A lower limb rehabilitation training device

Abstract

This utility model discloses a lower limb rehabilitation training device, including a frame, a leg mechanism, and protective components. The leg mechanism comprises two identical sets, located on opposite sides of the frame. Each leg mechanism includes a drive rod, a third link, a fourth link, a first connector, a second connector, a pedal, and a driving component. A rotating shaft is rotatably mounted on one end of the drive rod, and the rotating shaft is rotatably mounted on the frame. The driving component controls the drive rod to rotate around the axis of the rotating shaft, which in turn drives the hinge of the third and fourth links to rotate, thereby controlling the movement of the first and second connectors. In conjunction with the fifth and sixth links, the pedal moves along a trajectory that most closely resembles the natural human gait, thus training the trainee to complete the natural human gait trajectory and improving the effectiveness of rehabilitation training. Furthermore, this application employs a multi-link structure, which provides stronger support, increases the load capacity and safety of the device, and, together with the protective components, provides comprehensive protection for the trainee.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation training equipment technology, and more specifically, to a lower limb rehabilitation training device. Background Technology

[0002] Medical theory and clinical practice have long confirmed that, in addition to early surgical treatment and necessary drug therapy, proper and scientific rehabilitation training plays a crucial role for stroke patients with lower limb motor dysfunction. Rehabilitation training not only helps patients regain limb motor function but also improves their quality of life, enabling them to better integrate into society.

[0003] For patients with lower limb movement disorders, achieving a normal gait is undoubtedly the core goal of rehabilitation. Lower limb rehabilitation devices used in gait training can be mainly divided into two categories: exoskeletons and end effectors. Exoskeleton-type lower limb rehabilitation robots employ a wearable design, allowing for close connection with the human body and precise control of all joint movements during training, helping patients regain a natural gait.

[0004] For example, the Lokomat robot mainly consists of three parts: a weight-reduction system, a driven gait orthosis, and a treadmill. However, in actual use, to ensure the driven gait orthosis has sufficient driving force to move the patient's legs, the Lokomat robot almost leaves the patient suspended in mid-air. The patient's weight is entirely supported by the weight-reduction system, and the only point of contact between the weight-reduction system and the patient is a few straps. This contact method not only lacks sufficient support and stability but also causes great discomfort to the patient during rehabilitation training. Another example is the intelligent control-assisted rehabilitation elliptical machine, which consists of an elliptical platform, an intelligent control system, biofeedback sensors, and an adjustable support system. ICARE mainly utilizes a crank-rocker four-bar linkage, with the foot pedal 4 fixed to the connecting rod. ICARE can simulate natural walking movements, including stepping, forward and backward leg movements, and body swaying, to simulate the biomechanical characteristics of natural walking as closely as possible, helping patients restore a normal gait. However, although the ICARE system has the function of biomimetic gait simulation, its simulation process is still limited to an elliptical motion trajectory. In reality, the natural human gait trajectory is a more complex and varied curve. Therefore, ICARE still has certain limitations in simulating the subtleties of the natural human gait and cannot completely reproduce the details of a realistic gait.

[0005] Therefore, current lower limb rehabilitation training devices have the following shortcomings: 1. High price and operating costs, and high demand for technical support and training, making them accessible only to a small number of patients with sufficient financial means; 2. In the case of exoskeleton-type lower limb rehabilitation devices, the patient's weight is almost entirely supported by the weight-reduction system, but this system only contacts the patient through a few straps, lacking support and stability, resulting in significant discomfort for the patient; 3. In the case of end effector-type lower limb rehabilitation devices, they cannot accurately simulate the natural human gait; 4. Limited load capacity, which may prevent current facilities from meeting the requirements of high-load rehabilitation training or special application scenarios, and may even pose safety risks.

