Five-degree-of-freedom rehabilitation robot for lower limbs of human body

Abstract

The five-degree-of-freedom rehabilitation robot for the lower limbs of the human body comprises a shell, a tension supporting plate is arranged on the inner side of the shell, a back supporting rod is arranged on the back of the shell, a display screen is arranged on the bottom face of the shell, and an electroencephalogram collector is arranged below the shell. And a wearable exoskeleton is arranged below the electroencephalogram collector. By optimizing the structure of the rehabilitation robot, a two-way communication and control channel is created between a rehabilitative person and the robot, the rehabilitative person can better control the robot, the whole rehabilitation process is divided into the early stage and the later stage, in the early rehabilitation stage, the limb strength of a user is weak, and the whole rehabilitation robot provides waist and back supporting force for the user; interaction modes are automatically selected on the protection equipment for gait simulation, an early-stage rehabilitation task is completed, a user can independently use the wearable robot for rehabilitation on the ground in the later period of rehabilitation, and meanwhile, whether the user wears a waist armrest or not is selected according to own requirements, so that a rehabilitative person can take better exercise.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation robots, in particular to a five-degree-of-freedom rehabilitation robot for human lower limbs. Background Art

[0002] In modern society, there are many people with physical disabilities whose daily activities are seriously affected. It is common for them to be unable to effectively use their legs, arms or trunk due to paralysis, stiffness, pain or other obstacles. These diseases are caused by traffic accidents, decreased human function or brain diseases.

[0003] Patients' demand for rehabilitation services has greatly increased, and the simplest and most basic way to repair injured limbs is to guide the limbs to walk along a predetermined route, that is, to control the position of the limbs. Limb rehabilitation is not a short process. In the early stage, patients are basically unable to move. This link is mainly based on applied exercises, such as passive control of medical device assistance and trajectory tracking. As a rehabilitation device with high execution accuracy, rehabilitation robots can not only perform conventional physical therapy methods, but also effectively make up for their shortcomings. However, the rehabilitation robots in the prior art can only exercise human limbs during use and cannot interact. In this way, during exercise, the degree of integration and cooperation between the robot and the patient is poor, which affects the exercise and rehabilitation effect. For this reason, we propose a five-degree-of-freedom rehabilitation robot for the lower limbs of the human body. Utility Model Content

[0004] Therefore, the purpose of the utility model is to provide a rehabilitation robot with five degrees of freedom for the lower limbs of the human body. By optimizing the structure of the rehabilitation robot, a two-way communication and control channel is created between the rehabilitated person and the machine, so that the rehabilitated person can better control the robot, and the entire rehabilitation process is divided into an early stage and a late stage. In the early stage of rehabilitation, the user's limb strength is relatively weak, and the entire rehabilitation robot provides the user with waist and back support. The user can choose the interactive gait simulation on the protective equipment to complete the early rehabilitation tasks. In the late stage of rehabilitation, the user can use the wearable robot alone for rehabilitation on the ground. At the same time, according to their own needs, they can choose whether to wear a waist armrest so that the rehabilitated person can exercise better.

[0005] To solve the above technical problems, according to one aspect of the utility model, the utility model provides the following technical solutions: a rehabilitation robot with five degrees of freedom for human lower limbs, comprising a shell, a tension support plate is arranged on the inner side of the shell, and a back support rod is arranged on the back of the shell, a display screen is arranged on the bottom surface of the shell, and an electroencephalogram collector is arranged below the shell, a wearable exoskeleton is arranged below the electroencephalogram collector, a shoulder strap is arranged on the outer side of the wearable exoskeleton, and a back adjuster is arranged at the top of the shoulder strap, a backpack battery is arranged on the back of the shoulder strap, a waist strap is arranged below the shoulder strap, and a corresponding waist protector is arranged below the shoulder strap, a thigh frame is arranged below the waist protector, and a third indicator light is arranged at the side end of the thigh frame.

[0006] As a preferred solution of the five-degree-of-freedom rehabilitation robot for human lower limbs described in the utility model, a first indicator light and a second indicator light are sequentially distributed on the surface of the shell, and a protective shell is provided at the position of the first indicator light.

[0007] As a preferred solution of the five-degree-of-freedom rehabilitation robot for human lower limbs described in the utility model, a telescopic slide bar is connected between the shell and the display screen, and a first armrest is symmetrically arranged on the bottom surface of the shell;

[0008] Wherein, a pedal is arranged between the two first handrails.

[0009] As a preferred solution of a five-degree-of-freedom rehabilitation robot for human lower limbs described in the utility model, the end of the thigh frame is connected to a calf frame, and a corresponding calf strap is arranged at the position of the calf frame, the bottom surface of the calf frame is connected to a second telescopic rod, and the end of the second telescopic rod is connected to a foot support.

[0010] As a preferred solution of the five-degree-of-freedom rehabilitation robot for human lower limbs described in the utility model, a corresponding knee joint is connected between the thigh frame and the calf frame, and a corresponding thigh strap is arranged at the position of the thigh frame.

