom assembly is connected with the lower end of the calf assembly.

[0011] Further, the hip joint assembly comprises an upper motor support, a motor and a lower motor support; the upper motor support is fixed with a stator end of the motor, a rotor end of the motor is fixed with the lower motor support, and the lower motor support is fixed with the thigh assembly.

[0012] Further, the thigh assembly comprises a front thigh connecting piece and a rear thigh connecting piece; the front thigh connecting piece and the rear thigh connecting piece are in a telescopic sleeve structure, and a plurality of adjusting holes are arranged in the front thigh connecting piece and the rear thigh connecting piece in an axial direction; the front thigh connecting piece and the rear thigh connecting piece are fixed by bolts, and the length of the thigh assembly can be adjusted through the adjusting holes.

[0013] Further, the lower leg assembly comprises a front lower leg connecting piece and a rear lower leg connecting piece; the front lower leg connecting piece and the rear lower leg connecting piece are in a telescopic sleeve structure, and a plurality of adjusting holes are arranged in the front lower leg connecting piece and the rear lower leg connecting piece in an axial direction; the front lower leg connecting piece and the rear lower leg connecting piece are fixed by bolts, and the length of the lower leg assembly can be adjusted through the adjusting holes.

[0014] Further, the thigh binding comprises a thigh fixing frame, a thigh fixing plate and a thigh binding belt; the thigh fixing frame is fixed on the adjusting hole of the thigh assembly by a screw; the thigh fixing frame, the thigh fixing plate and the thigh binding belt are fixed to the thigh assembly by bolts.

[0015] Further, the lower leg binding comprises a lower leg fixing frame, a lower leg fixing plate and a lower leg binding belt; the lower leg fixing frame, the lower leg fixing plate and the lower leg binding belt of the lower leg binding are fixed to the lower leg assembly by bolts; the lower leg fixing frame is fixed on the adjusting hole of the lower leg assembly by a screw.

[0016] Further, the foot bottom assembly comprises an ankle connecting piece, a foot plate and an ankle joint binding belt; the ankle connecting piece is fixed on the adjusting hole of the rear lower leg connecting piece; the ankle connecting piece, the foot plate and the ankle joint binding belt are fixed to the lower leg assembly by bolts.

[0017] Further, the trolley walker and the adjustable seat are further included; the trolley walker comprises a back plate, hip adjusting devices are arranged on both sides of the back plate, handrails are arranged on the hip adjusting devices, a bottom frame is arranged at a lower part of the back plate, the distance from the bottom frame to the back plate is adjustable, and a rotating wheel is arranged at the bottom of the bottom frame; the adjustable seat is installed on the back plate; the hip joint assembly is fixed with the hip adjusting devices.

[0018] Further, the adjustable seat comprises a back plate connecting frame, a seat support frame, two connecting rods, a self-locking support, a fixed rod and a seat.

[0019] The back plate connecting frame is fixed on the back plate, one end of the seat support frame is hinged to the back plate connecting frame, the seat is fixed on the seat support frame, one end of the two connecting rods is hinged to the back plate connecting frame, the other end of the connecting rod is connected to the fixed rod, the through slot is arranged on the seat support frame, the fixed rod passes through the through slot, the self-locking support is hinged to the seat support frame, the seat support frame can limit the fixed rod through rotation, and self-locking of the seat support frame is realized.

[0020] Further, the distance between the hip adjusting device and the side surface of the back plate is adjustable, and the distance between the hip adjusting device and the front surface of the back plate is adjustable.

[0021] Compared with the prior art, the cerebral palsy child rehabilitation walking assisting exoskeleton robot has at least the following beneficial effects:

[0022] 1) The cerebral palsy child rehabilitation walking assisting exoskeleton robot has a simpler structure and does not need a complex transmission mechanism such as a gear and a rack.

[0023] 2) The knee joint band is fixed on the knee joint motor to form a stable connection, which helps to ensure that the knee joint band can follow the movement of the motor, provide appropriate support for the knee joint, and realize the alignment in biomechanics, so that the knee joint can maintain a proper trajectory during movement; since the band is tightly fixed on the motor, it can adapt to the continuous movement of the motor, keep synchronization with the knee joint, and ensure the continuity of support and control; the tightness of the band can be adjusted through design to adapt to the needs and comfort level of individual users.

