CN113558926A

CN113558926A - Exoskeleton knee joint rehabilitation robot

Info

Publication number: CN113558926A
Application number: CN202110520527.7A
Authority: CN
Inventors: 徐子力; 赵鸣恩; 雷静桃; 顾思嘉; 李楚婷; 卢胜男; 张清泉; 丁浩; 迟尚凯
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2021-05-13
Filing date: 2021-05-13
Publication date: 2021-10-29

Abstract

The invention relates to an exoskeleton knee joint rehabilitation robot. A single-degree-of-freedom four-link bionic knee joint structure based on artificial muscles includes a thigh fixing mechanism, a four-link bionic knee joint mechanism and a calf fixing mechanism. The upper part of the thigh fixing mechanism passes through One end of the four-link bionic knee joint mechanism is fixedly connected, and the other end of the four-link bionic knee joint mechanism is fixedly connected to the lower part of the lower leg fixing mechanism, and the lower part of the thigh fixing mechanism is connected to the upper part of the lower leg fixing mechanism through artificial muscles. The thigh fixing mechanism is used as a fixed platform, and the lower leg fixing mechanism is used as a moving platform. Driven by artificial muscles, the bionic knee joint can realize the plane single-degree-of-freedom movement of the knee joint, and realize the flexion and extension movement of the knee joint, and the flexion and extension angle can reach >90°. The flexion and extension angle is the angle between the thigh fixing mechanism and the calf fixing mechanism. . The mechanism of the invention is simple and no additional transmission device is needed, the mechanism is flexible, secondary injury can be prevented, and it is suitable for the technical field of exoskeleton knee joint rehabilitation.

Description

Exoskeleton knee joint rehabilitation robot

Technical Field

The invention belongs to the field of exoskeleton rehabilitation, and particularly relates to an exoskeleton knee joint rehabilitation robot.

Background

The rehabilitation robot is an important auxiliary tool for rehabilitation treatment of patients, and in order to prevent joint adhesion after knee joint operation, the patients need to perform leg flexion and extension exercise training after the operation. Because the aging form of the population in China is severe, and the number of the existing rehabilitation training physical therapists cannot meet the training requirement, the lower limb rehabilitation training of the patient by adopting the knee joint rehabilitation training device instead of manpower is an effective method. Researches show that the high-repetition training of various rehabilitation devices is very effective in the rehabilitation of knee joint replacement postoperative, cerebrovascular disease sequelae and paraplegic patients, and can play a role in accelerating the rehabilitation of the patients.

The rehabilitation robot is mainly used for rehabilitation of patients by means of coordination and cooperation of a bionic joint mechanism and a driving device. The good bionic joint mechanism can be attached to the motion mode of the human knee joint, the good driving device can reduce the arrangement of a transmission mechanism, and the whole structure is simplified, so that the selection and the arrangement of the driving device of the exoskeleton knee joint rehabilitation robot are the key points of the performance.

The existing exoskeleton rehabilitation robot mainly comprises a suspended weight-losing rehabilitation robot, a wearable exoskeleton robot and a plate-type and running platform training robot. To the fixed upper part of the body of suspension type system of losing weight patient, the focus improves, leads to the swing or the rotation of health, and the patient can not be fine control posture attitude oneself and cause the secondary injury, has increased patient's fear, can produce adverse effect to patient's recovery. And still require professional attendants. Most of the suspension systems or exoskeleton wearing systems have too many auxiliary operations, so that patients are too passive to fully exert subjective control consciousness. The wearable robot needs a professional rehabilitation therapist for accompanying due to the complex operation process, and consumes a large amount of manpower. The plate type and running platform training robot has ideal training effect, but occupies large space and is complex in mechanism and control.

