Elliptical motion auxiliary motion mechanism and FES rehabilitation treadmill system with same

Abstract

The utility model discloses an elliptical motion auxiliary motion mechanism which is applied to an FES rehabilitation treadmill and comprises an upper limb assembly, a supporting body, a pedal assembly, a motion connecting rod assembly, a servo motor assembly and a seat. The upper limb assembly and the pedal assembly are both fixedly connected with the movement connecting rod assembly, and the movement connecting rod assembly is fixedly connected to the supporting body. The upper limb assembly supports stretching or rotating to the posture needed by the user. The servo motor assembly drives the motion connecting rod assembly to do elliptical motion and assists a user in completing active and passive fusion motion. The utility model further provides an FES rehabilitation treadmill system with the elliptical motion auxiliary motion mechanism, the FES rehabilitation treadmill system further comprises an intelligent control subsystem and an FES subsystem, the intelligent control subsystem can intelligently control the FES subsystem and the elliptical motion auxiliary motion mechanism, and it is guaranteed that electrical stimulation and functional motion are synchronous. The training effect of the upper limbs and / or the lower limbs can be guaranteed, one machine has multiple purposes, and resistance exercises and stretching exercises are supported.

Description

Technical Field

[0001] This application belongs to the field of rehabilitation equipment, and particularly relates to an elliptical motion assisted motion mechanism and an FES rehabilitation exercise bike system having the mechanism. Background Art

[0002] Due to the decreased independent control ability of the body and muscle groups, patients with limb paralysis lose the ability to independently complete functional tasks and need equipment to provide a carrier for auxiliary support.

[0003] In order to perform rehabilitation training, some functional electrical stimulation (FES) rehabilitation exercise bikes have been produced on the market currently. Especially for patients with impaired or lost motor function, such as stroke sequela patients or spinal cord injury patients, these devices can help patients perform muscle activities and exercise training through electrical stimulation, promoting rehabilitation and restoring function.

[0004] However, the existing FES rehabilitation exercise bikes still have some defects: the complexity of upper body movements and the required fineness are relatively high, and traditional FES rehabilitation exercise bikes may be difficult to provide sufficient support and stability. Most of them are mainly based on upper limb circular motion training and lower limb circular training. However, the muscle groups of the upper and lower limbs participate in the movement synergistically during human walking. Especially when upper body and core muscle group training are required, the rehabilitation effect is limited. The arm lengths of different patients are different, and due to insufficient strength, it is difficult for them to adapt themselves to the mechanism of the rehabilitation exercise bike and unable to perform training operations, seriously restricting the rehabilitation effect and hindering the rehabilitation process. Content of the Utility Model

[0005] According to one aspect of the present application, an elliptical motion assisted motion mechanism is provided, which simulates the lower limb pedaling swing motion and the upper limb arm swinging motion, realizes the coordinated movement of the upper and lower limb muscle groups, and the healthy side drives the affected side, and can assist the patient to complete the active-passive fusion motion. The mechanism has an adjustable structure to meet the needs of different users' body structures and rehabilitation training contents. By improving the stability of the upper limb part during training, the user's attention can be focused on the training of the upper limb and / or lower limb, ensuring the rehabilitation effect and reducing the risk of accidental injury at the same time.

[0006] The elliptical motion assisted motion mechanism is applied to an FES rehabilitation exercise bike and is characterized by including an upper limb component, a support main body, a foot pedal component, a motion link component, a servo motor component, and a seat; the upper limb component and the foot pedal component are both fixedly connected to the motion link component, and the motion link component is fixedly connected to the support main body; wherein,

[0007] The upper limb component includes an upper limb handle and a fixing member. The upper limb handle is used to adapt to the required position and posture of the user through telescoping or rotation. The fixing member is used to fix the user's hands on the upper limb handle during rehabilitation training.

[0008] The support main body includes a first support frame and a second support frame fixedly connected in a group. The first support frame stands on the ground. The second support frame is horizontally placed on the ground and serves as the central axis of the entire auxiliary motion mechanism, on which the servo motor assembly and the seat are installed.

[0009] The footrest component is used to place the feet.

[0010] The motion link assembly includes left and right motion links, which are respectively installed on both sides of the servo motor assembly, and a footrest component is provided at the front end thereof.

[0011] The driving small pulley of the servo motor assembly is connected to the driven large pulley through a wedge groove synchronous belt. The driven large pulley is connected to the motion link assemblies placed on both sides through a crank, converting the circular motion of the motor into an elliptical motion, and driving the motion link assembly to perform elliptical motion.

