Exoskeleton device for knee joint rehabilitation training and walking assisting

Abstract

The utility model relates to the technical field of rehabilitation exercise devices, in particular to an exoskeleton device for knee joint rehabilitation training and auxiliary walking, which comprises a thigh component, a shank component and a foot component, the thigh component is rotatably connected above the shank component, and the foot component is rotatably connected below the shank component; the thigh assembly comprises a control panel, a myoelectricity plate, a steering engine, two thigh supporting parts and two second metal joints, the two thigh supporting parts are connected through bolts, the two second metal joints are fixedly connected to one ends of the outer sides of the two thigh supporting parts respectively, and the steering engine is fixedly connected to the second metal joint on one side; the control panel is fixedly connected to one side of the thigh supporting part, and the myoelectric plate is electrically connected to the control panel. The exoskeleton mechanical leg device can be adjusted, is more portable, has the functions of rehabilitation training, walking assistance and health monitoring, and can be adjusted in size according to the leg shape of an injured person.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation exercise devices, in particular to an exoskeleton device used for knee joint rehabilitation training and auxiliary walking. Background Art

[0002] Many people have experienced knee injuries due to excessive exercise or accidental falls. However, during the rehabilitation process of the injured knee, the patient's movements are inconvenient and the recovery time is long. Therefore, post-injury rehabilitation training devices and auxiliary walking machines have gradually become a demand of people.

[0003] The auxiliary rehabilitation devices currently on the market have very simple functions. They are either bulky, complicated to operate, and can only perform rehabilitation training in situ, or they can only drive the mechanical support structure through the thigh force to assist walking, which can easily cause secondary injuries, and there are almost no monitoring devices for health recovery. Utility Model Content

[0004] In order to solve the above-mentioned problems existing in the prior art, the utility model provides an exoskeleton device for knee joint rehabilitation training and assisted walking, which can adjust the exoskeleton mechanical leg device, is more portable, has the functions of rehabilitation training, assisted walking, and health monitoring, and can adjust the size according to the leg shape of the injured person.

[0005] The purpose of the utility model can be achieved through the following technical solutions:

[0006] An exoskeleton device for knee joint rehabilitation training and assisted walking, comprising a thigh component, a calf component and a foot component, wherein the thigh component is rotatably connected to the upper part of the calf component, and the foot component is rotatably connected to the lower part of the calf component;

[0007] The thigh assembly includes a control board, an electromyographic board, two servos, two thigh support parts and two second metal joints, the two thigh support parts are connected by bolts, the two second metal joints are respectively fixedly connected to one end of the outer sides of the two thigh support parts, the two servos are respectively fixedly connected to the two sides of the two second metal joints, the control board is fixedly connected to one side of the thigh support part, the electromyographic board is electrically connected to the control board, a tilt sensor and a rotary potentiometer are arranged on the control board, the tilt sensor is electrically connected to the control board, and the rotary potentiometer is electrically connected to the control board;

[0008] The calf assembly includes two calf support parts, two first metal joints and two third metal joints, the two calf support parts are connected by bolts, one end of the two calf support parts is fixedly connected to the two first metal joints respectively, the other end of the two calf support parts is fixedly connected to the two third metal joints respectively, and the two first metal joints and the two second metal joints are rotatably connected;

[0009] The foot component includes a foot support part and two fourth metal joints, the two fourth metal joints are respectively fixedly connected to the two sides of the foot support part, and the two fourth metal joints and the two third metal joints are rotatably connected.

[0010] Furthermore, a plurality of LED lights are arranged on the electromyographic board, and the plurality of LED lights are electrically connected to the electromyographic board.

[0011] Furthermore, two length mounting straps are fixedly provided at one end of the two first metal joints away from the two second metal joints, length adjustment plates are fixedly provided on both sides of the two calf supporting parts, a plurality of length adjustment holes are provided on the length adjustment plates, and a plurality of length adjustment buckles matching the length adjustment holes are fixedly provided on the two length mounting straps.

[0012] Furthermore, two width mounting straps are fixedly provided on the two calf supporting parts, a width adjustment strap is detachably provided between the two width mounting straps, a plurality of width adjustment holes are opened on the width adjustment strap, and a plurality of width adjustment buckles matching the width adjustment holes are fixedly provided on the two width mounting straps.

[0013] Furthermore, the electromyographic board is powered on and provided with a muscle electrical signal channel, and the muscle electrical signal channel is electrically connected to the plurality of LED lights.

[0014] Furthermore, a relay is provided on the control board, the relay is electrically connected to the control board, the relay is electrically connected to the two steering gears, and the tilt sensor is located on the left side of the control board.

[0015] The beneficial effects of the utility model are:

[0016] (1) By providing a foot support, two calf supports and two thigh supports, the technical effect that can be achieved is that the foot support, two calf supports and two thigh supports are an integrated design, the exoskeleton mechanical leg device can be adjusted, and it is more portable and can have strong ground support and high torque power, making it easier for injured persons to wear.