[0024] 3) The thigh assembly and the lower leg assembly are telescopic structures made of round pipes, which improve the bending resistance of the exoskeleton.

[0025] 4) The handrails on the trolley walking aid help support the cerebral palsy child when walking, and the position of the hip adjusting device is adjustable to adapt to the height and width of different people; four rehabilitation medical wheels are installed under the bottom frame and walk together with the exoskeleton device.

[0026] 5) An adjustable seat is installed at the crotch, and the cerebral palsy child does not have normal walking conditions in the early training period, so the child can sit on the seat to assist walking; in the later training period, the child has the condition of walking, and the adjustable seat is used to lower the seat, thereby improving the training efficiency of the child.

[0027] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, and the content of the specification can be implemented, the following preferred embodiments of the present application are described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0029] Figure 1 Whole view of the robot;

[0030] Figure 2 Structure diagram of the lower extremity exoskeleton;

[0031] Figure 3 Structure diagram of the knee joint;

[0032] Figure 4 Structure diagram of the walking aid;

[0033] Figure 5 Structure diagram of the telescopic seat;

[0034] Figure 6 State switching diagram of the telescopic seat.

[0035] In the figure: hip joint assembly 1, thigh assembly 2, thigh binding 3, knee joint assembly 4, lower leg assembly 5, lower leg binding 6, foot bottom assembly 7, upper motor support 1-1, motor 1-2, lower motor support 1-3, front thigh connecting piece 2-1, rear thigh connecting piece 2-2, thigh fixing frame 3-1, thigh fixing plate 3-2, thigh binding 3-3, knee joint motor 4-1, upper motor support 4-2, lower motor support 4-3, knee joint fixing plate 4-4, knee joint binding 4-5, front lower leg connecting piece 5-1, rear lower leg connecting piece 5-2, lower leg fixing frame 6-1 on the lower leg binding 6, lower leg fixing plate 6-2, lower leg binding 6-3, ankle connecting piece 7-1 on the foot bottom assembly 7, foot plate 7-2, ankle joint binding 7-3, lower extremity structure 8, trolley walking aid 9, handrail 9-1, hip adjusting device 9-2, back plate 9-3, height adjusting device 9-4, back plate connecting frame 10-1, seat support frame 10-2, connecting rod 10-3, self-locking support 10-4, fixed rod 10-5, seat 10-6. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present application more clear, the following will further describe the present application in combination with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not used to limit the present application. The present application is intended to be more generally applied to the rehabilitation walking exoskeleton robot, and therefore the present application can be used in any practical application with the requirements suitable for specific applications.

[0037] Reference Figure 1The application provides a cerebral palsy child rehabilitation walking assisting exoskeleton robot, which comprises left and right symmetrical lower limb structures 8. The lower limb structure 8 comprises a hip joint assembly 1, a thigh assembly 2, a thigh binding 3, a knee joint assembly 4, a shank assembly 5, a shank binding 6 and a foot bottom assembly 7. The hip joint assembly 1 is connected with the upper end of the thigh assembly 2, and the thigh binding 3 is fixed on the thigh assembly 2; the shank binding 6 is fixed on the shank assembly 5, and the foot bottom assembly 7 is connected with the lower end of the shank assembly 5.

[0038] Referring to Figure 2 The knee joint assembly 4 comprises a knee joint motor 4-1, an upper motor support 4-2, a lower motor support 4-3, a knee joint fixing plate 4-4 and a knee joint binding 4-5. The upper motor support 4-2 is connected with the lower end of the thigh assembly 2, the stator of the knee joint motor 4-1 is fixed with the upper motor support 4-2, the rotor of the knee joint motor 4-1 is fixedly connected with the lower motor support 4-3, the lower motor support 4-3 is connected with the upper end of the shank assembly 5, and the knee joint binding 4-5 is connected with the knee joint motor rotor 4-1 through the knee joint fixing plate 4-4. The knee joint binding 4-5 on the knee joint assembly 4 is fixed on the rotor of the knee joint motor 4-1 through the knee joint binding fixing plate 4-4, and the knee joint binding structure 4-5 rotates along with the rotation of the motor 4-1, and provides outward tension to the patient to correct the gait.

