Novel force-sensing multi-mode bionic knee joint rehabilitation exoskeleton

Abstract

The utility model discloses a novel force-sensing multi-mode bionic knee joint rehabilitation exoskeleton, and relates to the technical field of robots. Friction force in the traction process can be reduced, and change of traction force in the stretching process can be detected in time. The rehabilitation exoskeleton comprises a shank module; the shank module comprises a shank shell assembly and sliding block assemblies arranged on the left side and the right side of the shank shell assembly correspondingly. The sliding block assembly comprises an upper sliding block, a lower sliding block and two stretching mechanisms. The stretching mechanism comprises a push rod, a pull pressure sensor, a push rod sleeve and a micro slide rail assembly; the tail of the push rod is fixedly connected to the lower sliding block, and the head is connected to the front end of the push rod sleeve; the head of the pull pressure sensor is fixedly connected to the upper sliding block, and the tail is connected to the rear end of the push rod sleeve; the tension and pressure sensor can detect the traction force change in the joint traction process in real time; the two ends of the miniature sliding rail assembly are connected with the upper sliding block and the lower sliding block respectively. The performance of the knee joint rehabilitation exoskeleton is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of robots, in particular to a novel force-sensing multi-mode bionic knee joint rehabilitation exoskeleton. BACKGROUND

[0002] The rehabilitation training after fracture surgery greatly affects the recovery effect of joint function. With the development of rehabilitation robot technology, the knee joint rehabilitation exoskeleton can assist or even replace the physiotherapist to complete part of the rehabilitation training of the patient. The Chinese patent "A multi-mode bionic knee joint rehabilitation exoskeleton with self-adaptive fastening" (publication number: CN118697588A) discloses a multi-mode bionic knee joint rehabilitation exoskeleton with self-adaptive fastening. The thigh module and the calf module in the knee joint rehabilitation exoskeleton are connected through a connecting rod mechanism to form a bionic four-bar mechanism, which can reproduce the instantaneous center change trajectory of the human knee joint during rotation and relieve joint swelling and pain caused by the non-coincidence of the movement center during rehabilitation training. However, referring to Figures 1 to 3 Since the stretching mechanism connecting the lower sliding block 01 and the upper sliding block 02 in the calf module includes two push rods 03 and a guide assembly 04, the guide assembly 04 includes a T-shaped guide column 041 and a T-shaped guide groove 042 matched with the T-shaped guide column 041. The T-shaped guide column 041 is arranged in the lower sliding block 01, the T-shaped guide groove 042 is arranged on the upper sliding block 02, and the tail of the push rod 03 is located in the recess of the T-shaped guide column 041. Therefore, the friction during traction is large, and the change of traction force during stretching cannot be detected in time. CONTENT OF THE UTILITY MODEL

[0003] The embodiment of the application provides a novel force-sensing multi-mode bionic knee joint rehabilitation exoskeleton, which can not only reduce the friction during traction, but also detect the change of traction force during stretching in time.

[0004] To achieve the above-mentioned purpose, the embodiment of the application provides a novel force-sensing multi-mode bionic knee joint rehabilitation exoskeleton, which comprises a calf module; the calf module comprises a calf shell assembly and sliding block assemblies arranged on the left and right sides of the calf shell assembly, respectively; the sliding block assembly comprises an upper sliding block, a lower sliding block and two stretching mechanisms; the stretching mechanism comprises a push rod, a tensile and compressive force sensor, a push rod sleeve and a micro sliding rail assembly; the tail of the push rod is fixedly connected to the lower sliding block, and the head is connected to the front end of the push rod sleeve; the head of the tensile and compressive force sensor is fixedly connected to the upper sliding block, and the tail is connected to the rear end of the push rod sleeve; the tensile and compressive force sensor can detect the change of traction force in the joint traction process in real time; and the two ends of the micro sliding rail assembly are connected to the upper sliding block and the lower sliding block, respectively.

[0005] Further, the front end of the upper slider is provided with two sensor head mounting holes, and the heads of the two tension and compression force sensors are connected in the corresponding sensor head mounting holes; the upper surface of the lower slider is provided with two push rod tail mounting grooves; and the tails of the two push rods are fixedly connected in the corresponding push rod tail mounting grooves.

[0006] Further, the push rod sleeve is a cuboid structure; the rear surface of the push rod sleeve is provided with a sensor tail mounting hole, and the tail of the tension and compression force sensor is connected in the sensor tail mounting hole; the front surface of the push rod sleeve is provided with a push rod head mounting hole, and the top wall surface and the bottom wall surface of the push rod head mounting hole are both provided with a connecting hole; the head of the push rod is inserted into the push rod head mounting hole and connected with the push rod sleeve through the bolt inserted into the connecting hole.