Disclosure of Invention

Aiming at the defects of the existing rehabilitation robot, the invention provides an exoskeleton knee joint rehabilitation robot which comprises a thigh fixing mechanism, a bionic knee joint mechanism and a shank fixing mechanism, wherein the thigh fixing mechanism is connected with one end of the bionic knee joint mechanism, and the other end of the bionic knee joint mechanism is connected with the shank fixing mechanism; the thigh fixing mechanism is connected with the shank fixing mechanism through an artificial muscle mechanism, and the artificial muscle mechanism provides power to enable the knee joint of the leg of the user to realize flexion and extension so as to carry out reciprocating training.

Further, bionical knee joint mechanism includes first mounting and second mounting and four-bar linkage, and four-bar linkage constitutes by two liang articulated being in the same place of four connecting rods of length size diverse, first mounting and second mounting respectively with a pair of connecting rod fixed connection that sets up relatively, the different length of four-bar linkage sets up to making the motion trajectory laminate human knee joint's J font instantaneous center motion trajectory, and the angle of flexion and extension of knee joint is greater than 90 degrees.

Preferably, the length of the four connecting rods, that is, the distance between two hinge holes on one connecting rod, is: 47mm, 30mm, 35mm, 18mm, first mounting and second mounting are connected with two of them connecting rod fixed connection that length is the shortest respectively for the angle of flexion and extension of user's knee joint reaches 135 degrees.

Furthermore, the artificial muscle mechanism comprises at least one artificial muscle, and two ends of the artificial muscle are movably and fixedly connected with the thigh fixing mechanism and the shank fixing mechanism through Hooke joints respectively.

Preferably, the artificial muscle comprises two pairs of symmetrically arranged artificial muscles, and the artificial muscle is an inflatable contraction type artificial muscle.

Further, the thigh fixing mechanism includes: the supporting legs are fixedly connected with the thigh supporting ring, and the first hook hinge fixing plate is arranged on the thigh supporting ring.

Preferably, the thigh supporting rings comprise a first thigh supporting ring, a second thigh supporting ring and a third thigh supporting ring, the first thigh supporting ring, the second thigh supporting ring and the third thigh supporting ring are connected together through a pair of first fixing pieces, the four first hook hinge fixing plates are fixedly arranged on the third thigh supporting ring, the supporting legs are fixedly connected with the second thigh supporting ring, and the whole thigh fixing mechanism is supported on the ground.

Preferably, the calf support ring comprises a first calf support ring and a second calf support ring, the first calf support ring and the second calf support ring are connected together through a pair of second fixing pieces, and the four second hook hinge fixing plates are fixedly arranged on the second calf support ring.

Further, the two pairs of artificial muscles are stretched or compressed respectively during flexion.

Further, the two pairs of artificial muscles are compressed or stretched, respectively, during the stretching process.

Compared with the prior art, the invention has the following obvious prominent substantive characteristics and obvious advantages:

1. the invention has simple structure and convenient wearing, and does not need the accompanying of professional personnel; the installation is convenient;

2. the invention adopts the artificial pneumatic muscle as the power device, and has the advantages of high power volume ratio, high power mass ratio, good flexibility, small noise pollution and the like;

3. the knee joint of the invention adopts a four-bar mechanism, and is more suitable for the instantaneous center trajectory change of the knee joint of a patient than a common rotary joint;

4. the knee joint rehabilitation training device is small in size and convenient to install, and can be used for performing knee joint rehabilitation training on a patient without leaving a sickbed;

5. the mechanism of the invention has flexibility, can prevent secondary injury, and is suitable for the technical field of exoskeleton knee joint rehabilitation.