[0039] As a preferred embodiment of the application, referring to Figure 2 The hip joint assembly 1 comprises an upper motor support 1-1, a motor 1-2 and a lower motor support 1-3; the upper motor support 1-1 is fixed with the stator end of the upper motor 1-2, the rotor end of the motor 1-2 is fixed with the lower motor support 1-3, and the lower motor support 1-3 is fixed with the thigh assembly 2. The motor 1-2 drives the thigh assembly 2 to rotate.

[0040] Specifically, referring to Figure 2 The thigh assembly 2 comprises a front thigh connecting piece 2-1 and a rear thigh connecting piece 2-1, and is a telescopic structure made of a circular tube, so that the bending resistance of the exoskeleton is improved. The front thigh connecting piece 2-1 and the rear thigh connecting piece 2-1 are telescopic sleeve structures, a plurality of adjusting holes are arranged in the axial direction of the telescopic sleeve structures, the front thigh connecting piece 2-1 and the rear thigh connecting piece 2-1 are fixed by bolts passing through the adjusting holes, and the length of the thigh assembly 2 can be adjusted through the adjusting holes.

[0041] Specifically, referring to Figure 2The shank assembly 5 includes a front shank connector 5-1 and a rear shank connector 5-2, and the shank assembly 5 is a telescopic structure made of a circular tube to improve the bending resistance of the exoskeleton. The front shank connector 5-1 and the rear shank connector 5-2 are telescopic sleeve structures, and a plurality of adjusting holes are arranged axially and spaced apart. The front shank connector 5-1 and the rear shank connector 5-2 are fixed by bolts passing through the adjusting holes, and the length of the shank assembly 5 can be adjusted through the adjusting holes.

[0042] As a preferred embodiment of the present application, referring to Figure 2 The thigh harness 3 includes a thigh fixing frame 3-1, a thigh fixing plate 3-2 and a thigh harness 3-3. The thigh fixing frame 3-1 is fixed on the adjusting hole of the thigh assembly 2 by a screw, and the position can be adjusted according to actual needs. The thigh fixing frame 3-1, the thigh fixing plate 3-2 and the thigh harness 3-3 are fixed by bolts.

[0043] As a preferred embodiment of the present application, referring to Figure 2 The shank harness 6 includes a shank fixing frame 6-1, a shank fixing plate 6-2 and a shank harness 6-3. The shank fixing frame 6-1, the shank fixing plate 6-2 and the shank harness 6-3 on the shank harness 6 are fixed by bolts. The shank fixing frame 6-1 is fixed on the adjusting hole of the shank assembly 5 by a screw, and the position can be adjusted according to actual needs.

[0044] As a preferred embodiment of the present application, referring to Figure 2 The foot bottom assembly 7 includes an ankle connector 7-1, a foot plate 7-2 and an ankle joint harness 7-3. The ankle connector 7-1 is fixed on the adjusting hole of the rear shank connector 5-2. The ankle connector 7-1, the foot plate 7-2 and the ankle joint harness 7-3 are fixed by bolts.

[0045] As a preferred embodiment of the present application, referring to Figure 1 and Figure 4 The device further includes a trolley walker 9 and an adjustable seat 10. The trolley walker 9 includes a back plate 9-3, and both sides of the back plate 9-3 are provided with a hip adjusting device 9-2. The hip adjusting device 9-2 is provided with a handrail 9-1, which helps to support the child when walking. The lower part of the back plate 9-3 is fixed with the bottom frame through a height adjusting device 9-4. The height adjusting device 9-4 includes a telescopic structure composed of square tubes, and a plurality of adjusting holes are arranged thereon. The adjusting holes are fixed by bolts to realize the adjustable distance from the bottom frame to the back plate 9-3. The bottom of the bottom frame is provided with four rotating wheels 9-5, which walk together with the exoskeleton device. The adjustable seat 10 is installed on the back plate 9-3. The hip joint assembly 1 is fixed with the hip adjusting device 9-2.

[0046] As a preferred embodiment of the present application, see Figure 1 and Figure 4 , the hip adjustment device 9-2 adopts a telescopic sleeve structure in the direction of connection with the side of the back plate 9-3, so as to realize the adjustable distance between the hip adjustment device 9-2 and the side of the back plate 9-3. The hip adjustment device 9-2 also adopts a telescopic sleeve structure perpendicular to the front direction of the back plate 9-3, so as to realize the adjustable distance between the hip joint assembly 1 and the front of the back plate 9-3.