[0011] As a preferred solution of a five-degree-of-freedom rehabilitation robot for human lower limbs described in the utility model, a hip joint mechanical connecting rod is arranged between the waist protector and the thigh frame, a first telescopic rod is arranged at the position of the waist strap, and the front end of the first telescopic rod is connected to a second armrest, and a corresponding ankle joint is arranged at the position of the foot support.

[0012] Compared with the prior art, the advantages of the utility model are:

[0013] The utility model optimizes the structure of the rehabilitation robot, creates a two-way communication and control channel between the rehabilitated person and the machine, enables the rehabilitated person to better control the robot, and divides the entire rehabilitation process into an early stage and a late stage. In the early stage of rehabilitation, the user's limb strength is relatively weak, and the entire rehabilitation robot provides the user with waist and back support. The user can select interactive gait simulation on the protective equipment to complete the early rehabilitation tasks. In the late stage of rehabilitation, the user can use the wearable robot alone to perform rehabilitation on the ground. At the same time, according to their own needs, they can choose whether to wear a waist armrest so that the rehabilitated person can exercise better. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solution of the implementation of the utility model, the utility model will be described in detail below in combination with the drawings and detailed implementation. Obviously, the drawings described below are only some implementations of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0015] Figure 1 This is the overall structure diagram of the rehabilitation robot of the utility model;

[0016] Figure 2 This is a distribution structure diagram of the wearable exoskeleton of the utility model.

[0017] In the figure: 1. shell; 2. tension support plate; 3. back support rod; 4. first indicator light; 5. protective shell; 6. second indicator light; 7. telescopic slide rod; 8. display screen; 9. EEG collector; 10. wearable exoskeleton; 11. first armrest; 12. pedal; 13. back adjuster; 14. backpack battery; 15. waist strap; 16. waist protector; 17. third indicator light; 18. thigh skeleton; 19. calf skeleton; 20. ankle joint; 21. shoulder strap; 22. first telescopic rod; 23. second armrest; 24. hip joint mechanical connecting rod; 25. thigh strap; 26. knee joint; 27. calf strap; 28. second telescopic rod; 29. ​​foot support. DETAILED DESCRIPTION

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.

[0019] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific implementation methods disclosed below.

[0020] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the implementation of the present invention, for the sake of convenience, the cross-sectional diagram showing the device structure will not be partially enlarged according to the general scale, and the schematic diagram is only an example, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0021] In order to make the purpose, technical solution and advantages of the present invention more clear, the implementation mode of the present invention will be further described in detail below with reference to the accompanying drawings.

[0022] The utility model provides a rehabilitation robot with five degrees of freedom for the lower limbs of the human body. By optimizing the structure of the rehabilitation robot, a two-way communication and control channel is created between the rehabilitated person and the machine, so that the rehabilitated person can better control the robot, and the whole rehabilitation process is divided into an early stage and a late stage. In the early stage of rehabilitation, the user's limb strength is relatively weak, and the whole rehabilitation robot provides the user with waist and back support. The user can select interactive gait simulation on the protective equipment to complete the early rehabilitation tasks. In the late stage of rehabilitation, the user can use the wearable robot alone for rehabilitation on the ground. At the same time, according to their own needs, they can choose whether to wear waist armrests so that the rehabilitated person can exercise better.

[0023] Figure 1-Figure 2 The figure shows the overall structure of a five-degree-of-freedom rehabilitation robot for human lower limbs according to the utility model. Figure 1-Figure 2 The main structure of this embodiment includes: a shell 1, a tension support plate 2 is arranged on the inner side of the shell 1, and a back support rod 3 is arranged on the back of the shell 1, a display screen 8 is arranged on the bottom surface of the shell 1, and an electroencephalogram collector 9 is arranged below the shell 1, a wearable exoskeleton 10 is arranged below the electroencephalogram collector 9, a shoulder strap 21 is arranged on the outer side of the wearable exoskeleton 10, and a back adjuster 13 is arranged at the top of the shoulder strap 21, a backpack battery 14 is arranged on the back of the shoulder strap 21, a waist strap 15 is arranged below the shoulder strap 21, and a corresponding waist protector 16 is arranged below the shoulder strap 21, a thigh frame 18 is arranged below the waist protector 16, and a third indicator light 17 is arranged at the side end position of the thigh frame 18;

[0024] The surface of the housing 1 is provided with a first indicator light 4 and a second indicator light 6 in sequence, and a protective shell 5 is provided at the position of the first indicator light 4;

[0025] A telescopic slide bar 7 is connected between the housing 1 and the display screen 8, and a first armrest 11 is symmetrically provided on the bottom surface of the housing 1;

[0026] Wherein, a pedal 12 is provided between the two first handrails 11;

[0027] The end of the thigh frame 18 is connected to the calf frame 19, and the position of the calf frame 19 is provided with a corresponding calf strap 27, the bottom surface of the calf frame 19 is connected to a second telescopic rod 28, and the end of the second telescopic rod 28 is connected to a foot support 29;

[0028] A corresponding knee joint 26 is connected between the thigh frame 18 and the calf frame 19, and a corresponding thigh strap 25 is provided at the position of the thigh frame 18;

[0029] During specific use, since the knee joint 26 only performs flexion movement in the sagittal plane, and the movement mode is similar to the flexion and extension of the hip joint in the sagittal plane, this joint is designed as a driving joint. In order to avoid the patient being injured due to excessive flexion angle, a mechanical groove structure is used to limit the joint to ensure that the range of joint movement is consistent with the normal range of joint movement of the human body at this point.