Drawings

Fig. 1 is a schematic structural diagram of an exoskeleton knee joint rehabilitation robot of the present invention;

fig. 2 is a partially enlarged schematic view of four link portions of the exoskeleton knee joint rehabilitation robot of the present invention;

fig. 3 is a schematic view of the knee joint shown in fig. 1 in a knee bending angle θ. In the figure, the angle when the thigh fixing mechanism and the shank fixing mechanism are parallel is assumed to be 0 °;

fig. 4 is a front view of a thigh fixing part of the exoskeleton knee joint rehabilitation robot of the present invention;

fig. 5 is a top view of the thigh fixing part of the exoskeleton knee joint rehabilitation robot of the present invention;

fig. 6 is a front view of the lower leg fixation section of the exoskeleton knee joint rehabilitation robot of the present invention;

fig. 7 is a top view of the lower leg fixation portion of the exoskeleton knee joint rehabilitation robot of the present invention;

fig. 8 is a partial schematic view of the connection mode of the artificial pneumatic muscles and the connecting rods of the exoskeleton knee joint rehabilitation robot.

Detailed Description

The technical solutions in the preferred embodiments of the present invention are fully described below with reference to the accompanying drawings. Wherein, the drawings are for illustrative purposes only and are schematic representations rather than physical representations; certain features of the drawings may be omitted, enlarged or reduced in size, and not to represent actual dimensions, for better illustrating embodiments of the present invention, and the omission of certain well-known structures from the drawings may be appreciated by those skilled in the art.

The first embodiment is as follows:

referring to fig. 1 to 8, the first embodiment provides an exoskeleton knee joint rehabilitation robot, which includes a thigh fixing mechanism 1, a bionic knee joint mechanism 2, and a shank fixing mechanism 3, wherein the thigh fixing mechanism 1 is connected with one end of the bionic knee joint mechanism 2, and the other end of the bionic knee joint mechanism 2 is connected with the shank fixing mechanism 3; the thigh fixing mechanism 1 is connected with the shank fixing mechanism through an artificial muscle mechanism 4, and the artificial muscle provides power to enable the knee joint of the leg of the user to realize flexion and extension so as to carry out reciprocating training.

Specifically, bionic knee joint mechanism 2 includes first mounting 17 and second mounting 34 and four-bar linkage, and four-bar linkage constitutes by two liang of articulated being in the same place of four connecting rods of length size diverse, first mounting 17 and second mounting 34 respectively with a pair of connecting rod fixed connection that sets up relatively, the different length of four-bar linkage sets up to making the motion trajectory laminate human knee joint's J font instantaneous center motion trajectory, and the angle of flexion and extension of knee joint is greater than 90 degrees.

Specifically, the lengths of the four connecting

rods

21, 22, 23, and 24, that is, the distances between two hinge holes on one connecting rod, are: 47mm, 30mm, 35mm and 18mm, and the first fixing part 17 and the second fixing part 34 are respectively and fixedly connected with the centers of the two connecting

rods

24 and 22 with the shortest length, so that the flexion and extension angle of the knee joint of the user can reach 135 degrees.

In this embodiment, the first fixing member 17 is in the form of a rod, which is fixedly connected to one of the four links 24 at an initial angle across it.

The artificial muscle mechanism comprises four artificial muscles 4, and two ends of each artificial muscle 4 are movably and fixedly connected with the thigh fixing mechanism 1 and the shank fixing mechanism 2 through a first hook joint 111 and a second hook joint 36 respectively.

The artificial muscles 4 comprise two pairs of artificial muscles 4 which are symmetrically arranged, and the artificial muscles 4 are inflatable contraction type artificial muscles.

The thigh fixing mechanism 1 includes: thigh supporting rings, supporting legs 16 and a first hook hinge fixing plate 110, wherein the supporting legs 16 are fixedly connected with the thigh supporting rings, and the first hook hinge 111 fixing plate is arranged on the thigh supporting rings.

Specifically, the thigh supporting ring comprises a first thigh supporting ring 11, a second thigh supporting ring 12 and a third thigh supporting ring 13, the first thigh supporting ring 11, the second thigh supporting ring 12 and the third thigh supporting ring 13 are connected with each other through a pair of first fixing parts 17, four first hook hinge fixing plates 110 are fixedly arranged on the third thigh supporting ring 13, and supporting legs 16 are fixedly connected with the second thigh supporting ring 12 to support the whole thigh fixing mechanism 1 on the ground.