[0012] The seat is fixed to the rear end of the second support frame through a bracket, and is used to provide seat support for the user. Motion shafts are provided on both sides of the seat bracket and are respectively connected to the motion links on both sides.

[0013] Optionally, the upper limb handle includes a fastening member, a telescopic rod and a handle. The telescopic rod of the upper limb handle is fixed to the motion link assembly through the fastening member. The telescopic rod is movably connected to the handle and is used to adjust the angle between the telescopic rod and the handle.

[0014] Optionally, the motion link assembly is hollow, and the outer diameter of the telescopic rod is slightly smaller than the inner diameter of the hollow of the motion link assembly. The telescopic rod is inserted into the hollow of the motion link assembly, and after the length of the telescopic rod is adjusted, it is fixed by the fastening member.

[0015] Optionally, the fastening member adopts a rotational tightening method, and rotational tightening increases the frictional force between the motion link assembly and the telescopic rod to achieve fixation.

[0016] Optionally, distance scales are marked on the telescopic rod.

[0017] Optionally, the movable connection part between the telescopic rod and the handle is a bolt connection, and the angular relationship between the telescopic rod and the handle is fixed by a nut with double ears cooperating with the bolt.

[0018] According to another aspect of the present application, a FES rehabilitation treadmill system is provided, which includes: an intelligent control subsystem, a FES subsystem, and the above-mentioned elliptical motion assistance mechanism; the intelligent control subsystem is electrically connected to the FES subsystem and the elliptical motion assistance mechanism respectively;

[0019] The intelligent control subsystem is used for process control through human-computer interaction, adjusting the control parameters of the elliptical motion assistance mechanism and the FES parameters of the FES subsystem to ensure the synchronization of electrical stimulation and functional movement;

[0020] The FES subsystem is used to apply synchronous FES pulses adapted to the user's movement to the target muscles according to the control of the intelligent control subsystem.

[0021] Optionally, the screen of the intelligent control subsystem is installed at the top of the support body of the elliptical motion assistance mechanism for providing a human-computer interaction interface.

[0022] Optionally, the control parameters of the elliptical motion assistance mechanism include at least one of the following: motor resistance, assistance torque, resistance torque, speed parameter. Thus, during the movement process of the user, the intelligent control subsystem can provide smooth resistance or assistance support according to the user's random movement intention, thereby helping the user achieve the active-passive integrated movement.

[0023] Optionally, when the user actively exerts force, the intelligent control subsystem adjusts the motor resistance according to the patient's muscle strength and controls the resistance torque to enable the patient to perform resistance exercise; when the user does not exert force, it controls the assistance torque and speed parameter to drive the user to perform stretching movements of the upper limb and / or lower limb.

[0024] The beneficial effects that the present application can produce include:

[0025] 1) For the elliptical motion assistance mechanism provided by the present application, its upper limb component can be freely extended and then fastened to adapt to the user's arm length, ensuring that the user is in a suitable position during training.

[0026] 2) For the elliptical motion assistance mechanism provided by the present application, the handle part of its upper limb component can be freely rotated to adjust to the required hand posture of the user or meet the comfort requirements. Before training, the user can freely adjust the position and angle of the hand, thereby increasing the range of motion of the hand and arm, which helps to improve the rehabilitation effect, especially the recovery of joint flexibility during the rehabilitation process.

[0027] 3) The elliptical motion assist mechanism provided by this application adjusts parameters through an intelligent control subsystem, including but not limited to motor resistance, assist torque, resistance torque, and speed parameters, thereby helping patients complete active-passive integrated motion, serving multiple purposes with a single device, and supporting resistance exercise and stretching exercise. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is an overall model diagram of the elliptical motion assist mechanism in an embodiment of this application;

[0029] Figure 2 It is a schematic diagram of the overall structure of the upper limb handle in an embodiment of this application;

[0030] Figure 3 It is a schematic cross-sectional view of the upper limb handle in an embodiment of this application;

[0031] Figure 4 It is a schematic cross-sectional view of the handle in an embodiment of this application;

[0032] Figure 5 It is an overall model diagram of the FES rehabilitation exercise bike system in an embodiment of this application.

[0033] List of components and reference numerals:

[0034] 1: Upper limb component; 2: Support main body; 3: Foot pedal component; 4: Motion link component; 5: Servo motor component; 6: Seat;

[0035] 1-1: Fastener; 1-2: Telescopic rod; 1-3: Handle; 1-4: First fixing piece; 1-5: Bolt; 1-6: Second fixing piece;

[0036] 2-1: First support frame; 2-2: Second support frame;

[0037] 7: Intelligent control subsystem; 8: FES subsystem; 9: Elliptical motion assist mechanism. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The following describes this application in detail with reference to the embodiments, but this application is not limited to these embodiments.

