Binding flexible self-alignment knee joint rehabilitation device

Abstract

The invention discloses a binding flexible self-alignment knee joint rehabilitation device, and relates to the technical field of exoskeleton robots, and the device comprises a fixed platform assembly, a branch chain assembly and a driving main body assembly; the fixed platform assembly comprises a thigh bracket, the branch chain assembly comprises two first branch chains and a second branch chain, the two first branch chains are located at the positions corresponding to the left side and the right side of the legs of the human body, the first branch chains can stretch or retract, and the second branch chain is located at the position corresponding to the front side of the legs of the human body. A flexible telescopic piece is arranged at the position corresponding to the knee of a human body; the driving body assembly comprises a shank bracket and a driver, the lower ends of the first branch chain and the second branch chain are hinged to the shank bracket and can swing and rotate front and back on the shank bracket, and the driver is integrally arranged on the shank bracket. According to the rehabilitation training device, the stability and continuity of rehabilitation training can be guaranteed, and rehabilitation training can be brought to the daily walking process.

Description

Technical Field

[0001] The invention relates to the technical field of exoskeleton robots, and in particular to a binding flexible self-aligning knee joint rehabilitation device. Background Art

[0002] Traditional knee rehabilitation is mainly physical therapy, using existing knee orthoses, and requires the guidance of professional rehabilitation therapists. It cannot perform rehabilitation training stably and continuously, and the knee orthosis mainly plays a supporting role during the rehabilitation cycle. The relative position of the thigh and calf is fixed, the rehabilitation effect is poor, and the existing knee orthosis cannot bring rehabilitation training into daily walking. Summary of the invention

[0003] The purpose of the present invention is to provide a binding flexible self-aligning knee joint rehabilitation device to overcome the above-mentioned defects, be able to bring rehabilitation training into the daily walking process, reduce the burden on patients, and enhance the rehabilitation effect.

[0004] To achieve the above object, the solution of the present invention is:

[0005] A binding flexible self-aligning knee joint rehabilitation device is arranged on the human knee and drives the knee to rotate adaptively by connecting the thigh and the calf, comprising a fixed platform component, a branch chain assembly and a driving main body component; the fixed platform component comprises a thigh bracket, and the thigh bracket is used to be mounted on the human thigh; the branch chain assembly comprises two first branch chains and a second branch chain, the two first branch chains are located at positions corresponding to the left and right sides of the human leg, and the first branch chain can be extended or shortened, the second branch chain is located at a position corresponding to the front side of the human leg, and a flexible telescopic part is arranged at a position corresponding to the human knee, the second branch chain can be extended when bent or shortened when restored with the flexible telescopic part as the center, and the first branch chain and the second branch chain are connected to each other. The upper ends of the first and second branches are hinged on the thigh bracket and can swing back and forth on the thigh bracket. The rotation axes of the hinges of the first and second branches are parallel to each other and also parallel to the rotation axis of the human knee joint. The driving main body component includes a calf bracket and a driver. The calf bracket is used to be mounted on the human calf. The lower ends of the first and second branches are hinged on the calf bracket and can swing back and forth on the calf bracket. The driver is integrated on the calf bracket. The driver is used to drive the first and second branches to swing back and forth on the calf bracket. The driving main body component drives the first and second branches of the branch chain assembly to swing through the driver, thereby driving the fixed platform component to rotate, so that the human calf swings.

[0006] Furthermore, it also includes a central control device, which is integrated in the thigh bracket, and the drive is communicatively connected to the central control device.

[0007] Furthermore, it also includes an angle monitor, which is used to monitor the swinging angles of the first branch chain and the second branch chain on the thigh bracket, and the angle monitor is communicatively connected to the central control device.

[0008] Furthermore, it also includes a length measuring component, which is used to measure the length change of the first branch chain and the second branch chain when they swing, and the length measuring component is communicatively connected to the central control device.

[0009] Furthermore, it also includes a speed sensor, which is used to monitor the swinging speed of the first branch chain and the second branch chain, and the speed sensor is communicatively connected to the central control device.

