Lower limb rehabilitation training device and walking stick

Abstract

The utility model relates to the technical field of rehabilitation treatment, and discloses a lower limb rehabilitation training device and a walking stick, and the walking stick comprises an arm sleeve which is used for sleeving a forearm of a patient; the length-adjustable supporting rod is arranged at the lower end of the arm sleeve; the control handle is arranged on the upper portion of the supporting rod, and the supporting rod or the control handle is provided with a position sensor and a posture detection assembly used for detecting the inclination angle of the supporting rod relative to the ground; the moving wheel assembly is arranged at the lower end of the supporting rod and comprises an electric wheel and at least one brake rod, and the length of at least one of the electric wheel and the brake rod is adjustable; the control handle is in signal connection with the moving wheel assembly and the lower limb exoskeleton so that the ground contact state of the moving wheel assembly and the working state of the lower limb exoskeleton can be adjusted according to the walking stick posture detected by the posture detection assembly. The posture detection assembly of the crutch can detect the posture of the crutch, so that the crutch and the lower limb exoskeleton are adjusted, and the position matching degree between the posture of the patient and the two-hand crutch is remarkably improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of rehabilitation treatment, more specifically, relates to a walking stick. In addition, the utility model also provides a lower limb rehabilitation training device comprising the walking stick. BACKGROUND

[0002] In lower limb rehabilitation training, the control of lower limb exoskeleton mainly depends on the built-in sensor and control chip. In order to improve the degree of active control of patients on the lower limb exoskeleton, the existing technology can guide and assist the lower limb exoskeleton through the control handle of the walking stick.

[0003] However, for patients with damaged or functionally limited lower limbs, the pain, stiffness and possible muscle weakness of the lower limb joints may make it difficult for the human posture and the position of the walking stick held by both hands to cooperate with each other, thereby increasing the burden on the damaged joints of the lower limbs and causing further pain in the damaged joints, making it difficult to fully exert the performance advantages of the exoskeleton rehabilitation training.

[0004] In summary, how to make the position of the human posture and the walking stick held by both hands cooperate with each other in lower limb rehabilitation training is a problem that needs to be solved by the technical personnel in the field. UTILITY MODEL CONTENT

[0005] Therefore, the utility model aims to provide a walking stick, the posture detection assembly of the walking stick can detect the posture of the walking stick, and adjust the ground contact state of the walking stick and the working state of the lower limb exoskeleton accordingly, thereby significantly improving the position matching degree between the patient's posture and the walking stick held by both hands.

[0006] In addition, the utility model also provides a lower limb rehabilitation training device comprising the walking stick.

[0007] In order to achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0008] A walking stick, comprising:

[0009] An arm sleeve for being sleeved on the forearm of a patient;

[0010] An adjustable length support rod arranged at the lower end of the arm sleeve;

[0011] A control handle arranged at the upper part of the support rod, the support rod or the control handle being provided with a position sensor and a posture detection assembly for detecting the inclination angle of the support rod relative to the ground;

[0012] A moving wheel assembly arranged at the lower end of the support rod, comprising an electric wheel and at least one brake lever, the length of at least one of the electric wheel and the brake lever being adjustable;

[0013] The control handle is signal connected with the mobile wheel assembly and the lower limb exoskeleton, so as to adjust the touch-down state of the mobile wheel assembly and the working state of the lower limb exoskeleton according to the walking stick posture measured by the posture detection assembly.

[0014] Preferably, the posture detection assembly comprises an inclination sensor arranged on the support rod or the control handle, and the inclination sensor is signal connected with the control handle.

[0015] Preferably, the posture detection assembly comprises at least two Bluetooth array antennas for receiving the Bluetooth signal emitted by the lower limb exoskeleton.

[0016] Preferably, the arm sleeve comprises an open arm sleeve cuff and a bandage, and both sides of the arm sleeve cuff are provided with a binding hole for binding the bandage.

[0017] Preferably, the control handle is provided with a charging interface and a control button, the charging interface is electrically connected with an energy storage battery, and the control button is signal connected with a control module.