[0047] As a preferred embodiment of the present application, see Figure 1 , Figure 5 and Figure 6 , the adjustable seat 10 comprises a back plate connecting frame 10-1, a seat support frame 10-2, two connecting rods 10-3, a self-locking support 10-4, a fixed rod 10-5 and a seat 10-6; the back plate connecting frame 10-1 is fixed on the back plate 9-3 by bolts, one end of the seat support frame 10-2 is hinged to the back plate connecting frame 10-1, the seat 10-6 is fixed on the seat support frame 10-2, one end of the two connecting rods 10-3 is hinged to the back plate connecting frame 10-1, the other end of the connecting rod 10-3 is connected to the fixed rod 10-5, the seat support frame 10-2 is provided with a through slot, and the fixed rod 10-5 passes through the through slot and can slide in the through slot. The self-locking support 10-4 is hinged to the seat support frame 10-2 and can rotate at a certain angle, when the fixed rod 10-5 moves to the leftmost end of the through slot, the self-locking support 10-4 is rotated so that its left end faces upward, clamping the fixed rod 10-5 to limit the fixed rod 10-5, so as to realize the self-locking of the seat support frame 10-2. When it is needed to unlock, the fixed rod 10-5 is moved to the left, the self-locking support 10-4 is rotated so that its left end faces downward, and the fixed rod 10-5 is smoothly slid to the right end of the through slot, so as to realize the lowering of the adjustable seat 10.

[0048] The back plate connecting frame 10-1 and the seat support frame 10-2 form a rotating pair, and the connecting rod 10-3 forms a self-locking between the self-locking support 10-4 and the fixed rod 10-5 as shown in Figure 6 . In the early stage of walking, the children with cerebral palsy do not have the normal walking conditions, and the children can sit on the seat to assist walking, and in the later training stage, the children have the conditions for walking, so the adjustable seat 10 is used to lower the seat, thereby improving the training efficiency of the children.

[0049] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present application still belongs to the scope of the technical solution of the present application.

Claims

1. A cerebral palsy child rehabilitation walking exoskeleton robot, characterized in that: it comprises left and right symmetrical lower limb structures (8); the lower limb structure (8) comprises a hip joint assembly (1), a thigh assembly (2), a thigh binding (3), a knee joint assembly (4), a shank assembly (5), a shank binding (6) and a foot bottom assembly (7); the hip joint assembly (1) is connected with the upper end of the thigh assembly (2), and the thigh binding (3) is fixed on the thigh assembly (2); the knee joint assembly (4) comprises a knee joint motor (4-1), an upper motor support (4-2), a lower motor support (4-3), a knee joint fixing plate (4-4) and a knee joint binding (4-5); the upper motor support (4-2) is connected with the lower end of the thigh assembly (2); the stator of the knee joint motor (4-1) is fixed with the upper motor support (4-2); the rotor of the knee joint motor (4-1) is fixedly connected with the lower motor support (4-3); the lower motor support (4-3) is connected with the upper end of the shank assembly (5); the knee joint binding (4-5) is connected with the knee joint motor rotor (4-1) through the knee joint fixing plate (4-4); the knee joint binding is fixed on the knee joint motor, forming a stable connection, ensuring that the knee joint binding can follow the movement of the motor, and the force of the knee joint binding can realize alignment in biomechanics, ensuring that the knee joint maintains a proper trajectory during movement; the shank binding (6) is fixed on the shank assembly (5), and the foot bottom assembly (7) is connected with the lower end of the shank assembly (5).

2. The cerebral palsy child rehabilitation walking exoskeleton robot according to claim 1, characterized in that: the hip joint assembly (1) comprises an upper motor support (1-1), a motor (1-2) and a lower motor support (1-3); the upper motor support (1-1) is fixed with the stator end of the upper motor (1-2); the rotor end of the motor (1-2) is fixed with the lower motor support (1-3); and the lower motor support (1-3) is fixed with the thigh assembly (2).

3. The cerebral palsy child rehabilitation walking exoskeleton robot according to claim 2, characterized in that: the thigh assembly (2) comprises a front thigh connecting piece (2-1) and a rear thigh connecting piece (2-1); the front thigh connecting piece (2-1) and the rear thigh connecting piece (2-1) are in a telescopic sleeve structure, and a plurality of adjusting holes are arranged axially therebetween; the front thigh connecting piece (2-1) and the rear thigh connecting piece (2-1) are fixed by bolts, and the length of the thigh assembly (2) can be adjusted through the adjusting holes.

