Exoskeleton biofeedback type lower limb rehabilitation training device

Abstract

The exoskeleton biological feedback type lower limb rehabilitation training device comprises a waist assembly, a thigh assembly, a shank assembly, a foot assembly, a hip force feedback assembly, a knee force feedback assembly and an ankle force feedback assembly. According to the device, a push rod and a rotating block are arranged on each lower limb joint of a patient, and a spring is arranged on the push rod, so that when the patient moves in each direction of each joint, the device can apply certain impedance force to the movement of the patient, and in addition, a displacement sensor is arranged on the rotating block of each joint; the moving distance of the push rod relative to the rotating block is measured through the displacement sensor, the stiffness coefficient of the spring and data of all the connecting rod mechanisms are added for calculation, and the rotating angle of the device and the torque needed when the user joints move to the rotating angle can be obtained. In addition, compared with other exoskeleton type force feedback lower limb training devices, the exoskeleton type force feedback lower limb training device is simpler in structure and more convenient and rapid to produce, use and maintain.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to an exoskeleton biofeedback lower limb rehabilitation trainer. Background Art

[0002] A lower limb rehabilitation trainer is a device specifically designed to assist patients with lower limb injuries in their recovery training. It can provide safe and stable support to help patients regain the strength, balance, and coordination of their lower limbs. The main functions of lower limb rehabilitation trainers include assisted training, joint movement training, balance training, gait training, muscle coordination training, and rehabilitation assessment. They can simulate various lower limb movement patterns such as walking, stepping, and pedal movement to help patients perform muscle strength training, joint movement training, and balance training. According to their functions and usage methods, lower limb rehabilitation trainers can be classified into power-assisted type, power-resistance type, power-active type, function-simulation type, and balance rehabilitation trainers, etc. In order to facilitate the observation and recording of the patient's rehabilitation situation, a lower limb rehabilitation trainer with a force feedback function is required. On the one hand, it can study the patient's rehabilitation degree by recording the movement and displacement states of the joints, and on the other hand, it can apply a certain amount of impedance force to the patient's training to improve the exercise effect.

[0003] Currently, there are some lower limb rehabilitation training devices with force feedback functions on the market. For example, the patent with the publication number CN115024946A discloses a high-rigidity lower limb rehabilitation exoskeleton system with force feedback. This device adopts a modular structure and has a leg structure with split sleeves, which has a low cost and is easy to use. In addition, this device has a force feedback function. Through the force sensors on the leg and the sole of the foot, it can measure the human-machine interaction force, reflecting the driving force received by the patient and the active force given by the patient to the exoskeleton, thereby improving the safety of the device and realizing active training.

[0004] It can be seen that this device mainly allows the patient to control the device to move independently, and records the angles of each joint through an encoder to provide human-machine interaction data. However, except for the gravity of the device itself, this device cannot provide additional impedance force for the patient's lower limb movement during exercise. Therefore, it can only record the patient's current rehabilitation status and cannot further exercise the patient's lower limbs. Therefore, there is a need for a rehabilitation training device that can provide a certain amount of impedance force for the movement of the hip joint, knee joint, and ankle joint of the patient's lower limb, and can also record and provide data feedback on the patient's joint movement status. Moreover, this device does not require complex motor drive and control, ensuring a low cost, simple structure, and easy maintenance. Summary of the Invention

[0005] To solve the above technical problems, the present invention designs an exoskeleton biofeedback lower limb rehabilitation trainer. The device is provided with push rods and rotating blocks at various parts such as the hip joint, knee joint, and ankle joint of the patient, and a spring that can be both stretched and compressed is provided on the push rod. When the patient moves in various directions of each joint, the device can exert a certain resistance force on the patient's movement. In addition, a displacement sensor is provided on the rotating block of each joint, and the moving distance of the push rod relative to the rotating block is measured by the displacement sensor. By calculating with the spring stiffness coefficient and the data of each link mechanism, the rotation angle of the device and the torque required for the user's joint to move to this rotation angle can be obtained.