[0018] Preferably, the support rod comprises at least two nested adjustment sleeves, the adjustment sleeve located at the inner layer is provided with a compressible adjustment cap, and the adjustment sleeve located at the outer layer is provided with a plurality of limiting holes for mounting the adjustment cap.

[0019] Preferably, the mobile wheel assembly comprises a mobile wheel mounting seat, the mobile wheel mounting seat comprises an electric telescopic rod and a brake rod arranged on both sides of the electric telescopic rod, the bottom of the electric telescopic rod is provided with the electric wheel, and the bottom of the brake rod is provided with a foot pad, and the electric telescopic rod and the electric wheel are signal connected with the control handle.

[0020] Preferably, the top of the brake rod is pinned with the mobile wheel mounting seat through a mode adjustment column, the mobile wheel mounting seat is provided with at least two mode adjustment holes, when the mode adjustment column is installed in the high mode adjustment hole, the bottom of the brake rod is higher than the bottom of the electric telescopic rod;

[0021] When the mode adjustment column is installed in the low mode adjustment hole, the bottom of the brake rod is flush with the bottom of the electric telescopic rod, so that the brake rod and the electric telescopic rod touch the ground at the same time.

[0022] Preferably, the brake rod comprises at least two nested adjustment sleeves, the adjustment sleeve located at the inner layer is provided with a compressible adjustment cap, and the adjustment sleeve located at the outer layer is provided with a plurality of limiting holes for mounting the adjustment cap.

[0023] A lower limb rehabilitation training device, comprising a lower limb exoskeleton and the walking stick of any one of the above.

[0024] The walking stick provided by the utility model can detect the inclination angle of the supporting rod of the walking stick relative to the ground by the posture detection assembly, and the ground-touching state of the walking stick and the working state of the lower limb exoskeleton are adjusted accordingly, the position matching degree between the patient posture and the double-hand walking stick is significantly improved, the burden of the damaged joints of the lower limb is avoided from being increased, and the performance advantage of the exoskeleton rehabilitation training is fully played.

[0025] In addition, the utility model provides a lower limb rehabilitation training device comprising the walking stick. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the attached drawings needed to be used in the embodiment or the prior art description will be briefly introduced, and obviously, the attached drawings in the following description are only the embodiments of the utility model, and other attached drawings can be obtained according to the provided attached drawings without the creative labor for the ordinary skilled in the art.

[0027] Fig. 1 It is a structure schematic view of the specific embodiment of the walking stick provided by the utility model.

[0028] Fig. 2 It is a structure schematic view of the mobile wheel assembly.

[0029] Figs. 1-2 In the middle:

[0030] 1-arm sleeve;2-supporting rod;3-control handle;4-mobile wheel assembly;41-mobile wheel mounting seat;411-mode adjustment hole;42-electric telescopic rod;43-electric wheel;44-brake lever;441-foot pad;442-mode adjustment column. DETAILED DESCRIPTION

[0031] The technical scheme in the embodiments of the utility model will be clearly and completely described in combination with the attached drawings in the embodiments of the utility model, obviously, the described embodiments are only a part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without the creative labor belong to the protection scope of the utility model.

[0032] The core of the utility model is to provide a walking stick, the posture detection assembly of the walking stick can detect the walking stick, and the ground-touching state of the walking stick and the working state of the lower limb exoskeleton are adjusted accordingly, the position matching degree between the patient posture and the double-hand walking stick is significantly improved.

[0033] In addition, the utility model provides a lower limb rehabilitation training device comprising the walking stick.

[0034] The walking stick provided by the utility model is used for supporting part of the mass of the body when assisting walking, so as to reduce the burden of the lower limbs of the patient, and comprises:

[0035] The arm sleeve 1 is used for sleeving at the forearm of the patient.

[0036] The length-adjustable supporting rod 2 is arranged at the lower end of the arm sleeve 1.