[0010] After adopting the above scheme, the beneficial effects of the present invention are:

[0011] The knee joint rehabilitation device of the present invention cooperates with a thigh support, a calf support, a driving main body component, a first branch chain and a second branch chain. When in use, the thigh support is sleeved on the thigh, and the calf support is sleeved on the calf. The first branch chain and the second branch chain of the branch chain assembly are driven by the driver of the driving main body component to swing, thereby driving the fixed platform component to rotate, and then driving the human calf to swing, so that the knee joint can straighten or flex, thereby achieving the purpose of actively helping rehabilitation training, enhancing the rehabilitation effect, and allowing the calf to swing continuously and stably, so that the knee joint can continuously and stably perform rehabilitation training, and can also help the patient walk by swinging the first branch chain and the second branch chain when the patient is walking, bringing rehabilitation training into the daily walking process and reducing the burden on the patient, and when the driver is not working, the entire device can be used as a passive training device, worn on the human leg, and move with the extension or flexion of the human leg. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a schematic diagram of the specific structure of the rehabilitation device of the present invention;

[0013] Figure 2 It is a trajectory diagram of the movement of one end of the calf of the rehabilitation device of the present invention.

[0014] Explanation of reference numerals: 1. fixed platform assembly; 10. thigh bracket; 101. first through hole; 2. branch chain assembly; 20. first branch chain; 21. second branch chain; 211. flexible telescopic member; 3. driving body assembly; 30. calf bracket; 301. second through hole. DETAILED DESCRIPTION

[0015] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] like Figure 1 to Figure 2As shown, the present invention provides a binding flexible self-aligning knee joint rehabilitation device, which is arranged on the human knee and drives the knee to rotate adaptively by connecting the thigh and the calf, including a fixed platform component 1, a branch chain assembly 2 and a driving body component 3; the fixed platform component 1 includes a thigh bracket 10, and the thigh bracket 10 is used to be mounted on the human thigh; the branch chain assembly 2 includes two first branch chains 20 and a second branch chain 21, the two first branch chains 20 are located at the positions corresponding to the left and right sides of the human leg, and the first branch chain 20 can be extended or shortened, and the second branch chain 21 is located at the position corresponding to the front side of the human leg, and a flexible telescopic part 211 is provided at the position corresponding to the human knee, so that the second branch chain 20 can be extended when bent or shortened when restored with the flexible telescopic part 211 as the center, and the first branch chain 20 and the second branch chain 21 are connected to each other. The upper ends of the chains 21 are hinged on the thigh bracket 10 and can swing back and forth on the thigh bracket 10. The rotation axes of the hinges of the first branch chain 20 and the second branch chain 21 are parallel to each other and also parallel to the rotation axis of the human knee joint; the driving main body component 3 includes a calf bracket 30 and a driver. The calf bracket 30 is used to be mounted on the human calf. The lower ends of the first branch chain 20 and the second branch chain 21 are hinged on the calf bracket 30 and can swing back and forth on the calf bracket 30. The driver is integrated on the calf bracket 30. The driver is used to drive the first branch chain 20 and the second branch chain 21 to swing back and forth on the calf bracket 30. The driving main body component 3 drives the first branch chain 20 and the second branch chain 21 of the branch chain assembly to swing through the driver, thereby driving the fixed platform component 1 to rotate to make the human calf swing.

[0017] Specifically, the flexible telescopic member 211 is preferably a flexible hinged spring, and the driver is preferably a micro motor, which can drive the first branch chain 20 and the second branch chain 21 to swing;

[0018] Specifically, the thigh bracket 10 has a first through hole 101 for the human leg to penetrate, a thigh binding ring is arranged in the first through hole 101, and the thigh bracket is fixed to the human thigh through the thigh binding ring, and the calf bracket 30 has a second through hole 301 for the human calf to penetrate, a calf binding ring is arranged in the second through hole 301, and the calf bracket is fixed to the human calf through the calf binding ring;