[0039] Please refer to Figure 1 , which shows the overall structure of the elliptical motion assist mechanism in an embodiment, including an upper limb component 1, a support main body 2, a foot pedal component 3, a motion link component 4, a servo motor component 5, and a seat 6; both the upper limb component 1 and the foot pedal component 2 are fixedly connected to the motion link component 4, and the motion link component 4 is fixedly connected to the support main body 2.

[0040] As Figure 2As shown, the upper limb component 1 includes an upper limb handle and a first fixing member 1-4. The upper limb handle is used to adapt to the required posture of the user by telescoping or rotating. The first fixing member 1-4 is used to fix the user's hands on the upper limb handle during rehabilitation training.

[0041] In one embodiment, the upper limb handle includes a fastener 1-1, a telescopic rod 1-2, and a handle 1-3. The telescopic rod 1-2 of the upper limb handle is fixed to the motion link assembly 4 by a fastener. The telescopic rod is movably connected to the handle and is used to adjust the angle between the telescopic rod and the handle.

[0042] The support body 2 includes a group of fixedly connected first supports 2-1 and second support frames 2-2. The first support frame 2-1 stands on the ground. The second support frame 2-2 is horizontally placed on the ground and serves as the central axis of the entire auxiliary motion mechanism, on which the servo motor assembly 5 and the seat 6 are installed.

[0043] The footrest assembly 3 is used to place the user's feet.

[0044] The motion link assembly 4 includes left and right motion links, which are respectively installed on both sides of the servo motor assembly, and a footrest assembly is provided at the front end thereof.

[0045] The driving small pulley of the servo motor assembly 5 is connected to the driven large pulley through a wedge groove synchronous belt. The driven large pulley is connected to the motion link assemblies on both sides through a crank, converting the circular motion of the motor into an elliptical motion, and driving the motion link assembly 4 to perform an elliptical motion.

[0046] The seat 6 is fixed to the rear end of the second support frame 2-2 through a bracket and is used to provide seat support for the user. Motion shafts are provided on both sides of the bracket of the seat and are respectively connected to the motion links on both sides.

[0047] In one embodiment, as Figure 3 shown, the motion link assembly 4 is hollow. The outer diameter of the telescopic rod 1-2 is slightly smaller than the inner diameter of the hollow of the motion link assembly. The telescopic rod is inserted into the hollow of the motion link assembly. After the length of the telescopic rod is adjusted, it is fixed by the fastener 1-1.

[0048] In one embodiment, the fastener adopts a rotation tightening method. Rotation tightening increases the friction between the motion link assembly and the telescopic rod to achieve fixation.

[0049] In one embodiment, as Figure 2 shown, distance scales are marked on the telescopic rod to facilitate the user to adjust the distance.

[0050] In one embodiment, as Figure 4As shown, the movable connection part between the telescopic rod and the handle is connected by bolt 1-5, and the angular relationship between the telescopic rod and the handle is fixed by a nut with double ears in cooperation with the bolt.

[0051] The present application also provides an FES rehabilitation treadmill system applying the above elliptical motion assisting mechanism. In addition to the elliptical motion assisting mechanism 9, the system further includes: an intelligent control subsystem 7 and an FES subsystem 8; the intelligent control subsystem is electrically connected to the FES subsystem and the elliptical motion assisting mechanism respectively.

[0052] The intelligent control subsystem is used for process control through human-computer interaction, adjusting the control parameters of the elliptical motion assisting mechanism and the FES parameters of the FES subsystem to ensure the synchronization of electrical stimulation and functional movement;

[0053] The FES subsystem is used for applying synchronous FES pulses adapted to the user's movement to the target muscles according to the control of the intelligent control subsystem.

[0054] In an implementation manner, the screen of the intelligent control subsystem is installed at the top of the support body of the elliptical motion assisting mechanism, as Figure 5 shown, for providing a human-computer interaction interface.

[0055] In an implementation manner, the control parameters of the elliptical motion assisting mechanism include at least one of the following: motor resistance, assisting torque, resistance torque, speed parameter.

[0056] Furthermore, the intelligent control subsystem is used for, when the user actively exerts force, adjusting the motor resistance according to the patient's muscle strength and controlling the resistance torque to enable the patient to perform resistance exercise; when the user does not exert force, controlling the assisting torque and speed parameter to drive the user to perform stretching exercise of the upper limb and / or lower limb.

[0057] In an implementation manner, the wires of the FES subsystem 8 are fixed on the motion link assembly of the elliptical motion assisting mechanism 9 through a second fixing member 1-6. The user can adjust the length of the whole wire to the required or appropriate length through the second fixing member 1-6 for rehabilitation training.