[0006] To achieve the above technical effects, the present invention discloses an exoskeleton biofeedback lower limb rehabilitation trainer, including: a waist component, a thigh component, a calf component, a foot component, a hip force feedback component, a knee force feedback component, and an ankle force feedback component; The waist component is rotatably connected to the thigh component, and one end of the hip force feedback component is rotatably connected to the waist component and the other end is rotatably connected to the thigh component; the other end of the thigh component is rotatably connected to the calf component, and one end of the knee force feedback component is rotatably connected to the thigh component and the other end is rotatably connected to the calf component; the other end of the calf component is rotatably connected to the foot component, and one end of the ankle force feedback component is rotatably connected to the calf component and the other end is rotatably connected to the foot component; The hip force feedback component includes: a first rotating block, a first push rod, and a first spring; the first rotating block is rotatably connected to both sides of the waist component, the first push rod is slidably sleeved inside the first rotating block, the other end of the first push rod is rotatably connected to the thigh component, one end of the first spring is fixedly connected to the first rotating block, and the other end is fixedly connected to the first push rod; a displacement sensor is provided on the first rotating block; The knee force feedback component includes: a second rotating block, a second push rod, and a second spring; the second rotating block is rotatably connected to the thigh component, the second push rod is slidably sleeved inside the second rotating block, the other end of the second push rod is rotatably connected to the calf component, one end of the second spring is fixedly connected to the second rotating block, and the other end is fixedly connected to the second push rod; a displacement sensor is provided on the second rotating block; The ankle force feedback component includes: a third rotating block, a third push rod, and a third spring; the third rotating block is rotatably connected to the calf component, the third push rod is slidably sleeved inside the third rotating block, the other end of the third push rod is rotatably connected to the foot component, one end of the third spring is fixedly connected to the third rotating block, and the other end is fixedly connected to the third push rod; a displacement sensor is provided on the third rotating block; Further, waist straps are fixedly provided at both ends of the belt component, and an upper computer is fixedly provided on the straps; Further, calf straps are fixedly arranged at both ends of the calf assembly, and foot straps are fixedly arranged at both ends of the foot assembly; Further, limit blocks are fixedly arranged at the top ends of the sliding rods of the first push rod, the second push rod, and the third push rod.

[0007] The beneficial effects of the present invention are as follows: An exoskeleton biofeedback lower limb rehabilitation trainer includes: a waist assembly, a thigh assembly, a calf assembly, a foot assembly, a hip force feedback assembly, a knee force feedback assembly, and an ankle force feedback assembly; the waist assembly is rotatably connected to the thigh assembly, and one end of the hip force feedback assembly is rotatably connected to the waist assembly and the other end is rotatably connected to the thigh assembly; the other end of the thigh assembly is rotatably connected to the calf assembly, and one end of the knee force feedback assembly is rotatably connected to the thigh assembly and the other end is rotatably connected to the calf assembly; the other end of the calf assembly is rotatably connected to the foot assembly, and one end of the ankle force feedback assembly is rotatably connected to the calf assembly and the other end is rotatably connected to the foot assembly.

[0008] The device is provided with push rods and rotating blocks at various parts of the patient's hip joint, knee joint, ankle joint, etc., and a spring that can be both stretched and compressed is arranged on the push rod. When the patient makes movements in various directions of each joint, the device can exert a certain resistance force on the patient's movement. In addition, displacement sensors are arranged on the rotating blocks of each joint, and the moving distance of the push rod relative to the rotating block is measured by the displacement sensors. By calculating with the spring stiffness coefficient and the data of each link mechanism, the rotation angle of the device and the torque required for the user's joint to move to this rotation angle can be obtained; in addition, the structure of this device is more concise compared with other exoskeleton force feedback lower limb training devices, and it is more convenient and fast in production, use, and maintenance. Description of the Drawings

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments.

[0010] Figure 1 It is a schematic structural diagram of an exoskeleton biofeedback lower limb rehabilitation trainer; Figure 2 It is a side view of an exoskeleton biofeedback lower limb rehabilitation trainer; Figure 3 It is a schematic structural diagram of an exoskeleton biofeedback lower limb rehabilitation trainer in another state; Figure 4 It is a side view of an exoskeleton biofeedback lower limb rehabilitation trainer in another state; Figure 5 It is a schematic structural diagram of the foot assembly of an exoskeleton biofeedback lower limb rehabilitation trainer; Figure 6 It is a schematic diagram of the calf component structure of an exoskeleton biofeedback lower limb rehabilitation trainer; Figure 7 It is a schematic diagram of the thigh component structure of an exoskeleton biofeedback lower limb rehabilitation trainer; Figure 8 It is a schematic diagram of the push rod of an exoskeleton biofeedback lower limb rehabilitation trainer; In the accompanying drawings, the list of components represented by each reference numeral is as follows: 1 - Waist component, 2 - Thigh component, 3 - Calf component, 4 - Foot component, 5 - Hip force feedback component, 6 - Knee force feedback component, 7 - Calf force feedback component, 8 - Limit block, 9 - Slide bar, 101 - Waist strap, 102 - Host computer, 301 - Calf strap, 401 - Foot strap, 501 - First push rod, 502 - First rotating block, 503 - First spring, 601 - Second push rod, 602 - Second rotating block, 603 - Second spring, 701 - Third push rod, 702 - Third rotating block, 703 - Third spring. Specific embodiments

