Leg rehabilitation training equipment

Abstract

The utility model provides leg rehabilitation training equipment. The leg rehabilitation training equipment comprises a seat, a pair of leg assemblies and a pair of pedal assemblies. The pair of leg components is correspondingly connected with the pair of pedal components, and the leg components are respectively mounted on two sides of the seat; the leg assembly comprises a first connecting arm, a second connecting arm and a third connecting arm which are sequentially connected, the relative angle between every two connected structures is controlled through a driver, the first connecting arm is connected to the seat, and after the feet of a user are located at the preset position of the pedal assembly, the second connecting arm is connected to the third connecting arm. The second connecting arm and the third connecting arm correspond to the thigh and shank positions of the lower limbs of the user; wherein the third connecting arm is connected with a pedal assembly, a sensor is arranged at the joint of the third connecting arm and the pedal assembly, and the sensor is used for detecting the pulling force between the third connecting arm and the pedal assembly. According to the leg rehabilitation training equipment, the sensors are arranged between the leg assembly and the pedal assembly, tension and pressure data on the two sides can be monitored in real time in the rehabilitation training process, rehabilitation actions on the two sides can be synchronized and compensated through the obtained data, and the motion states of the two sides are adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation training equipment, in particular to a limb rehabilitation training device. Background Art

[0002] Diseases such as stroke often lead to lower limb movement disorders, impairing limb movement and coordination. Limb rehabilitation training devices can help restore limb movement, coordination, and stability. Existing limb rehabilitation training devices are generally categorized as single-degree-of-freedom lower limb rehabilitation, wearable lower limb rehabilitation, and sitting and lying lower limb rehabilitation equipment. These devices can help patients complete reciprocating lower limb movements actively, passively, or with assistance, thereby achieving repetitive rehabilitation training therapeutic effects.

[0003] Currently, traditional limb rehabilitation training equipment, such as single-degree-of-freedom lower limb rehabilitation equipment, is suitable for patients with relatively weak muscle strength and uses circular pedaling motions for rehabilitation training. Wearable lower limb rehabilitation equipment, suitable for patients starting in junior high school, uses simulation and sensor technology to assist patients in simulated walking training. Sitting and lying lower limb rehabilitation equipment uses a mechanical leg structure similar to the human lower limb to achieve rotation of the hip, knee, and ankle joints within the human sagittal plane. Patients perform rehabilitation training while seated in a robotic chair, providing comfort and safety.

[0004] Traditional leg rehabilitation training equipment can only detect pressure changes in a confined space on one side of the mechanical limb, and cannot simultaneously detect changes in both limbs. This results in low accuracy and efficiency. This is especially true during interactive exercises or training, where appropriate feedback or compensation cannot be provided, and adaptive difficulty level configuration is not possible. Utility Model Content

[0005] Purpose of the utility model: To provide a leg rehabilitation training device, which performs synchronous knee joint flexion and extension movements by simultaneously detecting the pressure conditions of both legs during the rehabilitation movement.

[0006] Technical solution: The leg rehabilitation training device described in the utility model includes a seat, a pair of leg assemblies and a pair of footrest assemblies;

[0007] The pair of leg assemblies are correspondingly connected to a pair of footrest assemblies, and the leg assemblies are respectively installed on both sides of the seat;

[0008] The leg assembly includes a first connecting arm, a second connecting arm, and a third connecting arm connected in sequence, and the relative angles between each two interconnected structures are controlled by a driver, the first connecting arm is connected to the seat, and when the user's foot is in a predetermined position of the footrest assembly, the second connecting arm and the third connecting arm correspond to the thigh and calf positions of the user's lower limbs;

[0009] Wherein, the third connecting arm is connected to the pedal assembly and a sensor is provided at the connection between the two, and the sensor is used to detect the tension between the third connecting arm and the pedal assembly.

[0010] Furthermore, the third connecting arm includes a front calf arm and a rear calf arm, and the sensor is arranged between the front calf arm and the rear calf arm.