[0037] The control handle 3 is arranged at the upper portion of the supporting rod 2, and the supporting rod 2 or the control handle 3 is provided with an external sensor and a posture detection assembly for detecting the inclination angle of the supporting rod 2 relative to the ground.

[0038] The moving wheel assembly 4 arranged at the lower end of the supporting rod 2 comprises an electric wheel 43 and at least one brake lever 44, and the length of at least one of the electric wheel 43 and the brake lever 44 is adjustable.

[0039] The control handle 3 is signal-connected with the moving wheel assembly 4 and the lower limb exoskeleton, so as to adjust the ground-touching state of the moving wheel assembly 4 and the working state of the lower limb exoskeleton according to the walking stick posture measured by the posture detection assembly.

[0040] The specific material, shape and structure of the arm sleeve 1, the supporting rod 2, the control handle 3 and the moving wheel assembly 4 can be determined by referring to the intelligent walking stick for guiding the lower limb exoskeleton in the prior art, and will not be described here.

[0041] The movement of the lower limb exoskeleton will affect the posture of the patient, in order to adapt the posture of the double-hand walking stick to the human body posture, avoid the compound of the damaged joints of the lower limbs being aggravated, and further aggravate the pain and affect the rehabilitation, the supporting rod 2 or the control handle 3 is provided with a posture detection assembly for detecting the inclination angle of the supporting rod 2 relative to the ground, that is, the posture of the walking stick.

[0042] The posture detection assembly can be specifically provided as an inclination angle sensor arranged on the supporting rod 2 or the control handle 3, and the inclination angle sensor is signal-connected with the control handle 3; or can be provided as at least two Bluetooth array antennas, and the two Bluetooth array antennas are preferably arranged at the upper portion and the lower portion of the supporting rod 2, respectively, the Bluetooth array antenna is used for receiving the Bluetooth signal emitted by the lower limb exoskeleton, and the inclination angle of the supporting rod 2 relative to the ground is calculated and obtained through the Bluetooth AOA positioning principle (Angle of Arrival, arrival angle positioning principle).

[0043] The control handle 3 is signal-connected with the posture detection assembly, can receive and process the walking stick posture information, and sends the walking stick posture information to the lower limb exoskeleton and the moving wheel assembly 4, or sends the adjustment instruction made according to the walking stick posture information to the lower limb exoskeleton and the moving wheel assembly 4, adjusts the working state of the lower limb exoskeleton, and adjusts the ground-touching state of the moving wheel assembly 4, that is, whether the electric wheel 43 and the brake lever 44 touch the ground.

[0044] In the initial stage of rehabilitation training, in order to facilitate the patient to adapt to the lower limb exoskeleton as soon as possible, only a walking stick is used for standing training to improve the lower limb muscle strength and joint flexibility of the patient;

[0045] In the middle stage of rehabilitation training, the patient wears the lower limb exoskeleton to walk slowly, and the upper limbs on both sides support the body through the walking stick. The walking speed of the lower limb exoskeleton is synchronized with the walking speed of the electric wheel 43 of the walking stick. With the increase of the rehabilitation training time, the walking speed of the lower limb exoskeleton can be gradually increased, so that the patient gradually recovers the lower limb strength to support the body and improves the body stability in walking.

[0046] In the later stage of rehabilitation training, the patient recovers the walking ability and can use the electric wheel 43 of the walking stick to cooperate with the lower limb exoskeleton for walking posture training. For example, when the lower limb exoskeleton of the left limb moves forward, the electric wheel 43 of the walking stick of the right limb moves forward synchronously; when the lower limb exoskeleton of the right limb moves forward, the electric wheel 43 of the walking stick of the left limb moves forward synchronously, so that the patient walks in the state of maintaining body balance, and gradually adjusts the walking gait until independent walking is achieved.