[0006] In conclusion, how to provide a rehabilitation device that more closely resembles the natural human gait and is inexpensive is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0007] In view of this, the purpose of this utility model is to provide a lower limb rehabilitation training device that has a trajectory that is closer to the natural gait of the human body, has low operating cost, and is safer.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A lower limb rehabilitation training device, comprising:

[0010] frame;

[0011] Two sets of leg mechanisms, both identical, are located on opposite sides of the frame. Each leg mechanism includes a drive rod, a third link, and a fourth link. One end of the drive rod is rotatably mounted with a pivot, which is rotatably mounted on the frame. One end of the third and fourth links is hinged to the end of the drive rod away from the frame. The leg mechanism also includes a first connector and a second connector. Both the first and second connectors have three hinge holes arranged in a triangle. Adjacent hinge holes of the first and second connectors are hinged to each other by a fifth and a sixth link. The end of the third link away from the drive rod is hinged to a hinge hole on the first connector away from the fifth link. The end of the fourth link away from the drive rod is hinged to a hinge hole on the sixth link and the second connector. A pedal is hinged to the hinge hole on the second connector away from the fifth link.

[0012] A driving element for controlling the rotation of the driving rod around the axis of the rotating shaft;

[0013] A protective component for protecting the user.

[0014] Furthermore, in this invention, the triangle formed by the three hinge holes on the second connector is an obtuse triangle.

[0015] Furthermore, in this invention, the first connecting member is composed of a first a link, a first b link, and a first c link connected end to end to form a triangular structure, and the three hinge holes are respectively located at the ends where the first a link, the first b link, and the first c link are connected.

[0016] Furthermore, in this invention, the second connecting member is composed of a second a connecting rod, a second b connecting rod, and a second c connecting rod connected end to end to form a triangular structure, and the three hinge holes are respectively located at the ends where the second a connecting rod, the second b connecting rod, and the second c connecting rod are connected.

[0017] Furthermore, the bottom of the frame is provided with a support rod extending in the direction of movement of the pedal, and a handrail is installed on the frame.

[0018] Furthermore, in this invention, the driving component is a motor.

[0019] Furthermore, the protective component includes two annular leg protection straps and an annular waist and abdomen protection strap, the two leg protection straps being connected to the waist and abdomen protection strap, and the waist and abdomen protection strap being connected to the frame.

[0020] Furthermore, both the leg protection belt and the waist and abdomen protection belt are provided with openings and are opened and closed by zippers or snaps.

[0021] Furthermore, the pedal is provided with a groove, the bottom of the groove is provided with anti-slip texture, and the pedal is provided with an anti-slip rope.

[0022] The lower limb rehabilitation training device provided by this utility model involves mounting two identical leg mechanisms onto a frame. Each leg mechanism includes a drive rod, a third connecting rod, and a fourth connecting rod. A rotating shaft is rotatably mounted on one end of the drive rod, and the rotating shaft is rotatably mounted on the frame. One end of each of the third and fourth connecting rods is hinged to the end of the drive rod furthest from the frame. The leg mechanism also includes a first connecting member and a second connecting member. Both the first and second connecting members have three hinge holes arranged in a triangle. Adjacent hinge holes in the first and second connecting members are connected by a fifth connecting rod and a sixth connecting rod. The linkage is hinged. The end of the third linkage away from the drive rod is hinged to the hinge hole on the first connector away from the fifth linkage. The end of the fourth linkage away from the drive rod is hinged to the hinge hole connecting the sixth linkage and the second connector. A pedal is hinged to the hinge hole on the second connector away from the fifth linkage. The drive member controls the rotation of the drive rod around the axis of rotation. Therefore, when the drive rod rotates, it will drive the hinge joint of the third and fourth linkages to rotate, thereby controlling the movement of the first and second connectors. In conjunction with the fifth and sixth linkages, it ultimately enables the pedal to move according to the attached... Figure 10 The device uses a trajectory movement to train the trainee to complete the natural gait trajectory of the human body, thereby improving the effect of rehabilitation training. At the same time, the application adopts a multi-link structure, which has stronger support and increases the load and safety of the device. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall axial side structure provided by this utility model;