[0011] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Embodiment 1

[0012] The present invention discloses an exoskeleton biofeedback lower limb rehabilitation trainer, including: a waist component, a thigh component, a calf component, a foot component, a hip force feedback component, a knee force feedback component, and an ankle force feedback component; The waist component is rotatably connected to the thigh component, and one end of the hip force feedback component is rotatably connected to the waist component and the other end is rotatably connected to the thigh component; the other end of the thigh component is rotatably connected to the calf component, and one end of the knee force feedback component is rotatably connected to the thigh component and the other end is rotatably connected to the calf component; the other end of the calf component is rotatably connected to the foot component, and one end of the ankle force feedback component is rotatably connected to the calf component and the other end is rotatably connected to the foot component; The hip force feedback component is composed of a first rotating block, a first push rod, and a first spring. The first rotating block is rotatably connected and fixed to both sides of the waist component; the first push rod is slidably sleeved inside the first rotating block, so that the push rod can move inside the rotating block, and the other end of the first push rod is connected to the thigh component through a rotational connection, ensuring that the movement of the hip joint can be accurately captured. Both ends of the first spring are respectively fixedly connected to the first rotating block and the first push rod, so that the spring can provide the necessary tensile or compressive force when the push rod moves, thereby applying an appropriate impedance force to the movement of the hip joint. In order to accurately monitor the movement of the push rod, a displacement sensor is provided on the first rotating block.

[0013] The knee force feedback component consists of a second rotating block, a second push rod, and a second spring. Its design principle is similar to that of the hip force feedback component. The second rotating block is rotatably connected and fixed to the thigh component, while the second push rod is slidably sleeved inside the second rotating block. The other end of the second push rod is rotatably connected to the calf component, enabling the movement of the knee joint to be accurately monitored. One end of the second spring is fixed to the second rotating block, and the other end is fixed to the second push rod, providing the necessary impedance force for the movement of the knee joint. To monitor the movement of the knee joint, a displacement sensor is also installed on the second rotating block.

[0014] The ankle force feedback component consists of a third rotating block, a third push rod, and a third spring. Its design also follows the principles of the above components. The third rotating block is fixedly connected to the calf component through a rotational connection, while the third push rod is slidably sleeved inside the third rotating block. The other end of the third push rod is rotatably connected to the foot component, ensuring that the movement of the ankle joint can be effectively monitored. One end of the third spring is fixed to the third rotating block, and the other end is fixed to the third push rod, providing an appropriate impedance force for the movement of the ankle joint. To accurately monitor the movement of the ankle joint, a displacement sensor is also installed on the third rotating block.

[0015] The force feedback component ensures that the patient can receive appropriate resistance and force feedback during rehabilitation training. Moreover, through the accurate monitoring of the displacement sensor, it can provide the doctor and rehabilitation therapist with the patient's movement data, helping them better understand the patient's rehabilitation progress and effect. Embodiment 2

[0016] In this embodiment, to fix the device on the patient, a series of straps are provided, including a waist strap, a calf strap, and a foot strap, which are respectively fixed to both ends of the waist belt component, the calf component, and the foot component.

[0017] The waist serves as the main base point for fixing the device on the patient. The waist strap needs to provide uniform support and pressure distribution for the patient's waist, ensuring the stability and comfort of the device on the patient's waist. The strap can be adjusted according to the patient's waist circumference to adapt to patients of different body types, thus ensuring that the device can fit tightly around the waist and avoid displacement or slipping during training.

[0018] The calf strap can tightly wrap around the patient's calf, providing a firm fixation for the calf component, while allowing appropriate adjustment to adapt to calves of different sizes. Ensure that during rehabilitation training, the calf component can move synchronously with the patient's leg and provide accurate force feedback.

[0019] The foot strap can stably fit on the patient's foot, allowing the foot component to closely follow the movement of the foot during various rehabilitation training movements, while avoiding discomfort or pressure on the foot.

[0020] These straps are designed to be easily adjustable, enabling patients or healthcare providers to make quick and convenient adjustments to meet the specific needs of the patients. The material selection of the straps also takes into account breathability and durability to ensure the comfort of the patients during long-term use and the long-term service life of the device. Embodiment 3

[0021] In this embodiment, a host computer is provided in the waist belt assembly. This host computer is the core computing unit of the whole exoskeleton biofeedback lower limb rehabilitation trainer. The main function of the host computer is to collect and process in real time the data from the displacement sensors of each force feedback component. These data include the displacement data of the hip, knee, and ankle joints during movement, which drive the displacement of each part of the push rod relative to the rotating block.

[0022] The host computer not only collects data but also deeply analyzes these data through built-in algorithms. It integrates parameters such as the stiffness coefficient of the spring, the positions and lengths of each connecting rod, and uses the constructed inverse kinematic function to deduce and calculate the rotation angles and required torques of each joint of the patient during movement. This process involves complex mechanical and kinematic calculations, but the computing power of the host computer can quickly and accurately complete these calculations to ensure the real-time and accuracy of the data.