[0047] In the process of rehabilitation training, the posture detection assembly always detects the posture of the walking stick. When the posture detection assembly detects that the walking stick is greatly inclined, the control handle 3 can judge that the patient loses balance, the ground contact state of the moving wheel assembly 4 is changed, the electric wheel 43 is separated from the ground, and the brake lever 44 is in contact with the ground, so as to use the walking stick to stably support the patient's body and avoid the patient from falling down. At the same time, the lower limb exoskeleton is controlled to cooperate with the adjustment of the human body posture to avoid the load on the damaged joint of the lower limb.

[0048] In the embodiment, the posture detection assembly can be used to detect the inclination angle of the supporting rod 2 of the walking stick relative to the ground, and the ground contact state of the walking stick and the working state of the lower limb exoskeleton are adjusted according to the inclination angle. The position matching degree between the patient's posture and the walking stick is significantly improved, the burden on the damaged joint of the lower limb is avoided from being increased, and the performance advantage of the exoskeleton rehabilitation training is fully utilized.

[0049] Considering that the Bluetooth array antenna can also transmit signals, the posture detection assembly is preferably a Bluetooth array antenna to reduce the types of parts required by the walking stick and reduce the cost.

[0050] Of course, the posture detection assembly can also be an inclination sensor, and a Bluetooth communication module, a WIFI communication module, etc. can be used for signal transmission.

[0051] On the basis of the above embodiment, the structure of the arm sleeve 1 is limited. The arm sleeve 1 comprises an arm sleeve hoop and a bandage. The arm sleeve hoop is provided with a binding hole on both sides for binding the bandage.

[0052] Please refer to Fig. 1The arm sleeve hoop is in an open C-shaped structure, and the open design not only helps to reduce the overall weight of the arm sleeve 1, but also enables the arm sleeve 1 to better meet the wearing needs of patients of different body types.

[0053] The binding holes are arranged at two ends of the arm sleeve hoop, and can be used for binding the binding belt and reducing the weight of the arm sleeve hoop, and are preferably arranged as round holes or oval holes, and the surface is gently transitioned, so that the inner surface of the binding hole can avoid cutting or even cutting the binding belt.

[0054] On the basis of the above embodiment, considering the charging and control requirements of the control handle 3, the control handle 3 is provided with a charging interface and control buttons, the charging interface is electrically connected with the internal energy storage battery, and the control buttons are signal connected with the control module.

[0055] The control buttons can specifically include a start button, a synchronous mode button and a monitoring mode button, wherein the start button is used to control the on-off of the switch circuit inside the control module; the synchronous mode button can control the ground state of the moving wheel assembly 4, so that the electric wheel 43 and the brake lever 44 are both grounded, so as to provide assistance for the patient's walking with the crutch; and the monitoring mode button can control the ground state of the moving wheel assembly 4, so that the electric wheel 43 is grounded and the brake lever 44 is off the ground.

[0056] On the basis of the above embodiment, the structure of the support rod 2 is limited, the support rod 2 includes at least two nested adjustment sleeves, the adjustment cap is arranged on the adjustment sleeve located on the inner layer and is compressible, the adjustment cap is connected with the adjustment sleeve located on the inner layer through an elastic element such as a return spring, and the adjustment sleeve located on the outer layer is provided with a plurality of limiting holes for mounting the adjustment cap.

[0057] When the patient presses the adjustment cap, the adjustment cap is compressed and shrunk, so that the limiting hole cannot continue to limit the adjustment cap, and the inner and outer adjustment sleeves can slide relative to each other, and after the support rod 2 is adjusted to the appropriate length, the adjustment cap is loosened to be clamped into the corresponding limiting hole, the axial displacement of the adjustment cap is limited by the limiting hole, and the length direction of the support rod 2 is prevented from changing during use.

[0058] In the embodiment, the relative sliding of the inner and outer adjustment sleeves is limited by the clamping cooperation of the adjustment cap and the limiting hole, so as to fix the length of the support rod 2, which is simple in structure, convenient to manufacture, low in cost and convenient to adjust.