[0025] Figure 2 This is a schematic diagram of the overall front structure of the present invention;

[0026] Figure 3 A schematic diagram of the overall side pedal provided by this utility model at its lowest point;

[0027] Figure 4 A schematic diagram of the overall side pedal provided by this utility model located on the rearmost side;

[0028] Figure 5 A schematic diagram of the overall side pedal of this utility model located at the top front side;

[0029] Figure 6A schematic diagram showing the structure of the overall side pedal located at the bottom front side of this utility model;

[0030] Figure 7 A schematic diagram of the natural gait trajectory of the human body provided by this utility model;

[0031] Figure 8 This is a schematic representation of the hip joint angle period provided by this utility model;

[0032] Figure 9 This is a schematic representation of the periodicity of the knee joint angle provided by this utility model;

[0033] Figure 10 A schematic diagram of the gait trajectory of the device provided by this utility model;

[0034] Figures 1-10 In the accompanying drawings, the reference numerals include:

[0035] 1. Frame; 2. Leg mechanism; 21. First connector; 211. First a-link; 212. First b-link; 213. First c-link; 22. Second connector; 221. Second a-link; 222. Second b-link; 223. Second c-link; 23. Third link; 24. Fourth link; 25. Fifth link; 26. Sixth link; 27. Drive rod; 3. Rotating shaft; 4. Pedal; 41. Anti-slip rope; 42. Groove; 5. Drive component; 6. Protective components; 61. Waist and abdomen protection belt; 62. Leg protection belt; 7. Support rod; 8. Handrail. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0037] The core of this invention is to provide a lower limb rehabilitation training device that has a trajectory that is closer to the natural gait of the human body, has low operating costs, and is safer.

[0038] Please refer to Figure 2A lower limb rehabilitation training device includes a frame 1, two sets of leg mechanisms 2, a drive component 5, and a protective assembly 6. The two sets of leg mechanisms 2 are identical and located on both sides of the frame 1. Each leg mechanism 2 includes a drive rod 27, a third connecting rod 23, and a fourth connecting rod 24. A rotating shaft 3 is rotatably mounted on one end of the drive rod 27, and the rotating shaft 3 is rotatably mounted on the frame 1. One end of the third connecting rod 23 and the fourth connecting rod 24 is hinged to the end of the drive rod 27 away from the frame 1. The leg mechanism 2 also includes a first connecting member 21 and a second connecting member 22. Both the first connecting member 21 and the second connecting member 22 have three triangularly distributed... The hinge holes of the fabric are connected by the fifth link 25 and the sixth link 26 between adjacent hinge holes of the first connector 21 and the second connector 22. The end of the third link 23 away from the drive rod 27 is hinged to the hinge hole of the first connector 21 away from the fifth link 25. The end of the fourth link 24 away from the drive rod 27 is hinged to the hinge hole of the sixth link 26 and the second connector 22. The pedal 4 is hinged to the hinge hole of the second connector 22 away from the fifth link 25. The drive member 5 is used to control the rotation of the drive rod 27 around the axis of the rotating shaft 3. The protective component 6 is used to protect the user.

