Bowden Cable Hydrotherapy Robot for Lower-Limb Rehabilitation
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Solution Overview
Problem
Existing water-based rehabilitation systems face high costs due to the need for waterproof power sources, labor-intensive therapist assistance, and reduced sensitivity in complex fluid environments, leading to inefficiencies.
Innovation Solution
A training mechanism with a remote power source outside the water tank, utilizing a Bowden cable assembly for power transmission, and a rotating mechanism for easy patient wearing, enabling six-degree-of-freedom (6-DOF) lower-limb rehabilitation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a waterproof power source is used in the water-based rehabilitation system, then the system can operate underwater, but the cost increases significantly
Solution Approach 1:
The system is divided into waterproof and non-waterproof parts. The training mechanism (support plate, sliding table-rod assembly, hanging frame, leg training sub-mechanisms) is placed underwater, while the power source (remote control motor box with motors) is placed outside the water. This segmentation allows the power source to avoid waterproofing requirements while the training mechanism operates underwater.
Solution Approach 2:
A Bowden cable assembly acts as an intermediary to transmit power and control signals from the remote power source to the underwater training mechanism. The cable assembly includes a driving wheel, guide wheels, and cables that can transmit force through the water barrier without requiring the power source itself to be waterproof.
2Ease of operation
If a therapist stays in the hydrotherapy pool to assist the patient, then the rehabilitation training can be completed, but the labor intensity and physical discomfort of the therapist increase excessively
Solution Approach 1:
The training mechanism is designed to be independently adjustable and operable without therapist intervention. The support plate, sliding table-rod assembly, and leg training sub-mechanisms can be adjusted to accommodate different patient needs, and the remote control system allows operation without the therapist entering the water.
Solution Approach 2:
Manual adjustment and assistance by the therapist is replaced with a motorized system. The remote control motor box with motors automatically adjusts the training mechanism components, replacing the need for manual mechanical adjustment by the therapist.
3Productivity
If land-based rehabilitation facilities are directly applied to the underwater environment, then the rehabilitation training can proceed, but the facilities have limited sensitivity and are prone to disturbance from complex water pressure
Solution Approach 1:
The training mechanism components are specifically designed for underwater operation with appropriate materials and structures. The support plate, sliding table-rod assembly, and hanging frame are configured to maintain their mechanical properties and sensitivity underwater, with local adaptations to handle water pressure and buoyancy forces.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system reduces costs by eliminating waterproofing needs, enhances sensitivity in fluid environments, and allows independent patient training with improved flexibility and comfort, reducing therapist intervention.
Implementation Method 1
the Bowden cable assembly comprises a first driving wheel, two first guide wheels matching the first driving wheel and two first Bowden cables; first ends of the two first Bowden cables are connected to output shafts of two motors in the remote control motor box, respectively; and a second end of one of the two first Bowden cables is configured to wind around one of the two first guide wheels to be fixed to a first side of the first driving wheel
Implementation Method 2
Compared with the traditional land-based rehabilitation means, water can provide buoyancy to prevent secondary injury caused by abnormal muscle strength, limited balance ability and poor joint stability
Implementation Method 3
Moreover, water can be heated according to the patient's needs to improve the metabolism and blood circulation, significantly shortening the rehabilitation cycle
Data Source
AI summary
A training mechanism for water-based lower-limb rehabilitation, including two leg training sub-mechanisms. Each leg training sub-mechanism includes a hip joint training device, an adjustable thigh plate, an adjustable shank plate, a knee training device, an ankle training device and a pedal. The hip joint training device, knee training device and ankle training device are connected to a remote control motor box through a Bowden cable assembly, respectively. A robot including the training mechanism is also provided, whose power source is arranged outside the water, and the power is supplied to the training mechanism through the Bowden cable assembly.