[0007] Further, the micro sliding rail assembly comprises a micro sliding rail and a micro slider slidingly connected on the micro sliding rail; the micro slider is connected with the upper slider; and the micro sliding rail is connected with the lower slider.

[0008] Further, the front end of the upper slider is provided with two slider mounting grooves; the lower slider is provided with two sliding rail mounting grooves; the rear ends of the two micro sliding rails are connected in the corresponding slider mounting grooves, and the front ends of the two micro sliding rails are inserted into the corresponding sliding rail mounting grooves and slidingly connected with the corresponding micro sliders.

[0009] Further, the two slider mounting grooves are respectively located below the corresponding sensor head mounting holes; and the two sliding rail mounting grooves are respectively located below the corresponding push rod tail mounting grooves.

[0010] Further, the novel force sensing multi-mode bionic knee joint rehabilitation exoskeleton further comprises a base, a thigh module, two driving motors and two groups of connecting rod mechanisms; the thigh module and the two driving motors are both connected on the base; the left and right sides of the calf module are connected with the thigh module through the connecting rod mechanisms; the connecting rod mechanism comprises a driving rod and an auxiliary rod; the rear end of the driving rod is fixedly connected with the driving motor, and the front end is hingedly connected with the calf module; the rear end of the auxiliary rod is hingedly connected with the thigh module, and the front end is hingedly connected with the calf module; the calf shell assembly comprises a circular arc-shaped flexible calf shell; the circular arc-shaped flexible calf shell comprises a middle segment and side segments connected on both sides of the middle segment; the middle segment is made of flexible material; and the side segments are made of rigid material.

[0011] Further, the thigh module comprises two thigh supports and a thigh shell assembly connected between the two thigh supports; the thigh support is fixedly connected on the base; the rear end of the auxiliary rod is connected with the thigh support, and the front end is connected with the calf module.

[0012] Further, the driving motor comprises a disc motor, a motor shell and a limiting disc; the fixed end of the disc motor is connected to the thigh module through the limiting disc; the motor shell is buckled on the limiting disc; the output end of the disc motor is connected to the driving rod after penetrating through the through hole on the limiting disc.

[0013] Further, the inside of the circular arc-shaped flexible calf shell is provided with a calf air bag; the inside of the calf air bag is arranged with a calf film pressure sensor; the thigh shell assembly comprises a circular arc-shaped rigid thigh shell; the inside of the circular arc-shaped rigid thigh shell is provided with a thigh air bag; the inside of the thigh air bag is arranged with a thigh film pressure sensor.

[0014] Compared with the prior art, the application has the following beneficial effects:

[0015] 1. The knee joint rehabilitation exoskeleton of the embodiment of the application reduces the friction in the traction process by arranging a micro sliding rail assembly between the upper sliding block and the lower sliding block, and connects the tension and pressure sensor between the upper sliding block and the push rod by arranging a push rod sleeve, so that the change of traction force in the joint stretching process can be detected in real time.

[0016] 2. The middle section of the circular arc-shaped flexible calf shell in the knee joint rehabilitation exoskeleton of the embodiment of the application adopts a flexible material, so that the two sides of the circular arc-shaped flexible calf shell can be deflected in a small range, one degree of freedom of movement is increased, and the left and right sides of the exoskeleton structure are arranged with driving motors, the deflection angle of the flexible calf shell can be accurately controlled by controlling the phase difference of the rotation angles of the driving motors on the two sides, and the physiological characteristics of tibial internal rotation during the flexion movement of the human knee joint are simulated.

[0017] 3. The knee joint rehabilitation exoskeleton of the embodiment of the application arranges film pressure sensors inside the calf air bag and the thigh air bag, which are used to detect the change of interaction force between the human calf and thigh and the exoskeleton, on one hand, the inflation degree of the air bag can be controlled through the pressure threshold, and on the other hand, the change of force in the rehabilitation training process can be monitored in real time. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 It is a structural schematic diagram of the prior art knee joint rehabilitation exoskeleton;

[0020] Figure 2 It is a structural schematic diagram of the upper sliding block in the prior art knee joint rehabilitation exoskeleton;

[0021] Figure 3 Structure diagram of lower sliding block in prior art knee joint rehabilitation exoskeleton;

[0022] Figure 4 Structure diagram of knee joint rehabilitation exoskeleton of the embodiment of the application;

[0023] Figure 5 Top view of knee joint rehabilitation exoskeleton of the embodiment of the application;