[0030] A hip joint mechanical connecting rod 24 is provided between the waist protector 16 and the thigh frame 18, a first telescopic rod 22 is provided at the position of the waist strap 15, and a second armrest 23 is connected to the front end of the first telescopic rod 22, and a corresponding ankle joint 20 is provided at the position of the foot support 29;

[0031] In specific use, the flexion / extension degrees of freedom of the hip joint in the sagittal and coronal planes are set to F1 and F2, and the internal rotation / abduction degrees of freedom in the transverse plane are set to F3. The two degrees of freedom of F1 and F3 are on the same axis to ensure left-right movement of the lower limbs and upright balance;

[0032] The ankle joint 20 also has multiple degrees of freedom like the hip joint, but for limb patients, only the movement in the sagittal plane is the most critical. Therefore, for the ankle joint 20, this design only considers the flexion and extension of the sagittal plane, and its driving mode is the same as that of the hip joint in the same motion plane.

[0033] Working principle: When the patient uses the wearable exoskeleton 10 device, the upper body wears the strap 21, and the lower body is supported and fixed by the waist strap 15, the thigh strap 25, the calf strap 27, and the sole support 29. The waist protector 16, the second armrest 23, the thigh frame 18, and the calf frame 19 protect the patient. The back adjuster 13, the first telescopic rod 22, and the second telescopic rod 28 can be adjusted to adjust to the most suitable state. When exercising, the first indicator light 4, the second indicator light 6 and the third indicator light 17 will change color according to the corresponding exercise state. The back battery 1 4 is used as a power source to provide energy. The entire rehabilitation robot consists of an EEG collector 9, a wearable exoskeleton 10, and a weight-reducing device. The weight-reducing device consists of a shell 1, a tension support plate 2, a back support rod 3, a protective shell 5, a telescopic slide bar 7, a first handrail 11, and a pedal 12. The EEG collector 9 collects relevant data of the patient's simulated walking posture on the device and displays it on a display screen 8 for analysis and viewing by the patient and medical staff. When the first indicator light 4 and the second indicator light 6 are blue, it indicates that the whole process is progressing smoothly. When the indicator light turns orange, it indicates an erroneous operation or rehabilitation failure.

[0034] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A five-degree-of-freedom rehabilitation robot for human lower limbs, comprising a housing (1), characterized in that: A tension support plate (2) is arranged on the inner side of the shell (1), and a back support rod (3) is arranged on the back of the shell (1), a display screen (8) is arranged on the bottom surface of the shell (1), and a brain electroencephalogram (9) is arranged below the shell (1), a wearable exoskeleton (10) is arranged below the brain electroencephalogram (9), a shoulder strap (21) is arranged on the outer side of the wearable exoskeleton (10), and a back adjuster (13) is arranged at the top of the shoulder strap (21), a backpack battery (14) is arranged on the back of the shoulder strap (21), a waist strap (15) is arranged below the shoulder strap (21), and a corresponding waist protector (16) is arranged below the shoulder strap (21), a thigh frame (18) is arranged below the waist protector (16), and a third indicator light (17) is arranged at the side end of the thigh frame (18).

2. A five-degree-of-freedom rehabilitation robot for human lower limbs according to claim 1, characterized in that: A first indicator light (4) and a second indicator light (6) are sequentially distributed on the surface of the housing (1), and a protective shell (5) is provided at the position of the first indicator light (4).

3. A five-degree-of-freedom rehabilitation robot for human lower limbs according to claim 2, characterized in that: A telescopic sliding rod (7) is connected between the housing (1) and the display screen (8), and a first armrest (11) is symmetrically arranged on the bottom surface of the housing (1); A pedal (12) is provided between the two first handrails (11).

4. A five-degree-of-freedom rehabilitation robot for human lower limbs according to claim 3, characterized in that: The end of the thigh frame (18) is connected to a calf frame (19), and a corresponding calf strap (27) is provided at the position of the calf frame (19); the bottom surface of the calf frame (19) is connected to a second telescopic rod (28), and the end of the second telescopic rod (28) is connected to a foot support (29).

5. The five-degree-of-freedom rehabilitation robot for human lower limbs according to claim 4, characterized in that: A corresponding knee joint (26) is connected between the thigh frame (18) and the calf frame (19), and a corresponding thigh strap (25) is provided at the position of the thigh frame (18).

6. The five-degree-of-freedom rehabilitation robot for human lower limbs according to claim 5, characterized in that: A hip joint mechanical connecting rod (24) is provided between the waist protector (16) and the thigh frame (18), a first telescopic rod (22) is provided at the position of the waist strap (15), and a second armrest (23) is connected to the front end of the first telescopic rod (22), and a corresponding ankle joint (20) is provided at the position of the sole support (29).

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