[0019] Furthermore, it also includes a central control device, the central control device is integrated in the thigh bracket, and the driver is communicatively connected to the central control device;

[0020] Furthermore, an angle monitor is included, which is used to monitor the swing angles of the first branch chain 20 and the second branch chain 21 on the thigh bracket 10, and the angle monitor is communicatively connected to the central control device; specifically, the angle monitor is integrated inside the thigh bracket 10, and the angle monitor is also preferably a micro motor, and the micro motor plays a role in monitoring the swing angles of the first branch chain 20 and the second branch chain 21 on the thigh bracket 10;

[0021] Furthermore, it also includes a length measuring component, which is used to measure the length change of the first branch chain 20 and the second branch chain 21 when they swing, and the length measuring component is communicatively connected to the central control device; the length measuring component is preferably an encoder, and the encoder is specifically arranged on the calf support 30, located at one end where the first branch chain 20 and the second branch chain 21 and the calf support 30 are hinged.

[0022] Furthermore, a speed sensor is included, which is used to monitor the swinging speed of the first branch chain 20 and the second branch chain 21, and the speed sensor is communicatively connected to the central control device; specifically, the speed sensor is arranged on the calf support 30.

[0023] Specifically, the specific conditions applicable to the present invention are as follows:

[0024] (1) The entire device has at least three degrees of freedom, namely: movement in the Y and Z directions of the human body's sagittal plane, and rotation around the coronal axis in the X direction. Only in this way can it be ensured that the trajectory of the calf when rotating around the cross-section of the femoral prosthesis meets the patient's rehabilitation needs.

[0025] (2) The direction of the rotation axis is the X direction. The specific position of the human knee joint axis is determined according to the movement trajectory of the calf. Only in this way can it be ensured that the calf rotation angle and the knee joint rotation axis position during human movement exist in a one-to-one correspondence. The specific steps are as follows:

[0026] The rehabilitation device of the present invention is based on a 3-RPR parallel mechanism, and the movement trajectory of one end of the calf of the rehabilitation device during exercise is:

[0027] (1) The rehabilitation device of the present invention is simplified into a triangular prism, with two regular triangles at the top and bottom, namely ΔABC and ΔMNP; assuming that there are three designated positions during the exercise process, the three designated positions are set as three points DEF, and the overall shape is similar to two upper and lower triangles, and then any point of ΔABC is connected to the three designated positions DEF respectively, for example, point A is connected to the three designated positions DEF respectively, that is, line segments AE, AD, and AF, and the other two points B and C are connected to any two points at the three designated positions DEF, such as the four line segments BE, BF, CF, and CD, so as to form seven line segments AE, AD, AF, BE, BF, CF, and CD;

[0028] (2) During the movement, the elongation of the two first branches 20 of the rehabilitation device is the length of the two line segments AM and BN, and the elongation of the second branch 21 is the length of the CP line segment. By inversely solving the position of the 3-RPR parallel mechanism, the positions of the three points ABC in the coordinate system OXYZ can be obtained.

[0029] (3) Assume that the moving part can be further divided into three triangular pyramids, namely F-ABC, E-FAB, and D-FAC. Taking F-ABC as an example, (the coordinates of the three points of triangle ABC have been obtained in (2)) let the lengths of the three edges be l FA , l FB , l FC , the following equation can be established from the geometric relationship:

[0030]

[0031] From this we can get the coordinates of point F, that is, x F ,y F 、z F Three values; Similarly, the coordinates of points D and E can be calculated, and then the coordinates of the middle point of triangle DEF can be calculated, that is, the motion position of the parallel mechanism;

[0032] By repeatedly calculating the collected line segment change data according to the above conditions, we can obtain the set of all points of the coordinates of the middle point of triangle DEF, which is also the motion trajectory of the parallel mechanism; and then the position of the transient axis of the knee joint can be obtained by inverse position solution, thereby realizing the self-alignment of the rehabilitation device and the knee joint rotation axis during human knee joint rehabilitation and improving the rehabilitation performance of the device.