[0039] In use, two identical leg mechanisms 2 are mounted on the frame 1. Each leg mechanism 2 includes a drive rod 27, a third connecting rod 23, and a fourth connecting rod 24. A rotating shaft 3 is rotatably mounted on one end of the drive rod 27, and the rotating shaft 3 is rotatably mounted on the frame 1. One end of the third connecting rod 23 and the fourth connecting rod 24 is hinged to the end of the drive rod 27 away from the frame 1. The leg mechanism 2 also includes a first connecting member 21 and a second connecting member 22. Both the first connecting member 21 and the second connecting member 22 have three hinge holes arranged in a triangle. Adjacent hinge holes of the first connecting member 21 and the second connecting member 22 are hinged together by a fifth connecting rod 25 and a sixth connecting rod 26. The third connecting rod 27... The end of the fourth link 24 away from the drive rod 27 is hinged to the hinge hole on the first connecting member 21 away from the fifth link 25. The end of the fourth link 24 away from the drive rod 27 is hinged to the hinge hole connecting the sixth link 26 and the second connecting member 22. The pedal 4 is hinged to the hinge hole on the second connecting member 22 away from the fifth link 25. The drive member 5 is used to control the rotation of the drive rod 27 around the axis of the rotating shaft 3. Therefore, when the drive rod 27 rotates, it will drive the hinge joint of the third link 23 and the fourth link 24 to rotate, thereby controlling the movement of the first connecting member 21 and the second connecting member 22. In conjunction with the fifth link 25 and the sixth link 26, the pedal 4 is finally moved according to the attached... Figure 10 The device uses a trajectory movement to train the trainee to complete the natural gait trajectory of the human body, thereby improving the effect of rehabilitation training. At the same time, the application adopts a multi-link structure, which has stronger support and increases the load and safety of the device.

[0040] It should be noted that the specific structure of the rotary drive component 5 is not limited in this embodiment. In some embodiments, the rotary drive component 5 is a motor, such as a DC brushed motor or a stepper motor.

[0041] In addition, the lengths of the third link 23, the fourth link 24, the fifth link 25 and the sixth link 26 in this embodiment of the present invention can be determined according to the actual experimental results to ensure that the device can have a gait that is closer to the natural human gait.

[0042] Optionally, in some embodiments, the first connector 21 and the second connector 22 may be composed of a rod-like structure or a plate-like structure, as long as the three hinge holes are in a triangular position.

[0043] Optionally, in some embodiments, the hinged positions of several links may be connected by riveting.

[0044] Optionally, in some embodiments, the hinge position between the pedal 4 and the second connector 22 is located at the rear end or middle of the pedal 4, which helps the trainee keep their feet horizontal.

[0045] Optionally, in some embodiments, in order to ensure that the pedal 4 has a rotation angle that simulates the natural gait of the human body when in use, the number of links hinged to the pedal 4 can be increased to achieve the rotation angle of the pedal 4 when in a natural gait.

[0046] Optionally, in some embodiments, the pedal 4 can be divided into two parts, and the two parts are hinged together. The hinge is located at one-third of the way from the front end of the pedal 4, which can simulate the angle of the foot when the human body lifts its foot, making it easier to stimulate the trainee and improve the training effect.

[0047] Please refer to Figure 4 In some embodiments, the triangle formed by the three hinge holes on the second connector 22 is an obtuse triangle, which is beneficial for simulating the natural gait posture of the human body, and the triangle can increase the stability of the entire device during use.

[0048] Optionally, in some embodiments, the first connector 21 is a triangular structure formed by connecting the first a link 211, the first b link 212, and the first c link 213 end to end in pairs. The three hinge holes are located at the ends where the first a link 211, the first b link 212, and the first c link 213 are connected. The second connector 22 is a triangular structure formed by connecting the second a link 221, the second b link 222, and the second c link 223 end to end in pairs. The three hinge holes are located at the ends where the second a link 221, the second b link 222, and the second c link 223 are connected. Using a rod-shaped structure can reduce the materials used in production and achieve the purpose of reducing costs.

[0049] Please refer to Figure 4 In some embodiments, the bottom of the frame 1 is provided with a support rod 7 extending in the direction of movement of the pedal 4. The support rod 7 increases the bottom area of ​​the frame 1, thereby enhancing the stability of the entire device. The frame 1 is equipped with a handrail 8, which is convenient for the user to hold and increases the trainee's sense of security.

[0050] Optionally, in some embodiments, the support rod 7 may have an adjustable extension length, such as a rotating structure or a telescopic structure, to facilitate the handling of the device.