[0011] Furthermore, the sensor is constructed as a Z-type tension sensor.

[0012] Furthermore, the end protruding structure of the front calf arm is provided with a first mounting surface, and the end protruding structure of the rear calf arm is provided with a second mounting surface. The two detection ends of the sensor are installed on the first mounting surface and the second mounting surface. The first mounting surface and the second mounting surface are parallel to the length direction of the third connecting arm. The sensor is used to detect the tension between the front calf arm and the rear calf arm when the third connecting arm is in different postures.

[0013] Furthermore, the end protrusion structure of the front calf arm and the end protrusion structure of the rear calf arm do not contact each other.

[0014] Furthermore, the distance between the third connecting arm and the pedal assembly is adjustable via a telescopic structure.

[0015] Furthermore, the telescopic structure includes an adjustment block and a sliding rod. The adjustment block is arranged at the bottom of the calf rear arm. The adjustment block is provided with a hole extending along the length direction of the calf rear arm. The sliding rod is connected to the foot pedal assembly and can slide relative to the hole; at the same time, the sliding rod is arranged with multiple equally spaced positioning holes along its length direction, and corresponding positioning holes are also provided on the adjustment block.

[0016] Furthermore, the driver includes a rotary drive component and a linear telescopic drive component, the rotary drive component is connected to the pivot shaft between the first connecting arm and the second connecting arm, the second connecting arm and the third connecting arm, and the third connecting arm and the foot pedal assembly, and is used to drive the two adjacent structures connected to the pivot shaft to rotate around the pivot shaft, and the two ends of the linear telescopic drive component are respectively connected to the two adjacent structures connected to the pivot shaft to limit the rotation angle between the two adjacent structures, and the axes of all the pivot shafts are parallel.

[0017] Furthermore, the linear telescopic drive component and the two adjacent structures connected to the connecting pivot axis form a triangle, and the side where the linear telescopic drive component is located is defined as a variable-length side. The angle corresponding to the variable-length side is the angle between the two adjacent structures. Through the expansion and contraction of the linear telescopic drive component, the formed triangle is switched between an acute-angled triangle and an obtuse-angled triangle.

[0018] Beneficial effects: The utility model leg rehabilitation training equipment arranges sensors between the leg assembly and the pedal assembly, which can monitor the tension and pressure data on both sides in real time during the rehabilitation training process. The data obtained can synchronize and compensate for the rehabilitation movements on both sides and adjust the movement status of both sides. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural diagram of the leg rehabilitation training device of the present utility model;

[0020] Figure 2 Schematic diagram of the leg assembly and pedal assembly, taking the right side as an example;

[0021] Figure 3 Schematic diagram of the connection between the first calf connector and the second calf connector. DETAILED DESCRIPTION

[0022] In order to make the purpose and implementation of this application clearer, the exemplary implementation of this application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of this application. Obviously, the exemplary embodiments described are only part of the embodiments of this application, not all of the embodiments. It should be noted that the brief description of the terms in this application is only for the convenience of understanding the implementation described below, and is not intended to limit the implementation of this application. Unless otherwise specified, these terms should be understood according to their ordinary and usual meanings.

[0023] In the specification and claims of this application and the accompanying drawings, the terms "first," "second," and the like are used to distinguish similar or similar objects or entities and are not necessarily intended to limit a particular order or precedence, unless otherwise noted. It should be understood that the terms used in this manner are interchangeable under appropriate circumstances. The terms "including," "comprising," and "having," and any variations thereof, are intended to cover, but not exclude, inclusion. For example, a product or device comprising a list of components is not necessarily limited to all the components expressly listed, but may include other components not expressly listed or inherent to the product or device.