4. The cerebral palsy child rehabilitation walking exoskeleton robot according to claim 3, characterized in that: the shank assembly (5) comprises a front shank connecting piece (5-1) and a rear shank connecting piece (5-2); the front shank connecting piece (5-1) and the rear shank connecting piece (5-2) are in a telescopic sleeve structure, and a plurality of adjusting holes are arranged axially therebetween; the front shank connecting piece (5-1) and the rear shank connecting piece (5-2) are fixed by bolts, and the length of the shank assembly (5) can be adjusted through the adjusting holes.

5. The cerebral palsy child rehabilitation walking exoskeleton robot according to claim 4, characterized in that: ​ ​ ​ ​ ​ ​ ​ ​ The thigh binding (3) comprises a thigh fixing frame (3-1), a thigh fixing plate (3-2) and a thigh binding belt (3-3), the thigh fixing frame (3-1) is fixed on the adjusting hole of the thigh assembly (2) through a screw, and the thigh fixing frame (3-1), the thigh fixing plate (3-2) and the thigh binding belt (3-3) are fixed to the thigh assembly through bolts.

6. The cerebral palsy child rehabilitation walking assisting exoskeleton robot according to claim 5, characterized in that: The calf binding (6) comprises a calf fixing frame (6-1), a calf fixing plate (6-2) and a calf binding belt (6-3), the calf fixing frame (6-1), the calf fixing plate (6-2) and the calf binding belt (6-3) are fixed through bolts, and the calf fixing frame (6-1) is fixed on the adjusting hole of the calf assembly (5) through a screw.

7. The cerebral palsy child rehabilitation walking assisting exoskeleton robot according to claim 6, characterized in that: The foot bottom assembly (7) comprises an ankle connecting piece (7-1), a foot plate (7-2) and an ankle joint binding belt (7-3), the ankle connecting piece (7-1) is fixed on the adjusting hole on the rear calf connecting piece (5-2), and the ankle connecting piece (7-1), the foot plate (7-2) and the ankle joint binding belt (7-3) are fixed to the calf assembly (6) through bolt holes.

8. The cerebral palsy child rehabilitation walking assisting exoskeleton robot according to any one of claims 1-7, characterized in that: It further comprises a trolley walking aid (9) and an adjustable seat (10). The trolley walking aid (9) comprises a back plate (9-3), both sides of the back plate (9-3) are provided with hip adjusting devices (9-2), the hip adjusting devices (9-2) are provided with armrests (9-1), the lower part of the back plate (9-3) is provided with a bottom frame, the distance from the bottom frame to the back plate (9-3) is adjustable, and the bottom of the bottom frame is provided with a rotating wheel (9-5). The adjustable seat (10) is installed on the back plate (9-3). The hip joint assembly (1) is fixed with the hip adjusting device (9-2).

9. The cerebral palsy child rehabilitation walking assisting exoskeleton robot according to claim 8, characterized in that: The adjustable seat (10) comprises a back plate connecting frame (10-1), a seat support frame (10-2), two connecting rods (10-3), a self-locking support (10-4), a fixed rod (10-5) and a seat (10-6). The back plate connecting frame (10-1) is fixed on the back plate (9-3), one end of the seat support frame (10-2) is hinged to the back plate connecting frame (10-1), the seat (10-6) is fixed on the seat support frame (10-2), one end of the two connecting rods (10-3) is hinged to the back plate connecting frame (10-1), the other end of the connecting rod (10-3) is connected to the fixed rod (10-5), the seat support frame (10-2) is provided with a through slot, the fixed rod (10-5) passes through the through slot, the self-locking support (10-4) is hinged to the seat support frame (10-2), the seat support frame (10-2) can limit the fixed rod (10-5) by rotating, and self-locking of the seat support frame (10-2) is realized.

10. The cerebral palsy child rehabilitation walking exoskeleton robot according to claim 9, characterized in that: The distance between the hip adjusting device (9-2) and the side of the back plate (9-3) is adjustable, and the distance between the hip adjusting device (9-2) and the front of the back plate (9-3) is adjustable.

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