[0017] (2) By providing a width adjustment belt, two width mounting belts, two length mounting belts and two length adjustment plates, the technical effect that can be achieved is that the width adjustment belt and the two width mounting belts can adjust the width size of the exoskeleton device, and the two length mounting belts and the two length adjustment plates can adjust the length size of the exoskeleton device. The size can be adjusted according to the leg shape of the injured person, and the adaptability is strong.

[0018] (3) By setting two first metal joints, two second metal joints, two third metal joints and two fourth metal joints, the technical effect that can be achieved is that the bending rehabilitation training of the knee part is completed through the coordinated rotation of the two first metal joints and the two second metal joints, and the bending rehabilitation training of the ankle part is completed through the coordinated rotation of the two third metal joints and the two fourth metal joints, and the rehabilitation training of leg extension and retraction and the function of assisting the calf to walk forward after lifting the leg can be completed.

[0019] (4) By setting up a control board, a rotary potentiometer, a tilt sensor and multiple LED lights, the technical effect that can be achieved is that the rotary potentiometer and the tilt sensor are used to input the range value of the bending and tilt angles of the legs, and the angles of the rotary potentiometer and the tilt sensor are controlled by the control board. The multiple LED lights display the recovery of the leg strength, and the system has the functions of rehabilitation training, assisted walking and health monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings.

[0021] Figure 1 It is a three-dimensional diagram of the utility model;

[0022] Figure 2 It is a front view of the utility model;

[0023] Figure 3 It is a left view of the utility model;

[0024] Figure 4 It is a front view of the utility model in the sitting state;

[0025] Figure 5 It is a front view of the utility model in the leg-lifting state;

[0026] Figure 6 It is a front view of the utility model in a straightened state;

[0027] Description of main component symbols:

[0028] In the figure: 1. first metal joint; 2. servo; 3. length mounting belt; 4. length adjustment plate; 5. length adjustment hole; 6. width mounting belt; 7. width adjustment belt; 8. width adjustment hole; 9. control board; 10. tilt sensor; 11. third metal joint; 12. foot support; 13. calf support; 14. thigh support; 15. fourth metal joint; 16. second metal joint; 17. LED light; 18. electromyography board; 19. relay; 20. rotary potentiometer. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0030] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0031] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0032] Reference Figures 1 to 3 , an exoskeleton device for knee joint rehabilitation training and assisted walking disclosed by the utility model, includes a thigh component, a calf component and a foot component, the thigh component is rotatably connected to the top of the calf component, and the foot component is rotatably connected to the bottom of the calf component.

[0033] The thigh assembly includes a control panel 9, an electromyographic board 18, two servos 2, two thigh support parts 14 and two second metal joints 16. The two thigh support parts 14 are connected by bolts. The two second metal joints 16 are respectively fixedly connected to one end of the outer sides of the two thigh support parts 14. The two servos 2 are respectively fixedly connected to the two sides of the two second metal joints 16. The control panel 9 is fixedly connected to one side of the thigh support part 14. The electromyographic board 18 is electrically connected to the control panel 9. The control panel 9 is provided with a tilt sensor 10 and a rotary potentiometer 20. The tilt sensor 10 is electrically connected to the control panel 9, and the rotary potentiometer 20 is electrically connected to the control panel 9.

[0034] The calf assembly includes two calf support parts 13, two first metal joints 1 and two third metal joints 11. The two calf support parts 13 are connected by bolts. One end of the two calf support parts 13 is fixedly connected to the two first metal joints 1 respectively, and the other end of the two calf support parts 13 is fixedly connected to the two third metal joints 11 respectively. The two first metal joints 1 and the two second metal joints 16 are rotatably connected.

[0035] The foot assembly includes a foot support portion 12 and two fourth metal joints 15 . The two fourth metal joints 15 are respectively fixedly connected to two sides of the foot support portion 12 . The two fourth metal joints 15 and the two third metal joints 11 are rotatably connected.

[0036] The foot support part 12, two calf support parts 13 and two thigh support parts 14 are integrated in design, which can adjust the exoskeleton mechanical leg device, is more portable, and can have strong ground support and high torque power, making it easier for injured people to wear.

[0037] By the coordinated rotation of the two first metal joints 1 and the two second metal joints 16, the bending rehabilitation training of the knee part is completed, and by the coordinated rotation of the two third metal joints 11 and the two fourth metal joints 15, the bending rehabilitation training of the ankle part is completed. It can complete the rehabilitation training of leg extension and leg retraction and the function of assisting the calf to walk forward after lifting the leg.

[0038] Two length mounting straps 3 are fixedly provided at one end of the two first metal joints 1 away from the two second metal joints 16, length adjustment plates 4 are fixedly provided on both sides of the two calf supporting parts 13, a plurality of length adjustment holes 5 are opened on the length adjustment plates 4, and a plurality of length adjustment buckles matching the length adjustment holes 5 are fixedly provided on the two length mounting straps 3.