[0051] Optionally, in some embodiments, the handrail 8 may adopt a telescopic structure or a rotating structure, and is provided with a locking mechanism for fixing the handrail 8 in use.

[0052] Please refer to Figure 4 In some embodiments, the protective component 6 includes two annular leg protection straps 62 and an annular waist and abdomen protection strap 61. The two leg protection straps 62 are connected to the waist and abdomen protection strap 61, and the waist and abdomen protection strap 61 is connected to the frame 1. In use, the trainee's two legs are fixed by the leg protection straps 62 respectively, and the trainee's back is fixed by the waist and abdomen protection strap 61 to achieve the purpose of protecting the trainee.

[0053] Optionally, in some embodiments, both the leg protection belt 62 and the waist and abdomen protection belt 61 are made of nylon fabric.

[0054] Optionally, in some embodiments, both the leg protection belt 62 and the waist and abdomen protection belt 61 are provided with openings, which are opened and closed by zippers or snaps, and the openings facilitate the fixation of the trainee's torso.

[0055] In other embodiments, Velcro can also be used to achieve the opening and closing function of the opening.

[0056] Please refer to Figure 4 In some embodiments, the pedal 4 is provided with a groove 42, which allows the trainee to place their foot inside the groove 42, preventing the trainee's foot from slipping off the pedal 4 and improving the trainee's training safety.

[0057] Optionally, in some embodiments, the bottom of the groove 42 is provided with anti-slip texture to increase the friction between the trainee's foot and the pedal 4, prevent the foot from sliding on the pedal 4 during use, and improve the training effect.

[0058] Optionally, in some embodiments, the pedal 4 is provided with an anti-detachment rope 41, which binds to the trainee's feet to prevent the trainee's feet from leaving the pedal 4 and improves the trainee's training safety.

[0059] Alternatively, in some embodiments, the anti-slip rope 41 may be made of a material with elastic deformation capability, such as rubber, rubber band, etc.

[0060] The hip and knee joint angles of normal gait obtained through human gait capture experiments are as follows: Figure 8 and Figure 9 As shown. The spatial coordinates of markers placed on the subject's limbs were captured by an infrared camera unit positioned on the side of the treadmill. The sampling frequency of the spatial coordinate acquisition system was 100 Hz, and the resolution was 0.1 mm. Gait cycle curves of the hip and knee joint angles were obtained by performing motion analysis on the acquired spatial coordinates of the markers. The sampling of the hip and knee angles was based on a constant time interval. This data was then input into Onen's lower limb kinematic model to obtain the subject's gait trajectory, as shown. Figure 7 .

[0061] The degrees of freedom of leg mechanism 2 were calculated, and parameters were adjusted by selecting the lengths of each link and performing simulation analysis using SOLIDWORKS software. Trajectory fitting was then performed to obtain the motion trajectory of pedal 4 during use of this structure. Figure 10 .

[0062] In other words, the key point of this utility model embodiment is: a leg mechanism 2 composed of several connecting rods is used, and it is coordinated with a first connecting member 21 and a second connecting member 22. Both the first connecting member 21 and the second connecting member 22 are provided with three hinge holes arranged in a triangle. The adjacent hinge holes of the first connecting member 21 and the second connecting member 22 are hinged to each other by a fifth connecting rod 25 and a sixth connecting rod 26. The end of the third connecting rod 23 away from the drive rod 27 is hinged to the hinge hole on the first connecting member 21 away from the fifth connecting rod 25. The fourth connecting rod... The end of 24 away from the drive rod 27 is hinged to the hinge hole connecting the sixth link 26 and the second connecting member 22. The second connecting member 22, away from the hinge hole of the fifth link 25, has a pedal 4 hinged to it. The drive member 5 controls the rotation of the drive rod 27 around the axis of the rotating shaft 3. Therefore, when the drive rod 27 rotates, it drives the hinge joint of the third link 23 and the fourth link 24 to rotate, thereby controlling the movement of the first connecting member 21 and the second connecting member 22. In conjunction with the fifth link 25 and the sixth link 26, the pedal 4 ultimately moves according to the attached... Figure 10 The device uses a trajectory movement to train the trainee to complete the natural gait trajectory of the human body, thereby improving the effect of rehabilitation training. At the same time, the application adopts a multi-link structure, which has stronger support and increases the load and safety of the device.

