Control method for binding flexible self-alignment knee joint rehabilitation device

Abstract

The invention discloses a control method for binding a flexible self-alignment knee joint rehabilitation device, and relates to the technical field of exoskeleton robots, and the method comprises the following steps: S1, wearing the rehabilitation device on a human leg, fixing one end of the rehabilitation device on a human thigh, and fixing the other end on a human shank, the rehabilitation device is also provided with a flexible telescopic piece which can be straightened or bent along with the knee joint at the position corresponding to the knee joint of the human body; s2, enabling the patient shank to swing for multiple times, and enabling the rehabilitation device to form a dynamic behavior range simulating knee joint rotation when the patient shank swings; s3, the rehabilitation device actively drives the shanks of the patient to swing according to the simulated dynamic behavior range of knee joint rotation of the patient. The situation that the knee joint rotates beyond the rotatable range can be avoided, and secondary injury to a patient is prevented.

Description

Technical Field

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

[0002] The traditional method of knee rehabilitation is mainly physical therapy, using existing knee orthoses, which needs to be completed by professional rehabilitation therapists. The rehabilitation effect is affected by the level and experience of the rehabilitation therapist, so the stability of the rehabilitation training is not high. During the rehabilitation training, there may also be mistakes made by the rehabilitation therapist, resulting in the patient's knee joint rotating beyond the range of rotation, thereby causing secondary injuries to the patient. Summary of the invention

[0003] The purpose of the present invention is to provide a control method for a binding flexible self-aligning knee joint rehabilitation device to overcome the above-mentioned defects, avoid the knee joint from rotating beyond the range of rotation, and prevent secondary injury to the patient.

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

[0005] A control method for a binding flexible self-aligning knee joint rehabilitation device comprises the following steps:

[0006] S1: Wear the rehabilitation device on the human leg, with one end of the rehabilitation device fixed on the human thigh and the other end fixed on the human calf, and the rehabilitation device is also provided with a flexible retractable part corresponding to the human knee joint position that can be extended or flexed with the knee joint;

[0007] S2: Let the patient swing his lower leg multiple times, and the rehabilitation device forms a dynamic range of behavior that simulates the rotation of the knee joint when the patient swings his lower leg;

[0008] S3: The rehabilitation device actively drives the patient's lower leg to swing according to the simulated dynamic behavior range of the patient's knee joint rotation.

[0009] Further, the rehabilitation device includes a fixed platform assembly, a branch chain assembly, and a driving body assembly;

[0010] The fixed platform assembly includes a thigh bracket, an angle monitor and a central control device. The thigh bracket is used to be mounted on the human thigh, and the angle monitor and the central control device are integrated in the thigh bracket.

[0011] 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 chain 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 provided 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 back and forth 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 also parallel to the rotation axis of the human body's knee joint, the angle monitor is used to monitor the swinging angle 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, the first branch chain and the second branch chain are provided with a length measuring component, the length measuring component 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;

[0012] The driving main body component includes a calf bracket, a speed sensor 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 both hinged on the calf bracket and can swing back and forth on the calf bracket. The driver and the speed sensor are integrated on the calf bracket. Both are connected to the central control device for communication. 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 speed sensor is used to monitor the swinging speed of the first branch chain and the second branch chain, and the speed sensor is connected to the central control device for communication. 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.

[0013] In step S1, the rehabilitation device is worn on the patient's legs, the thigh support sleeve is installed on the thigh, the calf support sleeve is installed on the calf, and the position of the flexible telescopic part corresponds to the knee position of the human body.

[0014] Furthermore, in step S2, a dynamic model of a healthy human knee joint is established in the central control device according to the swing range of a healthy human calf. The dynamic model of the human knee joint is used to describe all dynamic behaviors of the knee joint rotation during the swinging process of a healthy human calf, which covers all activity ranges of a healthy human calf. Then, the patient's calf is swung multiple times, and the data monitored by the speed sensor, angle monitor, and length measurement component are transmitted to the dynamic model. The dynamic model converts the transmitted data into dynamic behaviors that simulate the patient's knee joint rotation.