[0023] Based on these accurately calculated data, the host computer can provide key feedback information for doctors and rehabilitation therapists. This information includes the range of motion of the joints, the torque changes during movement, etc., which are crucial for evaluating the rehabilitation progress of the patients. Doctors and rehabilitation therapists can judge the rehabilitation status of the patients according to this information, whether the expected rehabilitation goals have been achieved, and whether the rehabilitation training needs to be adjusted. In addition, these data also help to optimize the rehabilitation effect. If it is found that the rehabilitation progress of certain joints is not as expected, or the torque requirements of the patient are abnormal during specific movements, doctors and rehabilitation therapists can adjust the training plan in a timely manner, increase or decrease certain training contents, or adjust the difficulty and intensity of the training. This personalized adjustment helps to improve the efficiency and effect of the rehabilitation training and helps the patients recover their lower limb functions faster.

[0024] In addition, the host computer also has a user interface that allows patients or healthcare providers to view real-time data, historical records, and training suggestions. This intuitive interaction method enables patients to better participate in their own rehabilitation process, and at the same time enables healthcare providers to more efficiently monitor and manage the rehabilitation training of the patients. Embodiment 4

[0025] In this embodiment, in order to ensure the safety and reliability of the exoskeleton biofeedback lower limb rehabilitation trainer during use, the present invention provides limit blocks at the top ends of the sliding rods of the first push rod, the second push rod, and the third push rod. The setting of these limit blocks can control the movement range of the push rods and prevent the push rods from exceeding the predetermined safety limit during movement.

[0026] The limit blocks can ensure that the sliding movement of the push rods inside the rotating blocks remains within a certain range, avoiding potential injuries or equipment damage caused by overstretching or compressing the springs and the push rods slipping out of the rotating blocks. The setting of the limit blocks also helps to improve the maintenance efficiency of the device. Since the movement range of the push rods is restricted, this reduces the possibility of failures or damages caused by excessive movement of the push rods, thereby reducing the maintenance cost and repair frequency of the device.

[0027] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described.

Claims

1. An exoskeleton biofeedback lower limb rehabilitation trainer, comprising: Waist component, thigh component, calf component, foot component, hip force feedback component, knee force feedback component, ankle force feedback component; The waist component is rotatably connected to the thigh component, and one end of the hip force feedback component is rotatably connected to the waist component and the other end is rotatably connected to the thigh component; the other end of the thigh component is rotatably connected to the calf component, and one end of the knee force feedback component is rotatably connected to the thigh component and the other end is rotatably connected to the calf component; the other end of the calf component is rotatably connected to the foot component, and one end of the ankle force feedback component is rotatably connected to the calf component and the other end is rotatably connected to the foot component; The hip force feedback component includes: a first rotating block, a first push rod, and a first spring; the first rotating block is rotatably connected to both sides of the waist component, the first push rod is slidably sleeved inside the first rotating block, the other end of the first push rod is rotatably connected to the thigh component, one end of the first spring is fixedly connected to the first rotating block, and the other end of the first spring is fixedly connected to the first push rod; a displacement sensor is arranged on the first rotating block; The knee force feedback component includes: a second rotating block, a second push rod, and a second spring; the second rotating block is rotatably connected to the thigh component, the second push rod is slidably sleeved inside the second rotating block, the other end of the second push rod is rotatably connected to the calf component, one end of the second spring is fixedly connected to the second rotating block, and the other end of the second spring is fixedly connected to the second push rod; a displacement sensor is arranged on the second rotating block; The ankle force feedback component includes: a third rotating block, a third push rod, and a third spring; the third rotating block is rotatably connected to the calf component, the third push rod is slidably sleeved inside the third rotating block, the other end of the third push rod is rotatably connected to the foot component, one end of the third spring is fixedly connected to the third rotating block, and the other end of the third spring is fixedly connected to the third push rod; a displacement sensor is arranged on the third rotating block.

2. An exoskeleton biofeedback lower limb rehabilitation trainer according to claim 1, characterized in that, Both ends of the belt component are fixedly provided with waist straps, and an upper computer is fixedly arranged on the straps.

3. The exoskeleton biofeedback lower limb rehabilitation trainer according to claim 1, characterized in that, Both ends of the calf component are fixedly provided with calf straps, and both ends of the foot component are fixedly provided with foot straps.

4. The exoskeleton biofeedback lower limb rehabilitation trainer according to claim 1, wherein Limit blocks are fixedly arranged at the top ends of the sliding rods of the first push rod, the second push rod, and the third push rod.

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