[0024] The leg rehabilitation training device generally includes a leg assembly 300 and a foot assembly 340 with the same structure and symmetrical arrangement on the left and right sides. Figure 1 As shown, the bottoms of the left and right leg assemblies 300 are connected to the left and right footrest assemblies 340, respectively. Based on the wearing method, the two footrest assemblies 340 are placed on the inner sides of the two leg assemblies 300. The user's feet are placed on the footrest assemblies 340, and the leg assemblies 300 can be secured to the outside of the user's legs using straps, etc., to help the user achieve knee flexion and extension movements. For ease of explanation, the following description uses the right leg assembly 300 and footrest assembly 340 as an example, and the left structure is not repeated.

[0025] like Figure 2 As shown, the training content for the user's legs mainly includes rehabilitation training of the knee joints. The leg assembly 300 includes a first connecting arm, a second connecting arm, a third connecting arm and a footrest assembly 340 connected in sequence, and the relative angles between each two interconnected structures are controlled by a driver. The first connecting arm is connected to a seat for the user to sit on (not shown in the figure). When the user's foot is in the predetermined position of the footrest assembly 340, the second connecting arm and the third connecting arm correspond to the thigh and calf positions of the user's lower limbs.

[0026] In this way, a connection node is formed between the first connecting arm and the second connecting arm, and has one degree of freedom, corresponding to the user's hip joint; a connection node is formed between the second connecting arm and the third connecting arm, and has one degree of freedom, corresponding to the user's knee joint; a connection node is formed between the third connecting arm and the pedal assembly 340, and has one degree of freedom, corresponding to the user's ankle joint, to meet the user's rehabilitation training movements for the ankle, knee and hip joints.

[0027] In order to meet the needs of rehabilitation training, for example, to detect the difference in muscle strength between the affected limb and the healthy limb, and to evaluate and compensate for the difference in muscle strength, such as Figure 2 、 3 As shown, a sensor 331 is provided between the third connecting arm and the pedal assembly 340 , and the sensor 331 is used to detect the tension between the third connecting arm and the pedal assembly 340 .

[0028] In this way, when the knee joint is flexed and extended, the angle between the third connecting arm and the second connecting arm changes, and when the third connecting arm is at different angles, the force value detected by the sensor 331 is different, which can be used to evaluate muscle strength.

[0029] As mentioned above, by comparing the pull / pressure values corresponding to the sensors 331 in the leg assemblies 300 on both sides (the affected limb side and the healthy side), the postures of the leg assemblies 300 on both sides can be adjusted, and rehabilitation training can be performed on the affected limbs. In particular, the sensors on both sides are connected to the host computer to collect data collected by the sensors on the healthy side and compare them with the data on the affected limb side. After obtaining the average value, motion compensation is performed on the side with less force, so that the rehabilitation movement of the affected limb side is close to that of the healthy side.

[0030] Combine Figure 2-3 As shown, in order to more accurately detect the stress data of the third connecting arm in different postures, further, the third connecting arm includes a calf front arm 33a and a calf rear arm 33b, and the sensor 331 is set between the calf front arm 33a and the calf rear arm 33b.

[0031] Preferably, the sensor 331 includes a Z-type tension sensor, the end protrusion structure of the calf front arm 33a is provided with a first mounting surface, and the end protrusion structure of the calf rear arm 33b is provided with a second mounting surface. The two detection ends of the sensor 331 are installed on the first mounting surface and the second mounting surface. The first mounting surface and the second mounting surface are parallel to the length direction of the third connecting arm. The sensor 331 is used to detect the tension between the calf front arm 33a and the calf rear arm 33b when the third connecting arm is in different postures.

[0032] So, combined Figure 3 As shown, when the calf front arm 33a and the calf rear arm 33b are in different postures, the stresses on both ends of the Z-shaped tension sensor are different, which can accurately reflect the posture of the third connecting arm.

[0033] Furthermore, the end projection structure of the calf front arm 33a and the end projection structure of the calf rear arm 33b do not contact each other. Like this, can avoid the sensor 331 that causes because of the interference of structure between the calf front arm 33a and the calf rear arm 33b to detect inaccurately.