[0063] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0064] The above provides a detailed description of the lower limb rehabilitation training device provided by this utility model. Specific examples have been used to illustrate the principle and implementation of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core idea of ​​this utility model. It should be noted that those skilled in the art can make several improvements and modifications to this utility model without departing from the principle of this utility model, and these improvements and modifications also fall within the protection scope of this utility model.

Claims

1. A lower limb rehabilitation training device, characterized in that, include: Framework (1); Two sets of leg mechanisms (2) are identical and located on both sides of the frame (1). Each leg mechanism (2) includes a drive rod (27), a third connecting rod (23), and a fourth connecting rod (24). A rotating shaft (3) is rotatably mounted on one end of the drive rod (27), and the rotating shaft (3) is rotatably mounted on the frame (1). One end of the third connecting rod (23) and the fourth connecting rod (24) are hinged to the end of the drive rod (27) away from the frame (1). The leg mechanism (2) also includes a first connecting member (21) and a second connecting member (22). Each component has three hinge holes arranged in a triangle. The adjacent hinge holes of the first connector (21) and the second connector (22) are hinged to each other by the fifth link (25) and the sixth link (26). The end of the third link (23) away from the drive rod (27) is hinged to the hinge hole of the first connector (21) away from the fifth link (25). The end of the fourth link (24) away from the drive rod (27) is hinged to the hinge hole of the sixth link (26) and the second connector (22). A pedal (4) is hinged to the hinge hole of the second connector (22) away from the fifth link (25). A drive element (5) is used to control the drive rod (27) to rotate about the axis of the rotating shaft (3); The protective component (6) is used to protect the user.

2. The lower limb rehabilitation training device according to claim 1, characterized in that, The triangle formed by the three hinge holes on the second connector (22) is an obtuse triangle.

3. The lower limb rehabilitation training device according to claim 1, characterized in that, The first connector (21) is a triangular structure formed by connecting the first a link (211), the first b link (212) and the first c link (213) end to end. The three hinge holes are located at the ends where the first a link (211), the first b link (212) and the first c link (213) are connected.

4. The lower limb rehabilitation training device according to claim 3, characterized in that, The second connector (22) is a triangular structure formed by connecting the second a link (221), the second b link (222), and the second c link (223) end to end. The three hinge holes are located at the ends where the second a link (221), the second b link (222), and the second c link (223) are connected.

5. A lower limb rehabilitation training device according to claim 1, characterized in that, The frame (1) has a support rod (7) extending in the direction of movement of the pedal (4) at its bottom, and a handrail (8) is installed on the frame (1).

6. The lower limb rehabilitation training device according to claim 1, characterized in that, The driving component (5) is a motor.

7. A lower limb rehabilitation training device according to any one of claims 1-6, characterized in that, The protective component (6) includes two annular leg protection straps (62) and an annular waist and abdomen protection strap (61), the two leg protection straps (62) being connected to the waist and abdomen protection strap (61), and the waist and abdomen protection strap (61) being connected to the frame (1).

8. A lower limb rehabilitation training device according to claim 7, characterized in that, Both the leg protection belt (62) and the waist and abdomen protection belt (61) have openings and are opened and closed by zippers or snaps.

9. A lower limb rehabilitation training device according to claim 7, characterized in that, The pedal (4) is provided with a groove (42), the bottom of the groove (42) is provided with anti-slip texture, and the pedal (4) is provided with an anti-slip rope (41).

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