[0039] Two width mounting straps 6 are fixedly provided on the two calf supporting parts 13, a width adjustment strap 7 is detachably provided between the two width mounting straps 6, a plurality of width adjustment holes 8 are provided on the width adjustment strap 7, and a plurality of width adjustment buckles matching the width adjustment holes 8 are fixedly provided on the two width mounting straps 6.

[0040] The width adjustment belt 7 and the two width mounting belts 6 can adjust the width of the exoskeleton device, and the two length mounting belts 3 and the two length adjustment plates 4 can adjust the length of the exoskeleton device. The size can be adjusted according to the leg shape of the injured person, and the adaptability is strong.

[0041] Six LED lights 17 are provided on the electromyographic board 18, and the six LED lights 17 are electrically connected to the electromyographic board 18. A muscle electrical signal channel is electrically provided on the electromyographic board 18, and the muscle electrical signal channel is electrically connected to the six LED lights 17. The muscle electrical signal channel is used to receive and analyze EMG muscle original electrical signals and obtain real-time and accurate EMG average values. The six LED lights 17 are used to display the EMG average values.

[0042] A relay 19 is provided on the control board 9 . The relay 19 is electrically connected to the control board 9 . The relay 19 is electrically connected to the two steering gears 2 for controlling the switching of the steering gears 2 . The tilt sensor 10 is located on the left side of the control board 9 .

[0043] The rotary potentiometer 20 and the tilt sensor 10 are used to input the range values ​​of the bending and tilt angles of the legs. The angles of the rotary potentiometer 20 and the tilt sensor 10 are controlled by the control board 9. The six LED lights 17 display the recovery of leg strength, and the system has the functions of rehabilitation training, assisted walking and health monitoring.

[0044] Reference Figures 4 to 6 The working principle and use process of the utility model are as follows: the injured person completes the wearing and adjustment of the exoskeleton device by adjusting the two length mounting belts 3 and the width adjustment belt 7, and drives the two first metal joints 1 and the two fourth metal joints 15 to rotate through the steering gear 2, so that the injured person's calves and feet can undergo rehabilitation training. The control panel 9 analyzes the data received by the steering gear 2 and the tilt sensor 10, extracts the signal value through the software program, obtains the real-time and accurate EMG average value, and maps the EMG average value to the number of lit LED lights 17 through the program through the six LED lights 17.

[0045] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An exoskeleton device for knee joint rehabilitation training and assisted walking, characterized in that: It comprises a thigh component, a calf component and a foot component, wherein the thigh component is rotatably connected above the calf component, and the foot component is rotatably connected below the calf component; The thigh assembly includes a control board, an electromyographic board, two servos, two thigh support parts and two second metal joints, the two thigh support parts are connected by bolts, the two second metal joints are respectively fixedly connected to one end of the outer sides of the two thigh support parts, the two servos are respectively fixedly connected to the two sides of the two second metal joints, the control board is fixedly connected to one side of the thigh support part, the electromyographic board is electrically connected to the control board, a tilt sensor and a rotary potentiometer are arranged on the control board, the tilt sensor is electrically connected to the control board, and the rotary potentiometer is electrically connected to the control board; The calf assembly includes two calf support parts, two first metal joints and two third metal joints, the two calf support parts are connected by bolts, one end of the two calf support parts is fixedly connected to the two first metal joints respectively, the other end of the two calf support parts is fixedly connected to the two third metal joints respectively, and the two first metal joints and the two second metal joints are rotatably connected; The foot component includes a foot support part and two fourth metal joints, the two fourth metal joints are respectively fixedly connected to the two sides of the foot support part, and the two fourth metal joints and the two third metal joints are rotatably connected.

2. The exoskeleton device for knee joint rehabilitation training and assisted walking according to claim 1, characterized in that: The myoelectric board is provided with a plurality of LED lights, and the plurality of LED lights are electrically connected to the myoelectric board.

3. The exoskeleton device for knee joint rehabilitation training and assisted walking according to claim 1, characterized in that: Two length mounting straps are fixedly provided at one end of the two first metal joints away from the two second metal joints, length adjustment plates are fixedly provided on both sides of the two calf supporting parts, a plurality of length adjustment holes are provided on the length adjustment plates, and a plurality of length adjustment buckles matching the length adjustment holes are fixedly provided on the two length mounting straps.

4. The exoskeleton device for knee joint rehabilitation training and assisted walking according to claim 1, characterized in that: Two width mounting straps are fixedly provided on the two calf supporting parts, a width adjustment strap is detachably provided between the two width mounting straps, a plurality of width adjustment holes are opened on the width adjustment strap, and a plurality of width adjustment buckles matching the width adjustment holes are fixedly provided on the two width mounting straps.

5. The exoskeleton device for knee joint rehabilitation training and assisted walking according to claim 2, characterized in that: The electromyographic board is powered on and provided with a muscle electrical signal channel, and the muscle electrical signal channel is electrically connected to the plurality of LED lights.

6. The exoskeleton device for knee joint rehabilitation training and assisted walking according to claim 1, characterized in that: The control board is provided with a relay, the relay is electrically connected to the control board, the relay is electrically connected to the two steering gears, and the tilt sensor is located on the left side of the control board.

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