[0034] Furthermore, in order to meet the training needs of different users (with different leg lengths), especially for the calves, the distance between the third connecting arm and the footrest assembly 340 is adjustable through a telescopic structure.

[0035] In an optional embodiment, if Figure 2 As shown, the telescopic structure includes an adjustment block 33c and a slide rod 33d. The bottom of the calf rear arm 33b is provided with an adjustment block 33c, and the adjustment block 33c is provided with a hole extending along the length direction of the calf rear arm 33b. The slide rod 33d is connected in the hole, and one end of the slide rod 33d can slide relative to the hole. The other end of the slide rod 33d is connected to the footrest assembly 340. The slide rod 33d is arranged with a plurality of equally spaced positioning holes along its length direction, and corresponding positioning holes are also provided on the adjustment block 33c.

[0036] In this way, when the slide bar 33d moves to a specific height, the positioning pin is inserted into the positioning holes of the adjustment block 33c and the slide bar 33d, so that the position between the footrest assembly 340 and the second connecting arm is determined to adapt to the user's calf length.

[0037] In the above-mentioned embodiment, since each joint needs to be assisted by a driver to reach the target angle during rehabilitation training, a planetary reduction actuator is usually used. Once a fault occurs, such as rotation beyond the predetermined angle, it is likely to cause a safety hazard to the user. Therefore, the redundant driver setting in this application particularly includes a rotary drive component and a linear telescopic drive component. The structure of the linear telescopic drive component can effectively constrain the non-target amount drive of the rotary drive component.

[0038] Specifically, the rotary drive component is connected to the pivot axis between the first connecting arm and the second connecting arm, the second connecting arm and the third connecting arm, and the third connecting arm and the foot pedal assembly 340, and is used to drive the two adjacent structures connected to the pivot axis to rotate around the pivot axis. The two ends of the linear telescopic drive component are respectively connected to the two adjacent structures connected to the pivot axis to limit the rotation angle between the two adjacent structures. The axes of all the pivot axes are parallel.

[0039] In this way, the linear telescopic drive component can effectively control the relative angle between the two structures connected to the pivot axis, and has better retention and load-bearing capacity.

[0040] Furthermore, the linear telescopic drive component and the two adjacent structures connected to the connecting pivot axis form a triangle, and the side where the linear telescopic drive component is located is defined as a variable-length side. The angle corresponding to the variable-length side is the angle between the two adjacent structures. Through the expansion and contraction of the linear telescopic drive component, the formed triangle is switched between an acute-angle triangle and an obtuse-angle triangle.

[0041] In this way, by controlling the change in the length of a variable side of the triangle, the angle of the angle corresponding to the variable side can be precisely controlled, and this triangular structure can provide higher stability at the joint.

[0042] In a specific embodiment, the first connecting arm includes a hip connecting arm 31 a , and a connecting plate 31 b is provided on a side of the hip connecting arm 31 a away from the footrest assembly 340 , and the connecting plate 31 b is connected to the seat.

[0043] like Figure 2 As shown, the second connecting arm includes a front thigh arm 32a and a rear thigh arm 32b, which are detachably connected via a connecting structure 32c. This facilitates quick disassembly and assembly of the front thigh arm 32a and the rear thigh arm 32b, separating the entire leg assembly 300 into two independent parts. This is particularly suitable for reducing the size of the device during temporary transportation.

[0044] Furthermore, the pivot axis of the thigh front arm 32a and the hip connecting arm 31a is connected to the first rotary drive component 311, the first linear telescopic drive component 312 is connected between the thigh front arm 32a and the hip connecting arm 31a, the pivot axis of the thigh rear arm 32b and the calf front arm 33a is connected to the second rotary drive component 321, and the second linear telescopic drive component 322 is connected between the thigh rear arm 32b and the calf front arm 33a.