[0015] Furthermore, in step S3, the dynamic model transmits the dynamic behavior of simulating the rotation of the patient's knee joint to the driver, which drives the branch chain assembly to swing, thereby driving the fixed platform assembly to rotate, thereby driving the patient's calf to swing.

[0016] After adopting the above scheme, the beneficial effects of the present invention are:

[0017] The present invention allows the patient's calf to swing multiple times, allowing the rehabilitation device to simulate the dynamic behavior of the patient's knee joint rotation, so as to memorize the patient's knee joint rotation range, and then actively drive the patient's calf to swing stably within the range of the patient's knee joint rotation, thereby ensuring that the effect of the rehabilitation training is relatively stable and avoiding driving the patient's knee joint to rotate beyond the maximum range of rotation, thereby preventing secondary injury to the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a flow chart of the control method of the present invention;

[0019] Figure 2 is a schematic diagram of the specific structure of the rehabilitation device of the present invention;

[0020] Figure 3 It is a trajectory diagram of the movement of one end of the calf of the rehabilitation device of the present invention.

[0021] 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

[0022] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figures 1 to 3 As shown, a control method for a binding flexible self-aligning knee joint rehabilitation device comprises the following steps:

[0024] S1: Wear the rehabilitation device on the human leg, with one end of the rehabilitation device fixed on the human thigh and the other end fixed on the human calf, and the rehabilitation device is also provided with a flexible retractable part corresponding to the human knee joint position that can be extended or flexed with the knee joint;

[0025] S2: Let the patient swing his lower leg multiple times, and the rehabilitation device forms a dynamic range of behavior that simulates the rotation of the knee joint when the patient swings his lower leg;

[0026] S3: The rehabilitation device actively drives the patient's lower leg to swing according to the simulated dynamic behavior range of the patient's knee joint rotation.

[0027] The present invention allows the patient's calf to swing multiple times, allowing the rehabilitation device to simulate the dynamic behavior of the patient's knee joint rotation, so as to memorize the patient's knee joint rotation range, and then actively drive the patient's calf to swing stably within the range of the patient's knee joint rotation, thereby ensuring that the effect of the rehabilitation training is relatively stable and avoiding driving the patient's knee joint to rotate beyond the maximum range of rotation, thereby preventing secondary injury to the patient.

[0028] Specifically, the rehabilitation device includes a fixed platform component 1, a branch chain assembly 2, and a driving body component 3;

[0029] The fixed platform assembly 1 includes a thigh bracket 10, an angle monitor and a central control device. The thigh bracket 10 is used to be mounted on the human thigh, and the angle monitor and the central control device are integrated in the thigh bracket 10;

[0030] 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 legs, and the first branch chain 20 can be extended or shortened. The second branch chain 21 is located at the position corresponding to the front side of the human legs, and a flexible telescopic member 211 is provided at the position corresponding to the human knee. The second branch chain 21 can be extended when bent or shortened when restored with the flexible telescopic member 211 as the center. The upper ends of the first branch chain 20 and the second branch chain 21 are both hinged on the thigh bracket 10, and can be extended or shortened on the thigh bracket 10. For the upper front and rear swing, the rotation axes of the hinged connection 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 angle monitor is used to monitor the swing angle of the first branch chain 20 and the second branch chain 21 on the thigh bracket 10, and the angle monitor is connected to the central control device for communication, the first branch chain 20 and the second branch chain 21 are provided with a length measuring component, the length measuring component is used to measure the length change of the first branch chain 20 and the second branch chain 21 when swinging, and the length measuring component is connected to the central control device for communication;

[0031] The driving main body component 3 includes a calf bracket 30, a speed sensor 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 both hinged on the calf bracket 30 and can swing back and forth on the calf bracket 30. The driver and the speed sensor are integrated on the calf bracket 30, and both are connected to the central control device for communication. 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 speed sensor is used to monitor the swinging speed of the first branch chain 20 and the second branch chain 21, and the speed sensor is connected to the central control device for communication. The driving main body component 3 drives the first branch chain 20 and the second branch chain 21 of the branch chain assembly 2 to swing through the driver, thereby driving the fixed platform component 1 to rotate, so that the human calf swings;

[0032] In step S1: the rehabilitation device is worn on the patient's legs, the thigh bracket 10 is mounted on the thigh, the calf bracket 30 is mounted on the calf, and the position of the flexible telescopic member 211 corresponds to the knee position of the human body;