[0058] The above are only several embodiments of the present application and do not impose any form of limitation on the present application. Although the present application is disclosed as above with preferred embodiments, it is not intended to limit the present application. Any person skilled in the art, without departing from the scope of the technical solution of the present application, making some changes or modifications using the disclosed technical content are equivalent to equivalent implementation cases and all belong to the scope of the technical solution.

Claims

1. An elliptical motion assist mechanism is applied to an FES rehabilitation treadmill, characterized in that, It includes an upper limb component, a support body, a foot pedal component, a motion link component, a servo motor component, and a seat; the upper limb component and the foot pedal component are both fixedly connected to the motion link component, and the motion link component is fixedly connected to the support body; wherein, The upper limb component includes an upper limb handle and a fixing member. The upper limb handle is used to adapt to the required posture of the user through telescoping or rotation; the fixing member is used to fix the user's hands on the upper limb handle during rehabilitation training. The support body includes a first support frame and a second support frame fixedly connected in a group; the first support frame stands on the ground; the second support frame is horizontally placed on the ground and serves as the central axis of the entire auxiliary motion mechanism, on which the servo motor component and the seat are installed. The foot pedal component is used to place the feet. The motion link component includes left and right motion links, which are respectively installed on both sides of the servo motor component, and the front end thereof is provided with a foot pedal component. The driving small pulley of the servo motor component is connected to the driven large pulley through a wedge groove synchronous belt, and the driven large pulley is connected to the motion link components on both sides through a crank, converting the circular motion of the motor into an elliptical motion, and driving the motion link component to perform elliptical motion. The seat is fixed to the rear end of the second support frame through a bracket, and is used to provide seat support for the user. Both sides of the bracket of the seat are provided with motion shafts, which are respectively connected to the motion links on both sides.

2. The elliptical motion-assisted motion mechanism according to claim 1, wherein The upper limb handle includes a fastener, a telescopic rod and a handle. The telescopic rod of the upper limb handle is fixed to the motion link component through the fastener; the telescopic rod is movably connected to the handle and is used to adjust the angle between the telescopic rod and the handle.

3. The elliptical motion assisting mechanism according to claim 2, wherein The motion link component is hollow, and the outer diameter of the telescopic rod is slightly smaller than the inner diameter of the hollow of the motion link component. The telescopic rod is inserted into the hollow of the motion link component, and after the length of the telescopic rod is adjusted, it is fixed by the fastener.

4. The elliptical motion assisting mechanism according to claim 3, characterized in that, The fastener adopts a rotation tightening method, and the rotation tightening increases the friction force between the motion link component and the telescopic rod to achieve fixation.

5. The elliptical motion-assisted exercise mechanism according to any one of claims 2-4, characterized in that, Distance scales are marked on the telescopic rod.

6. The elliptical motion-assisted motion mechanism according to claim 2, wherein The movable connection part between the telescopic rod and the handle is a bolt connection, and the angle relationship between the telescopic rod and the handle is fixed by a nut with double ears cooperating with the bolt.

7. A FES rehabilitation treadmill system, characterized in that, The system includes: an intelligent control subsystem, an FES subsystem, and an elliptical motion auxiliary motion mechanism according to any one of claims 1-6; the intelligent control subsystem is electrically connected to the FES subsystem and the elliptical motion auxiliary motion mechanism respectively; The intelligent control subsystem is used to perform process control through human-computer interaction, adjust the control parameters of the elliptical motion auxiliary motion mechanism and the FES parameters of the FES subsystem, and ensure the synchronization of electrical stimulation and functional movement. The FES subsystem is used to apply synchronous FES pulses adapted to the user's movement to the target muscles according to the control of the intelligent control subsystem.

8. The FES rehabilitation treadmill system according to claim 7, wherein The screen of the intelligent control subsystem is installed at the top of the support body of the elliptical motion auxiliary motion mechanism and is used to provide a human-computer interaction interface.

9. The FES rehabilitation treadmill system according to claim 7, characterized in that, The control parameters of the elliptical motion auxiliary motion mechanism include at least one of the following: motor resistance, assist torque, resistance torque, speed parameter.

10. The FES rehabilitation treadmill system according to claim 9, wherein, The intelligent control subsystem is used to adjust the motor resistance according to the patient's muscle strength and control the resistance torque when the user actively exerts force, so that the patient can perform resistance exercise; when the user does not exert force, it controls the assist torque and speed parameters to drive the user to perform stretching exercises for the upper limb and / or lower limb.

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