[0045] In order to shorten the length of the first linear telescopic drive component 312 and the second linear telescopic drive component 322, a first extension structure is provided on the front thigh arm 32a, and the first extension structure extends downward, so that the length required for the first linear telescopic drive component 312 to be connected to the front thigh arm 32a is shorter. A second extension structure is provided on the rear thigh arm 32b, and the second extension structure extends downward, so that the length required for the second linear telescopic drive component 322 to be connected to the rear thigh arm 32b is shorter.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A leg rehabilitation training device, characterized in that: It includes a seat, a pair of leg assemblies (300), and a pair of footrest assemblies (340); The pair of leg assemblies (300) are correspondingly connected to a pair of footrest assemblies (340), and the leg assemblies (300) are respectively installed on both sides of the seat; The leg assembly (300) comprises a first connecting arm, a second connecting arm, and a third connecting arm connected in sequence, and the relative angle between each two interconnected structures is controlled by a driver, the first connecting arm is connected to the seat, and when the user's foot is in a predetermined position of the footrest assembly, the second connecting arm and the third connecting arm correspond to the thigh and calf positions of the user's lower limbs; The third connecting arm is connected to the pedal assembly (340), and a sensor (331) is provided at the connection between the two. The sensor (331) is used to detect the pulling force between the third connecting arm and the pedal assembly (340).

2. The leg rehabilitation training device according to claim 1, characterized in that: The third connecting arm comprises a calf front arm (33a) and a calf rear arm (33b), and the sensor (331) is arranged between the calf front arm (33a) and the calf rear arm (33b).

3. The leg rehabilitation training device according to claim 1 or 2, characterized in that: The sensor (331) is configured as a Z-type tension sensor.

4. The leg rehabilitation training device according to claim 2, characterized in that: The end protruding structure of the calf front arm (33a) is provided with a first mounting surface, and the end protruding structure of the calf rear arm (33b) is provided with a second mounting surface. Two detection ends of the sensor (331) are mounted on the first mounting surface and the second mounting surface. The first mounting surface and the second mounting surface are parallel to the length direction of the third connecting arm. The sensor (331) is used to detect the tension between the calf front arm (33a) and the calf rear arm (33b) when the third connecting arm is in different postures.

5. The leg rehabilitation training device according to claim 4, characterized in that: The end protrusion structure of the front calf arm (33a) and the end protrusion structure of the rear calf arm (33b) do not contact each other.

6. The leg rehabilitation training device according to claim 2, characterized in that: The distance between the third connecting arm and the pedal assembly (340) is adjustable via a telescopic structure.

7. The leg rehabilitation training device according to claim 6, characterized in that: The telescopic structure comprises an adjustment block (33c) and a slide rod (33d); the adjustment block (33c) is arranged at the bottom of the calf rear arm (33b); the adjustment block (33c) is provided with a hole extending along the length direction of the calf rear arm (33b); the slide rod (33d) is connected to the pedal assembly (340) and can slide relative to the hole; at the same time, the slide rod (33d) is arranged with a plurality of equally spaced positioning holes along its length direction, and the adjustment block (33c) is also provided with corresponding positioning holes.

8. The leg rehabilitation training device according to claim 1, characterized in that: The driver comprises a rotary drive component and a linear telescopic drive component, wherein the rotary drive component is connected to the pivot shaft between the first connecting arm and the second connecting arm, the second connecting arm and the third connecting arm, and the third connecting arm and the pedal assembly (340), and is used to drive two adjacent structures connected to the pivot shaft to rotate around the pivot shaft, and both ends of the linear telescopic drive component are respectively connected to the two adjacent structures connected to the pivot shaft to limit the rotation angle between the two adjacent structures, and the axes of all the pivot shafts are parallel.

9. The leg rehabilitation training device according to claim 8, characterized in that: The linear telescopic drive component and the two adjacent structures connected to the connecting pivot shaft form a triangle. The side where the linear telescopic drive component is located is defined as a variable-length side. The angle corresponding to the variable-length side is the angle between the two adjacent structures. By extending and retracting the linear telescopic drive component, the formed triangle is switched between an acute-angle triangle and an obtuse-angle triangle.

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