[0033] Further, in step S2: a dynamic model of a healthy human knee joint is established in the central control device according to the swing range of a healthy human calf, and the dynamic model of the human knee joint is used to describe all dynamic behaviors of the knee joint rotation during the swinging process of a healthy human calf, which covers all ranges of activity of a healthy human calf; then the patient's calf is swung multiple times, and the data monitored by the speed sensor, the angle monitor, and the length measurement component are transmitted to the dynamic model, and the dynamic model converts the transmitted data into dynamic behaviors simulating the rotation of the patient's knee joint;

[0034] Furthermore, in step S3: the dynamic model transmits the dynamic behavior of simulating the rotation of the patient's knee joint to the driver, which drives the branch chain assembly 2 to swing, thereby driving the fixed platform assembly 1 to rotate, thereby driving the patient's calf to swing.

[0035] 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;

[0036] 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;

[0037] Specifically, the dynamic model of the human knee joint is established by analyzing the biomechanical characteristics and kinematic data of the knee joint.

[0038] Specifically, the specific conditions for which the rehabilitation device of the present invention is applicable are as follows:

[0039] (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.

[0040] (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:

[0041] 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:

[0042] (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;

[0043] (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.

[0044] (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:

[0045]

[0046] 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;

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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 control method for a binding flexible self-aligning knee joint rehabilitation device, Features: The following steps are involved: S1: Wear the rehabilitation device on the human leg, with one end of the rehabilitation device fixed on the human thigh and the other end fixed on the human calf, and the rehabilitation device is also provided with a flexible retractable part corresponding to the human knee joint position that can be extended or flexed with the knee joint; S2: Let the patient swing his lower leg multiple times, and the rehabilitation device forms a dynamic range of behavior that simulates the rotation of the knee joint when the patient swings his lower leg; S3: The rehabilitation device actively drives the patient's lower leg to swing according to the simulated dynamic behavior range of the patient's knee joint rotation.

2. A control method for a binding flexible self-aligning knee joint rehabilitation device as claimed in claim 1, Features: The rehabilitation device includes a fixed platform assembly, a branch chain assembly, and a driving body assembly; The fixed platform assembly includes a thigh bracket, an angle monitor and a central control device. The thigh bracket is used to be mounted on the human thigh, and the angle monitor and the central control device are integrated in the thigh bracket. 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 chain 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 provided 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 back and forth 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 also parallel to the rotation axis of the human body's knee joint, the angle monitor is used to monitor the swinging angle 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, the first branch chain and the second branch chain are provided with a length measuring component, the length measuring component 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; The driving main body component includes a calf bracket, a speed sensor 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 both hinged on the calf bracket and can swing back and forth on the calf bracket. The driver and the speed sensor are integrated on the calf bracket. Both are connected to the central control device for communication. 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 speed sensor is used to monitor the swinging speed of the first branch chain and the second branch chain, and the speed sensor is connected to the central control device for communication. 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. In step S1, the rehabilitation device is worn on the patient's legs, the thigh support sleeve is installed on the thigh, the calf support sleeve is installed on the calf, and the position of the flexible telescopic part corresponds to the knee position of the human body.

3. A control method for a binding flexible self-aligning knee joint rehabilitation device as claimed in claim 2, Features: In step S2, a dynamic model of a healthy human knee joint is established in the central control device according to the swing range of a healthy human calf. The dynamic model of the human knee joint is used to describe all dynamic behaviors of the knee joint rotation during the swinging process of a healthy human calf, which covers all activity ranges of a healthy human calf. Then, the patient's calf is swung multiple times, and the data monitored by the speed sensor, angle monitor, and length measurement component are transmitted to the dynamic model. The dynamic model converts the transmitted data into dynamic behaviors that simulate the patient's knee joint rotation.

4. A control method for a binding flexible self-aligning knee joint rehabilitation device as claimed in claim 3, Features: In step S3, the dynamic model transmits the dynamic behavior of simulating the rotation of the patient's knee joint to the driver, which drives the branch chain assembly to swing, thereby driving the fixed platform assembly to rotate, thereby driving the patient's lower leg to swing.

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