[0059] On the basis of the above-mentioned embodiments, the structure of the mobile wheel assembly 4 is limited, the mobile wheel assembly 4 comprises a mobile wheel mounting seat 41, the mobile wheel mounting seat 41 comprises an electric telescopic rod 42 and brake rods 44 arranged on both sides of the electric telescopic rod 42, the bottom of the electric telescopic rod 42 is provided with an electric wheel 43, and the bottom of the brake rod 44 is provided with a foot pad 441, and the electric telescopic rod 42 and the electric wheel 43 are signal-connected with the control handle 3.

[0060] Please refer to Fig. 2 The bottom of the electric telescopic rod 42 is provided with an electric wheel 43, and the electric wheel 43 can reduce the friction between the mobile wheel assembly 4 and the ground, thereby reducing the frictional resistance and the resulting dragging feeling of the transmission crutch when walking, and facilitating the crutch to move more flexibly with the patient's pace;

[0061] The structure and size of the electric wheel 43 can be determined according to actual needs by referring to the prior art, for example, a brushless DC motor is arranged in the electric wheel 43, and the brushless DC motor is provided with a position sensor for detecting the position of the motor rotor, so as to realize the speed regulation of the electric wheel 43 by monitoring the position and speed of the motor rotor.

[0062] In order to stably support the support rod 2 when braking and avoid the patient from falling, one brake rod 44 is arranged on each side of the electric telescopic rod 42, and the brake rod 44 is arranged obliquely relative to the electric telescopic rod 42, so as to form a relatively stable triangular support structure with the electric telescopic rod 42.

[0063] When the patient needs to stop or maintain a standing posture, the patient can make the electric telescopic rod 42 retract upward by controlling the control handle 3, so that the bottom of the brake rod 44 on both sides is in contact with the ground, so as to generate sufficient friction to prevent the crutch from driving the patient to continue to slide forward.

[0064] In order to increase the friction between the brake rod 44 and the ground, the bottom of the brake rod 44 is provided with a foot pad 441, and the foot pad 441 is made of a material with a high friction coefficient such as rubber and is sleeved on the bottom of the brake rod 44.

[0065] In this embodiment, by adjusting the length of the electric telescopic rod 42 and the height of the electric wheel 43, the ground contact state of the electric wheel 43 and the brake rod 44 is adjusted to meet the needs of the patient walking or standing, compared with simultaneously controlling the height of the brake rod 44 on both sides, the power structure is simpler and the equipment cost is lower, and the retraction of the electric wheel 43 does not need to overcome the resistance of the ground, which is conducive to reducing the energy consumption of the mobile wheel assembly 4.

[0066] On the basis of the above embodiment, in order to facilitate the switching of the ground state of the mobile wheel assembly 4, the top of the brake lever 44 is connected with the mobile wheel mounting seat 41 through the mode adjusting column 442, and the mobile wheel mounting seat 41 is provided with at least two mode adjusting holes 411; when the mode adjusting column 442 is installed in the high-position mode adjusting hole 411, the bottom of the brake lever 44 is higher than the bottom of the electric telescopic rod 42;

[0067] When the mode adjusting column 442 is installed in the low-position mode adjusting hole 411, the bottom of the brake lever 44 is flush with the bottom of the electric telescopic rod 42, so that the brake lever 44 and the electric telescopic rod 42 touch the ground at the same time.

[0068] Preferably, in order to facilitate the adjustment of the inclination angle of the brake lever 44 with the ground, so as to change the ground state and stability of the mobile wheel assembly 4, the brake lever 44 comprises at least two nested adjusting sleeves, the adjusting sleeve located in the inner layer is provided with a compressible adjusting cap, and the adjusting sleeve located in the outer layer is provided with a plurality of limiting holes for installing the adjusting cap.

[0069] In addition to the above-mentioned walking stick, the utility model also provides a lower limb rehabilitation training device comprising the walking stick disclosed in the above embodiment, the lower limb rehabilitation training device comprising a lower limb exoskeleton and the walking stick disclosed in the above embodiment, the structures of other parts of the lower limb rehabilitation training device please refer to the prior art, and the text will not be repeated here.