[0033] It can be understood that the present invention can also be based on the movement speed, and then converted with time to obtain the movement acceleration of the parallel mechanism. The side lengths of ΔDEF, ΔABC, and ΔMNP can be determined according to the specified positions in actual work, providing more flexibility and a larger working space for the present invention.

[0034] Furthermore, the driving main body component is provided with a controller for controlling the driver and a battery module for powering it, and also includes a posture sensor, which is used to monitor the posture of the knee joint, namely, direction, tilt angle, etc., and a handheld control terminal, which is wirelessly connected to the controller. A corresponding wireless module is provided on the controller, and data is transmitted to the controller via Bluetooth. After receiving the signal, the controller starts to detect the patient's movement intention, determines the specific position of the human knee joint axis according to the movement of the calf, and drives the main body component to automatically correct the position, aligns the rotation axis of the entire rehabilitation device with the rotation axis of the knee joint, so that the patient's calf can move over a large range multiple times. When the patient's knee flexion angle exceeds the angle set by the posture sensor, the posture sensor feeds back a signal to the controller, the controller controls the action of the micro motor, and monitors the knee flexion angle, angular velocity, and torque of the knee joint in real time. When the knee flexion angle is lower than the angle set by the posture sensor, the micro motor stops and the gait cycle is completed.

[0035] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0036] Meanwhile, the directions such as front, back, left, and right involved in this embodiment are only used as a reference for directions and do not represent directions in actual use. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0037] The above description is only a preferred embodiment of the present invention and is not a limitation on the design of this case. Any equivalent changes made based on the design key of this case shall fall within the protection scope of this case.

Claims

1. A binding flexible self-aligning knee joint rehabilitation device, which is set on the human knee and drives the knee to rotate adaptively by connecting the thigh and calf. Features: It includes fixed platform components, branch chain assembly and driving main body components; The fixed platform assembly includes a thigh bracket, which is used to be mounted on the human thigh; The branch chain assembly includes two first branch chains and a second branch chain. The two first branch chains are located at positions corresponding to the left and right sides of the human body's legs, and the first branch chains can be extended or shortened. The second branch chain is located at a position corresponding to the front side of the human body's legs, and a flexible telescopic member is arranged at a position corresponding to the human body's knee. The second branch chain can be extended when bent with the flexible telescopic member as the center or shortened when restored. The upper ends of the first branch chain and the second branch chain are both hinged on the thigh bracket and can swing forward and backward on the thigh bracket. The rotation axes of the hinges of the first branch chain and the second branch chain are parallel to each other and are also parallel to the rotation axis of the human body's knee joint. The driving main body component includes a calf bracket and a driver. The calf bracket is used to be mounted on the human calf. The lower ends of the first branch chain and the second branch chain are hinged on the calf bracket and can swing back and forth on the calf bracket. The driver is integrated on the calf bracket. The driver is used to drive the first branch chain and the second branch chain to swing back and forth on the calf bracket. The driving main body component drives the first branch chain and the second branch chain of the branch chain assembly to swing through the driver, thereby driving the fixed platform component to rotate, so that the human calf swings.

2. A binding flexible self-aligning knee joint rehabilitation device as claimed in claim 1, Features: The utility model also comprises a central control device, which is integrated in the thigh support, and the drive is communicatively connected with the central control device.

3. A binding flexible self-aligning knee joint rehabilitation device as claimed in claim 2, Features: It also includes an angle monitor, which is used to monitor the swinging angles of the first branch chain and the second branch chain on the thigh bracket, and the angle monitor is communicatively connected to the central control device.

4. A binding flexible self-aligning knee joint rehabilitation device as claimed in claim 2, Features: It also includes a length measuring component, which is used to measure the length change of the first branch chain and the second branch chain when they swing, and the length measuring component is communicatively connected with the central control device.

5. A binding flexible self-aligning knee joint rehabilitation device as claimed in claim 2, Features: It also includes a speed sensor, which is used to monitor the swinging speed of the first branch chain and the second branch chain, and the speed sensor is communicatively connected with the central control device.

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