[0024] Figure 6 Structure diagram of knee joint rehabilitation exoskeleton of the embodiment of the application;

[0025] Figure 7 State diagram of tibia internal rotation when simulating human knee joint flexion movement of knee joint rehabilitation exoskeleton of the embodiment of the application;

[0026] Figure 8 Structure diagram of circular arc flexible calf shell in knee joint rehabilitation exoskeleton of the embodiment of the application;

[0027] Figure 9 Structure diagram of sliding block assembly in knee joint rehabilitation exoskeleton of the embodiment of the application;

[0028] Figure 10 Structure diagram of micro sliding rail assembly in knee joint rehabilitation exoskeleton of the embodiment of the application;

[0029] Figure 11 Connection structure diagram of micro sliding block and micro sliding rail in knee joint rehabilitation exoskeleton of the embodiment of the application;

[0030] Figure 12 Structure diagram of upper sliding block in knee joint rehabilitation exoskeleton of the embodiment of the application;

[0031] Figure 13 Front view of upper sliding block in knee joint rehabilitation exoskeleton of the embodiment of the application;

[0032] Figure 14 Structure diagram of lower sliding block in knee joint rehabilitation exoskeleton of the embodiment of the application;

[0033] Figure 15 Front view of lower sliding block in knee joint rehabilitation exoskeleton of the embodiment of the application;

[0034] Figure 16 Structure diagram of push rod sleeve in knee joint rehabilitation exoskeleton of the embodiment of the application. DETAILED DESCRIPTION

[0035] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0036] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms “center”, “upper”, “lower”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer” and the like is based on the orientation or positional relationship shown in the drawings, and is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0037] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connecting” should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral connection; for those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0038] The terms “first” and “second” are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by “first” and “second” can explicitly or implicitly include one or more features. In the description of the present application, unless otherwise specified, the meaning of “multiple” is two or more.

[0039] With reference to Figures 4 to 7 The embodiments of the present application provide a new force sensing multi-mode bionic knee joint rehabilitation exoskeleton, which comprises a base 1, two driving motors 2, a thigh module 3, a calf module 4 and two groups of connecting rod mechanisms 5.

[0040] The base 1 can be placed on a bed surface or a chair surface. The thigh module 3 and the two driving motors 2 are fixedly connected to the base 1, and the two driving motors 2 are symmetrically arranged on the left and right sides of the thigh module 3. The left and right sides of the calf module 4 are connected to the thigh module 3 through a set of connecting rod mechanisms 5. The two sets of connecting rod mechanisms 5 are symmetrically arranged. The connecting rod mechanism 5 includes a driving rod 51 and an auxiliary rod 52. The rear end of the driving rod 51 is fixedly connected to the driving motor 2, and the front end is hingedly connected to the calf module 4. The rear end of the auxiliary rod 52 is hingedly connected to the thigh module 3, and the front end is hingedly connected to the calf module 4. Compared with the prior art which only sets a driving motor on the outer side for single-sided driving, the two sides are unevenly stressed, and small-angle tilting is prone to occur when a large resistance is encountered during movement. The embodiment of the application adopts a symmetric structure, drives through the two sides of the motor at the same time, and improves the stability of movement.

[0041] The thigh module 3 includes two thigh supports 31 and a thigh shell assembly connected between the two thigh supports 31. The thigh support 31 is fixedly connected to the base 1. The rear end of the auxiliary rod 52 is connected to the thigh support 31, and the front end is connected to the calf module 4. The thigh shell assembly includes a circular-arc-shaped rigid thigh shell 32, and the mouth of the circular-arc-shaped rigid thigh shell 32 is connected to a thigh strap 33. The inner side of the circular-arc-shaped rigid thigh shell 32 is provided with a thigh air bag 34, and the inside of the thigh air bag 34 is arranged with a thigh film pressure sensor (not shown in the figure). In this way, the interaction force change between the human thigh and the exoskeleton can be detected. On the one hand, the inflation degree of the air bag is controlled through the pressure threshold, and on the other hand, the force change in the rehabilitation training process can be monitored in real time.

[0042] The driving motor 2 includes a disc motor 21, a motor housing 22 and a limiting disc 23. The outer ring of the disc motor 21 is fixedly connected in the mounting hole of the limiting disc 23, the motor housing 22 is buckled on the outer side of the limiting disc 23, and is connected as a whole with the thigh support 31 through bolts. The output end of the disc motor 21 is connected with the driving rod 51 after penetrating through the through hole on the limiting disc 23.

[0043] The calf module 4 includes a calf shell assembly and a sliding block assembly connected to the left and right sides of the calf shell assembly, respectively.

