MECHATRONIC DEVICE FOR REHABILITATION OF LOWER LIMB JOINTS

Abstract

The utility model relates to robotic devices for lower limb rehabilitation, in particular for the rehabilitation of ankle and knee joints. The objective of the utility model is to improve operational characteristics. The essence of the utility model: the lower end of the femur support 3 is movably mounted on a base 1, and the upper end of the femur support 3 is secured to the femur 4 by a cuff 5, which ensures the transmission of the torque of the drive 6 to the femur 4. A rotary motion drive 6 is mounted on the base 1, kinematically connected to the femur support 3. The patient's foot 7 is secured to the movable frame 2 by a cuff 8.When the control voltage is applied to the drive 6, the hip support 3 rotates by a given angle controlled by the rotation angle sensor 9, then the signal from the sensor 9 is sent to the signal processing unit 12, simultaneously with this, the signal from the sensor 10 is sent to the unit 12, after processing, the signals are sent to the comparison unit 13, and then the control voltage is generated in the controller 14 and with the help of which the position of the hip support 3 is adjusted. Positive effect: the ability to control the load on the patient's joints and to select the rehabilitation process taking into account the force factors acting on the joints. 1 fig.

Description

[0001] The utility model relates to robotic devices for the rehabilitation of lower limbs, in particular for the rehabilitation of ankle and knee joints.

[0002] Impaired lower limb function and limited joint mobility are significant disabilities that prevent a person from fulfilling all essential life needs. During rehabilitation exercises, increased stress is placed on the joints, which leads to decreased effectiveness and contributes to the degradation of articular cartilage. Therefore, it is important to monitor the level of stress and stress-strain in the joints and be able to manage them.

[0003] A known exoskeleton foot is configured to be attached to the legs of an exoskeleton user, containing a hinged assembly through which the foot is connected to the lower leg, characterized in that the foot consists of a mobile and drive platforms, a drive, a control system including a motion setting unit, a signal processing unit, a comparison unit, a controller, a drive part rotation angle sensor, a force-torque sensing sensor, wherein the drive platform is kinematically connected to the drive, and the control system is located in a housing, wherein the motion setting unit is connected to the signal processing unit, and the signal processing unit is connected to the comparison unit and the drive part rotation angle and force-torque sensing sensors, wherein the comparison unit is connected to the drive through the controller (patent for PM No. 196167, 02 / 18 / 2020, Bulletin No. 5).

[0004] The disadvantage of this device is that it can only be used for foot rehabilitation, which limits its range of application.

[0005] The said disadvantages are eliminated in a mechatronic device for the rehabilitation of the ankle and knee joints, including a fixed base on which a translational drive is mounted, kinematically connected to a movable frame, a thigh support fixedly mounted on the base and designed to secure the patient's thigh with a cuff, a support platform with fastening elements for the lower leg and foot, wherein the support platform consists of two parts telescopically connected to each other with a translational drive, the lower part of the support platform is designed to secure the patient's foot with two cuffs, is pivotally connected to the movable frame and is provided with a rotational drive fixedly mounted on the support platform, the axis of rotation of the support platform coincides with the axis of rotation of the patient's ankle joint, the drives are electrically connected to the control means,which is configured to supply control signals to the drives and includes linear displacement sensors configured to track changes in the length of the drives, an angular displacement sensor configured to track the relative angle between the patient's foot and the base, as well as strain gauges installed in the support platform and configured to record the force of the patient's foot on the support platform to adjust the force of the foot on the support platform, wherein the supporting surface of the base is made arcuate (see patent PM No. 221146, 23.10.23, bulletin No. 30).

[0006] The disadvantage of this device is the complexity of the design, which significantly affects the performance characteristics of the device.

[0007] The objective of the utility model is to improve operational characteristics.

[0008] The stated objective is achieved in that the mechatronic device for rehabilitation of lower limb joints consists of a fixed base; a movable frame mounted on the fixed base, wherein the movable frame is configured to secure the patient's foot using a cuff; a thigh support with a lower end pivotally mounted on the fixed base and an upper end configured to be secured using a cuff on the patient's thigh; a rotary motion drive mounted on the fixed base and kinematically connected to the thigh support;control means including a regulator, a motion setting unit connected to a signal processing unit connected to a comparison unit and sensors for the angle of rotation of the hip joint and force-torque sensing, wherein the comparison unit is connected via the regulator to a rotary motion drive with the possibility of generating a control voltage for adjusting the position of the hip joint based on a comparison of the processed signals from the sensors for the angle of rotation of the hip joint and force-torque sensing.

[0009] Distinctive features of the utility model were not identified during the study of this and related fields of technology.

[0010] The set of features ensures the achievement of the objective of the utility model - improving operational characteristics.

[0011] The figure shows the functional diagram of the device.

[0012] The device consists of a fixed base 1, on which a movable frame 2 is mounted. The lower end of the thigh support 3 is pivotally fixed to the base 1, and the upper end of the thigh support 3 is fixed to the thigh 4 using a cuff 5, which ensures the transmission of the torque of the drive 6 to the thigh 4. A rotational motion drive 6 is mounted on the base 1, kinematically connected to the thigh support 3. The patient's foot 7 is fixed to the movable frame 2 using a cuff 8. The control means includes a thigh support rotation angle sensor 9, a force-torque sensing sensor 10, a motion setting unit 11, a signal processing unit 12, a comparison unit 13, and a controller 14.

[0013] The device operates as follows.

[0014] When control voltage is applied to drive 6, hip support 3 rotates around the hinge by a predetermined angle, controlled by rotation angle sensor 9. The signal from sensor 9 is then sent to signal processing unit 12. Simultaneously, unit 12 receives a signal from sensor 10. After processing, the signals are sent to comparison unit 13, where the deviation of the actual signal from the predetermined Δϕ, ΔP is determined. Next, controller 14 generates a control voltage, which is used to adjust the position of hip support 3.

[0015] The use of the device makes it possible to control the load on the patient's joints and select a rehabilitation process taking into account the force factors acting on the joints.

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