[0070] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0071] The lower limb rehabilitation training device and the walking stick provided by the utility model are described in detail. The principles and implementation modes of the utility model are described by applying specific examples. The above embodiment is only used to help understand the method and core idea of the utility model. It should be pointed out that for ordinary skilled persons in the technical field, without departing from the principles of the utility model, the utility model can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the claims of the utility model.

Claims

1. A walking stick, characterized in that, The application relates to a length-adjustable crutch, which comprises the following parts: an arm sleeve (1) for being sleeved on the forearm of a patient; a length-adjustable supporting rod (2) arranged at the lower end of the arm sleeve (1); a control handle (3) arranged at the upper part of the supporting rod (2), wherein the supporting rod (2) or the control handle (3) is provided with a position sensor and a posture detection assembly for detecting the inclination angle of the supporting rod (2) relative to the ground; a moving wheel assembly (4) arranged at the lower end of the supporting rod (2), which comprises an electric wheel (43) and at least one brake rod (44), and the length of at least one of the electric wheel (43) and the brake rod (44) is adjustable; the control handle (3) is signal-connected with the moving wheel assembly (4) and a lower limb exoskeleton, so that the working state of the lower limb exoskeleton and the ground-touching state of the moving wheel assembly (4) are adjusted according to the crutch posture detected by the posture detection assembly. The posture detection assembly comprises an inclination sensor arranged on the supporting rod (2) or the control handle (3), and the inclination sensor is signal-connected with the control handle (3). The posture detection assembly comprises at least two Bluetooth array antennas for receiving the Bluetooth signals emitted by the lower limb exoskeleton. The arm sleeve (1) comprises an open arm sleeve hoop and a bandage, and both sides of the arm sleeve hoop are provided with banding holes for binding the bandage. The control handle (3) is provided with a charging interface and control buttons, the charging interface is electrically connected with an energy storage battery, and the control buttons are signal-connected with a control module. The supporting rod (2) comprises at least two nested adjusting sleeves, the adjusting sleeve located at the inner layer is provided with a compressible adjusting cap, and the adjusting sleeve located at the outer layer is provided with a plurality of limiting holes for mounting the adjusting cap.

2. The walking stick according to claim 1, characterized in that The moving wheel assembly (4) comprises a moving wheel mounting seat (41), the moving wheel mounting seat (41) comprises an electric telescopic rod (42) and brake rods (44) arranged on both sides of the electric telescopic rod (42), the bottom of the electric telescopic rod (42) is provided with the electric wheel (43), the bottom of the brake rod (44) is provided with a foot pad (441), and the electric telescopic rod (42) and the electric wheel (43) are signal-connected with the control handle (3).

3. The walking stick of claim 1, wherein, The top of the brake rod (44) is pin-connected with the moving wheel mounting seat (41) through a mode adjusting column (442), the moving wheel mounting seat (41) is provided with at least two mode adjusting holes (411), when the mode adjusting column (442) is arranged in the high-position mode adjusting hole (411), the bottom of the brake rod (44) is higher than the bottom of the electric telescopic rod (42); 4. The walking stick according to any one of claims 1-3, characterized in that when the mode adjusting column (442) is arranged in the low-position mode adjusting hole (411), the bottom of the brake rod (44) is flush with the bottom of the electric telescopic rod (42), so that the brake rod (44) and the electric telescopic rod (42) touch the ground at the same time.

5. The walking stick according to any one of claims 1-3, characterized in that ​ 6. The walking stick according to any one of claims 1-3, characterized in that ​ 7. The walking stick according to any one of claims 1-3, characterized in that ​ 8. The walking stick of claim 7, wherein, ​ ​ 9. The walking stick of claim 7, wherein, The brake lever (44) comprises at least two nested adjusting sleeves, the adjusting sleeve located at the inner layer is provided with a compressible adjusting cap, and the adjusting sleeve located at the outer layer is provided with a plurality of limiting holes for mounting the adjusting cap.

10. A lower extremity rehabilitation training device, characterized by, The exoskeleton for lower limbs and the crutch according to any one of claims 1-9.

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