[0044] Referring to Figure 8The calf shell assembly comprises a circular arc flexible calf shell 41. The circular arc flexible calf shell 41 comprises a middle section 411 and side sections 412 connected on both sides of the middle section 411. The middle section 411 is made of a flexible material, and the side sections 412 are made of a rigid material. The mouth of the circular arc flexible calf shell 41 is provided with two calf straps 45. Compared with the circular arc rigid calf shell in the prior art, which can only maintain its fixed shape during movement, the circular arc flexible calf shell 41 in the embodiment can deflect slightly on both sides, increasing one degree of freedom of movement. At the same time, since the exoskeleton structure is arranged with driving motors on both sides, the deflection angle of the flexible calf shell can be accurately controlled by controlling the phase difference of the rotation angles of the disc motors on both sides, simulating the physiological characteristics of tibial internal rotation during flexion of the human knee joint.

[0045] The inside of the circular arc flexible calf shell 41 is provided with a calf air bag 46, and the inside of the calf air bag 46 is arranged with a calf film pressure sensor (not shown in the figure). In this way, the change of the interaction force between the human calf and the exoskeleton can be detected, on the one hand, the inflation degree of the air bag is controlled through the pressure threshold, and on the other hand, the force change during the rehabilitation training process can be monitored in real time.

[0046] Referring to Figures 9 to 16 The slider assembly comprises an upper slider 42, a lower slider 43 and two stretching mechanisms 44. The stretching mechanism 44 comprises a push rod 441, a pull pressure sensor 442, a push rod sleeve 443 and a micro slide rail assembly 446.

[0047] The tail of the push rod 441 is fixedly connected to the lower slider 43, and the head is connected to the front end of the push rod sleeve 443. The head of the pull pressure sensor 442 is fixedly connected to the upper slider 42, and the tail is connected to the rear end of the push rod sleeve 443.

[0048] Specifically, the front end of the upper slider 42 is provided with two sensor head mounting holes 421, and the heads of the two pull pressure sensors 442 are connected in the corresponding sensor head mounting holes 421. The upper surface of the lower slider 43 is provided with two push rod tail mounting grooves 431, and the tails of the two push rods 441 are fixedly connected in the corresponding push rod tail mounting grooves 431. Referring to Figure 16The push rod sleeve 443 is a cuboid structure. A sensor tail mounting hole 444 is arranged on the rear surface of the push rod sleeve 443, and the tail of the tensile and compressive force sensor 442 is connected in the sensor tail mounting hole 444. A push rod head mounting hole 445 is arranged on the front surface of the push rod sleeve 443, and connecting holes 449 are arranged on the top wall surface and the bottom wall surface of the push rod head mounting hole 445. The head of the push rod 441 is inserted into the push rod head mounting hole 445 and connected with the push rod sleeve 443 through the bolts inserted into the connecting holes 449. Thus, the tensile and compressive force sensor 442 is connected between the upper slide block 42 and the push rod 441 through the push rod sleeve 443, and the change of the traction force in the joint stretching process can be detected in real time.

[0049] With reference to Figure 10 and Figure 11 The micro slide rail assembly 446 includes micro slide rails 447 and micro slide blocks 448 which are slidably connected to the micro slide rails 447.

[0050] With reference to Figures 12 to 13 The front end of the upper slide block 42 is provided with two slide block mounting grooves 422, and the two slide block mounting grooves 422 are respectively located below the corresponding sensor head mounting holes 421. The two micro slide blocks 448 are fixedly connected in the corresponding slide block mounting grooves 422. The lower slide block 43 is provided with two slide rail mounting grooves 432. The two slide rail mounting grooves 432 are respectively located below the corresponding push rod tail mounting grooves 431. The tails of the two micro slide rails 447 are respectively connected in the corresponding slide rail mounting grooves 432, and the heads of the two micro slide rails 447 are respectively inserted into the corresponding slide block mounting grooves 422 and slidably connected with the corresponding micro slide blocks 448. The guide assembly in the prior art includes a T-shaped guide groove and a T-shaped guide column matched with the T-shaped guide groove, and a large friction force is generated in the movement process. The micro slide blocks 448 are arranged in the upper slide block 42, and the micro slide rails 447 are arranged in the lower slide block 43, so that the sliding friction force is greatly reduced, and higher lateral support force can be provided.