Specifically, the calf support ring comprises a first calf support ring 31 and a second calf support ring 32, the first calf support ring 31 and the second calf support ring 32 are connected together through a pair of second fixing pieces 34, and four second hook hinge fixing plates 35 are fixedly arranged on the second calf support ring 32.

The pair of

artificial muscles

41, 42 is stretched during the flexion process; the other pair of

artificial muscles

43, 44 is compressed during flexion.

A pair of

artificial muscles

41, 42 are compressed during the extension process; the other pair of

artificial muscles

43, 44 is stretched during the stretching process.

This embodiment ectoskeleton knee joint rehabilitation robot, simple to operate need not professional rehabilitation therapist and attends, and the mechanism is simple need not to add transmission in addition again, and the mechanism has the flexibility, can prevent the secondary damage, is suitable for ectoskeleton knee joint rehabilitation technical field.

Example two:

this embodiment is substantially the same as the first embodiment, and is characterized in that:

in this embodiment, the four-bar bionic knee joint mechanism 2 is formed by connecting two bars through a four-bar mechanism, the length dimensions of four bars in the four-bar mechanism are different and determined according to the set initial included angle distribution, and at least one artificial muscle 4 is arranged between the different bars.

In this embodiment, the four-bar bionic knee joint mechanism 2 is formed by connecting four bars with different lengths, and the motion trail fits the J-shaped instantaneous center motion trail of the human knee joint.

In this embodiment, the pneumatic artificial muscle 4 is an inflatable contraction type artificial muscle, and is arranged on two different rod members or a mechanism fixedly connected with the rod members.

In the present embodiment, one artificial muscle 4 is provided which is arranged in two areas with a distance which constantly decreases during flexion.

In the present embodiment, another artificial muscle 4 is arranged in two areas of decreasing distance during extension.

The exoskeleton knee joint rehabilitation robot is simple in structure and convenient to wear, and does not need a professional to accompany; the embodiment adopts the artificial pneumatic muscle as the power device, and has the advantages of high power volume ratio, high power mass ratio, good flexibility and small noise pollution; the knee joint of the embodiment adopts a four-bar mechanism, and is more suitable for the instantaneous center trajectory change of the knee joint of a patient compared with a common rotary joint; the exoskeleton knee joint rehabilitation robot is small in size and convenient to install, and can be used for performing knee joint rehabilitation training without leaving a sickbed for a patient.

Example three:

as shown in fig. 1 to 8, the present embodiment provides a light and simple exoskeleton knee joint rehabilitation robot, which includes a thigh fixing mechanism 1, a shank fixing mechanism 4, an artificial muscle 3, and a four-bar knee joint 2; the thigh fixing mechanism comprises a thigh supporting ring 11, a thigh towing ring 12, a thigh supporting ring 13, a first bandage 14, a second bandage 15, a supporting leg 16, a pair of first fixing pieces 17 and 18, a belt fastener 19, a first hook hinge fixing plate 110 and a first hook hinge 111, the thigh supporting ring 11, the thigh supporting ring 12 and the thigh supporting ring 13 are welded between the two first fixing pieces 17 and 18 according to equal distances, the two rehabilitation mechanism supporting legs 16 are symmetrically welded on the two first fixing pieces 17 and 18 respectively, a fixing and supporting effect is achieved on the whole exoskeleton knee joint rehabilitation robot, and a patient can directly put legs on the knee joint rehabilitation robot. Four belt fasteners 19 are fixed to the first fixing members 17 and 18 by screws, and the first and second

binding bands

14 and 15 are connected by square through-holes of the belt fasteners 19, thereby fixing the leg placed thereon. The first hook hinge fixing plate 110 is welded on the thigh supporting ring 13, and is provided with screw holes, and is connected with four first hook hinges 111 through the screw holes.