[0051] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any change or replacement within the technical scope disclosed in the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A novel force sensing multi-mode bionic knee joint rehabilitation exoskeleton, characterized in that, The calf module comprises a calf shell assembly and slider assemblies arranged on the left and right sides of the calf shell assembly respectively; the slider assembly comprises an upper slider, a lower slider and two stretching mechanisms; the stretching mechanism comprises a push rod, a tension and pressure sensor, a push rod sleeve and a micro slide rail assembly; the tail of the push rod is fixed to the lower slider, and the head is connected to the front end of the push rod sleeve; the head of the tension and pressure sensor is fixed to the upper slider, and the tail is connected to the rear end of the push rod sleeve; the tension and pressure sensor can detect the change of traction force in the joint traction process in real time; the two ends of the micro slide rail assembly are connected to the upper slider and the lower slider respectively.

2. The novel force sensing multi-mode bionic knee joint rehabilitation exoskeleton according to claim 1, characterized in that, The front end of the upper slider is provided with two sensor head mounting holes, and the heads of the two tension and pressure sensors are connected in the corresponding sensor head mounting holes; the upper surface of the lower slider is provided with two push rod tail mounting grooves; the tails of the two push rods are fixed in the corresponding push rod tail mounting grooves.

3. The novel force sensing multi-mode bionic knee joint rehabilitation exoskeleton according to claim 2, characterized in that, The push rod sleeve is a rectangular parallelepiped structure; the rear surface of the push rod sleeve is provided with a sensor tail mounting hole, and the tail of the tension and pressure sensor is connected in the sensor tail mounting hole; the front surface of the push rod sleeve is provided with a push rod head mounting hole, and the top wall and the bottom wall of the push rod head mounting hole are provided with connecting holes; the head of the push rod is inserted into the push rod head mounting hole and connected with the push rod sleeve through the bolts inserted into the connecting holes.

4. The novel force sensing multi-mode bionic knee joint rehabilitation exoskeleton according to claim 3, characterized in that, The micro slide rail assembly comprises a micro slide rail and a micro slider slidingly connected to the micro slide rail; the micro slider is connected to the upper slider; the micro slide rail is connected to the lower slider.

5. The novel force sensing multi-mode bionic knee joint rehabilitation exoskeleton according to claim 4, characterized in that, The front end of the upper slider is provided with two slider mounting grooves; the lower slider is provided with two slide rail mounting grooves; the tails of the two micro slide rails are connected in the corresponding slide rail mounting grooves respectively, and the heads of the two micro slide rails are inserted into the corresponding slider mounting grooves and slidingly connected with the corresponding micro sliders.

6. The novel force sensing multi-mode bionic knee joint rehabilitation exoskeleton according to claim 5, characterized in that, The two slider mounting grooves are located below the corresponding sensor head mounting holes respectively; the two slide rail mounting grooves are located below the corresponding push rod tail mounting grooves respectively.

7. The novel force sensing multi-mode bionic knee joint rehabilitation exoskeleton according to claim 6, characterized in that, It also comprises a base, a thigh module, two drive motors and two sets of connecting rod mechanisms; the thigh module and the two drive motors are connected to the base; the left and right sides of the calf module are connected with the thigh module through the connecting rod mechanisms; the connecting rod mechanism comprises a drive rod and an auxiliary rod; the rear end of the drive rod is fixed to the drive motor, and the front end is hinged to the calf module; the rear end of the auxiliary rod is hinged to the thigh module, and the front end is hinged to the calf module; the calf shell assembly comprises a circular arc flexible calf shell; the circular arc flexible calf shell comprises a middle section and side sections connected to the two sides of the middle section; the middle section is made of flexible material; the side section is made of rigid material.

8. The novel force sensing multi-mode bionic knee joint rehabilitation exoskeleton according to claim 7, characterized in that, The thigh module comprises two thigh supports and a thigh shell assembly connected between the two thigh supports; the thigh support is fixed to the base; the rear end of the auxiliary rod is connected to the thigh support, and the front end is connected to the calf module.

9. The novel force sensing multi-mode bionic knee joint rehabilitation exoskeleton according to claim 8, characterized in that, The drive motor comprises a disc motor, a motor housing and a limiting disc; the fixed end of the disc motor is connected to the thigh module through the limiting disc; the motor housing is buckled on the limiting disc; the output end of the disc motor passes through the through hole on the limiting disc and is connected with the drive rod.

10. The novel force sensing multi-mode bionic knee joint rehabilitation exoskeleton according to claim 9, characterized in that, The circular arc-shaped flexible calf shell inner side is provided with a calf air bag; the calf air bag is internally arranged with a calf film pressure sensor; the thigh shell assembly comprises a circular arc-shaped rigid thigh shell; the circular arc-shaped rigid thigh shell inner side is provided with a thigh air bag; the thigh air bag is internally arranged with a thigh film pressure sensor.

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