Bionic knee joint 2 includes connecting rod 21, connecting rod 22, connecting rod 23, connecting rod 24, and the four-bar passes through hinged joint, four connecting rod length diverse, the distance of two hinge eyes of connecting rod 21 is 47mm, the distance of two hinge eyes of connecting rod 22 is 30mm, the distance of two hinge eyes of connecting rod 23 is 35mm, the distance of two hinge eyes of connecting rod 24 is 18mm, and four connecting rod length processes through optimizing the gained, can realize the J font instantaneous center change that accords with human knee joint to the maximum buckling angle that can realize 135 o. Wherein the two connecting rods 24 are symmetrically welded with the two first fixing parts 17 and 18 of the thigh fixing mechanism 1.

The lower leg fixing mechanism 3 comprises a lower leg support ring 31, a lower leg support ring 32, a binding band 33, a connecting plate 34, a second hook hinge fixing plate 35, a second hook hinge 36 and two belt fasteners 37, wherein the lower leg support ring 31 and the lower leg support ring 32 are welded on the two second fixing parts 34, the four second hook hinge fixing plate 35 are welded on the lower leg support ring 32, the two belt fasteners are stacked and fixed on the two second fixing parts 34 through screws, square through holes on the belt fasteners 37 of the binding band 33 are connected, so that lower legs placed on the lower leg support ring are fixed, and the second hook hinges 36 are connected through screw holes on the second hook hinge fixing plate 35. The second fixing member 34 is in the form of a rod, which is fixedly connected to the connecting rod 22 at approximately right angles.

The artificial muscle 41, the artificial muscle 42, the artificial muscle 43 and the artificial muscle 44 are respectively in threaded connection through a first hook joint 111 and a second hook joint 36 on the thigh fixing mechanism 1 and the shank fixing mechanism 3. The Hooke's hinge can make the mechanism keep the artificial muscle not to bend and twist all the time in the motion process.

The use principle of the skeletal knee joint rehabilitation robot in the above embodiment of the invention is as follows:

a. in the passive training process, the lower artificial muscle is inflated and contracted to drive the knee joint of the patient to realize flexion by a mechanism, the upper artificial muscle is inflated and contracted to drive and overcome the self weight of the mechanism and the gravity of the crus of the patient to realize the flexion and extension state of the knee joint of the patient, and the upper artificial muscle and the lower artificial muscle are intermittently contracted to realize the reciprocating motion of the knee joint

b. In the process of power-assisted training, the buckling movement of the patient, which is lower than the gravity of the lower leg, is overcome in a horizontal state by controlling the inflation and contraction of the upper artificial muscle, and the flexion and extension state is recovered, so that the patient can train in a reciprocating way;

c. in the active training process, the flexion and extension movement of the patient, which is equal to the gravity of the lower leg, is overcome in the horizontal state through the inflation and contraction control of the upper artificial muscle and the lower artificial muscle, and the flexion and extension state is recovered, so that the patient can train in a reciprocating way;

d. in the anti-resistance training process, the horizontal state of the patient overcomes the buckling movement larger than the gravity of the lower leg through the inflation and contraction control of the upper artificial muscle and the lower artificial muscle, the flexion and extension state is recovered, and the reciprocating training of the patient is realized.

The single-degree-of-freedom four-bar bionic knee joint structure based on artificial muscles comprises a thigh fixing mechanism, a four-bar bionic knee joint mechanism and a shank fixing mechanism, wherein the upper part of the thigh fixing mechanism is fixedly connected with one end of the four-bar bionic knee joint mechanism, the other end of the four-bar bionic knee joint mechanism is fixedly connected with the lower part of the shank fixing mechanism, and the lower part of the thigh fixing mechanism is connected with the upper part of the shank fixing mechanism through artificial muscles. The thigh fixing mechanism is used as a fixed platform, and the shank fixing mechanism is used as a movable platform. This bionical knee joint can realize the plane single degree of freedom motion of knee joint under artifical muscle drive, realizes the motion of flexion and extension of knee joint, can reach and bend and extend angle >90, bends and extends the angle promptly for thigh fixed establishment and shank fixed establishment's contained angle ectoskeleton knee joint rehabilitation robot, simple to operate need not professional rehabilitation therapist and attends, and the mechanism simply need not to add transmission in addition again, and the mechanism has the flexibility, can prevent the secondary damage, is suitable for ectoskeleton knee joint rehabilitation technical field.

The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention.

Claims

1. An exoskeleton knee joint rehabilitation robot is characterized in that, comprising a thigh fixing mechanism, a bionic knee joint mechanism, a calf fixing mechanism, the thigh fixing mechanism is connected with one end of the bionic knee joint mechanism, and the bionic knee joint mechanism is connected. The other end of the joint mechanism is connected with the lower leg fixing mechanism; the thigh fixing mechanism is connected with the lower leg fixing mechanism through an artificial muscle mechanism, and the artificial muscle mechanism provides power to make the knee joint of the user's leg realize flexion and extension for reciprocating training.

2. The exoskeleton knee joint rehabilitation robot according to claim 1, wherein the bionic knee joint mechanism comprises a first fixing member, a second fixing member and a four-bar linkage mechanism, and the four-bar linkage mechanism is composed of four The connecting rods with different lengths and sizes are hinged together, the first fixing member and the second fixing member are respectively fixedly connected with a pair of oppositely arranged connecting rods, and the different lengths of the four connecting rods are set so that The motion trajectory fits the J-shaped instantaneous motion trajectory of the human knee joint, and the flexion and extension angle of the knee joint is greater than 90 degrees.

3. The exoskeleton knee joint rehabilitation robot according to claim 2, wherein the lengths of the four connecting rods, that is, the distances between the two hinge holes on one connecting rod are respectively: 47mm, 30mm, 35mm, 18mm , the first fixing member and the second fixing member are respectively fixedly connected with the two links with the shortest length, so that the flexion and extension angle of the user's knee joint reaches 135 degrees.

4 . The exoskeleton knee joint rehabilitation robot according to claim 1 , wherein the artificial muscle mechanism comprises at least one artificial muscle, and the two ends of the artificial muscle are respectively connected to the thigh fixing mechanism through the Hook hinge. 5 . It is movably and fixedly connected with the lower leg fixing mechanism.

5 . The exoskeleton knee joint rehabilitation robot according to claim 4 , wherein the artificial muscles comprise two pairs of symmetrically arranged artificial muscles, and the artificial muscles are inflatable and contractile artificial muscles. 6 .

6 . The exoskeleton knee joint rehabilitation robot according to claim 2 , wherein the thigh fixing mechanism comprises: a thigh support ring and outriggers, and a first Hooke hinge fixing plate, the outriggers and the The thigh support ring is fixedly connected, and the first Hook hinge fixing plate is arranged on the thigh support ring.

7. The exoskeleton knee joint rehabilitation robot according to claim 6, wherein the thigh support ring comprises a first thigh support ring, a second thigh support ring, and a third thigh support ring, and a pair of the first thigh support ring The fixing piece connects the first thigh support ring, the second thigh support ring and the third thigh support ring with each other, and the four first Hook hinge fixing plates are fixedly arranged on the third thigh support ring, The outrigger is fixedly connected with the second thigh support ring to support the entire thigh fixing mechanism on the ground.

8 . The exoskeleton knee joint rehabilitation robot according to claim 2 , wherein the calf support ring comprises a first calf support ring and a second calf support ring, and a pair of the second fixing members attaches the first calf support ring. The calf support ring and the second calf support ring are connected to each other, and the four second Hook hinge fixing plates are fixedly arranged on the second calf support ring.

9 . The exoskeleton knee joint rehabilitation robot according to claim 5 , wherein the two pairs of artificial muscles are respectively stretched or compressed during the flexion process. 10 .

10 . The exoskeleton knee joint rehabilitation robot according to claim 9 , wherein the two pairs of artificial muscles are respectively compressed or stretched during the stretching process. 11 .