CN102671341A - Intelligent rehabilitation training device for lower limbs - Google Patents
Intelligent rehabilitation training device for lower limbs Download PDFInfo
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- CN102671341A CN102671341A CN2012101750985A CN201210175098A CN102671341A CN 102671341 A CN102671341 A CN 102671341A CN 2012101750985 A CN2012101750985 A CN 2012101750985A CN 201210175098 A CN201210175098 A CN 201210175098A CN 102671341 A CN102671341 A CN 102671341A
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Abstract
The invention discloses an intelligent rehabilitation training device for lower limbs, which comprises a control system, an auxiliary bracket, an elliptical machine arrangement platform and a treadmill platform. The auxiliary bracket is located in front of the elliptical machine arrangement platform; the treadmill platform is located behind the elliptical machine arrangement platform; a servo motor is arranged at the lower end of the auxiliary bracket; a top support mechanism is arranged on the upper part of the intelligent rehabilitation training device; an electric elliptical machine and a 3D (three-dimensional) multimedia simulation system are arranged on the elliptical machine arrangement platform; a bionic double-foot system is arranged on the treadmill platform; and hand levers are arranged on the outer sides of the elliptical machine arrangement platform and the treadmill platform, and the 3D multimedia analogue system really simulates a real environment in a training. A sufferer has immersive feeling in the training process and really feels walking in the real environment, so that the entertainment of the training is improved, the stimulation to nerve is strengthened, and the effect of rehabilitation training is improved. The elliptical machine is used for similarly simulating walking gait and convenient for controlling, and just controls the rotating speed of the motor.
Description
Technical field
The invention belongs to the rehabilitation training apparatus, specifically is a kind of lower limb intelligent rehabilitation trainer.
Background technology
Healing robot is as a kind of automation rehabilitation medicine equipment, and it is foundation with the theory of medicine, helps the patient to carry out science and effectively rehabilitation training, and patient's technical performance is better replied.Healing robot is by computer control, and is furnished with corresponding sensor and security system, can automatic Evaluation rehabilitation training effect, realize optimum training according to patient's actual conditions.This robot also can be used as the sports training equipment of healthy elderly.
In the design of traditional rehabilitation training machine, the platform that instrument mainly provides the patient initiatively to walk.If the patient with severe symptoms because afunction can't normally be carried out the active walking, will carry out artificial auxiliary passive walking by Physical Therapist's help earlier, after the patient has the ability self-locomotor activity, just proceed active rehabilitation training.Passive type lower limb rehabilitation training machine mainly refers to some passive type lower limb rehabilitation robots, and these healing robots can provide simple training program to the patient to a certain extent.
Existing traditional lower limb rehabilitation equipment generally lacks mechanical passive exercise pattern on the market, and training needs the auxiliary strength in therapist's the external world early stage mostly, thus the tired or overweight body pressure of the frequent complaint of the muscle power that the therapist must be expensive.Therefore the number of times of the number of times of treatment and patient repetition will be limited.The lower limb rehabilitation robot that contains passive data form of laboratory development is most, and mode is single in order to have the bionical biped of power, mechanism's bulky complex, and control to adjust loaded down with trivial details.
Traditional lower limb rehabilitation apparatus is strong to therapist's dependence, and therapist's experience and level are largely depended in the variation of scheme, and generally has only the passive exercise pattern, trains more single.
Summary of the invention
The objective of the invention is to overcome the shortcoming and defect of above-mentioned prior art, provide a kind of convenient, and the diversified lower limb intelligent rehabilitation of training method trainer.
The present invention realizes through following technical proposals:
A kind of lower limb intelligent rehabilitation trainer; Comprise control system, auxiliary stand, elliptical machine placement platform, treadmill platform; Auxiliary stand is positioned at the place ahead of elliptical machine placement platform; The treadmill platform is positioned at the rear of elliptical machine placement platform, and the lower end of said auxiliary stand is provided with servomotor, and top is provided with the top support mechanism; Said elliptical machine placement platform is provided with electronic elliptical machine, 3D multimedia simulation system; Said treadmill platform is provided with bionical biped system; The arranged outside of said elliptical machine placement platform and treadmill platform has hand rod, and said hand rod is arranged at the outside of elliptical machine placement platform and treadmill platform through elevating lever; Said control system is connected with servomotor, electronic elliptical machine, 3D multimedia simulation system respectively.
The lower end of said top support mechanism is provided with slide block and clasp, and clasp is connected with slide block through rope, and slide block is connected with servomotor through screw mandrel.
Said 3D multimedia simulation system comprises 3D head-mounted display, screen.
The rearward end of said hand rod is provided with expansion link.
The rear end of said treadmill platform also is connected with an oblique pedal.
Beneficial effect compared with prior art of the present invention is:
(1) 3D multimedia simulation system of the present invention, the demonstration through the 3D simulated environment lets the man-machine interaction of high validity become possibility.The 3D multimedia system mainly is responsible for showing the 3D head-mounted display of 3D environment and being responsible for carrying out the screen (touch-screen) that data show and training parameter is provided with.3D multimedia simulation system can be true to nature the walking environment of anthropomorphic dummy's daily life, and can be illustrated in platform user at the moment with the mode that 3D shows.When the patient has dressed bionical biped, put on after the 3D head-mounted display 2, will show the walking environment of 3D at the moment, after the user began walking, simulated environment also will be carried out corresponding action, and just the people walks the same in actual environment seemingly.The setting of training parameter (the for example speed of travel) can be carried out through screen, also the training assessment data can be shown.
(2) the present invention trains variation, and traditional lower limb rehabilitation apparatus is strong to therapist's dependence, and therapist's experience and level largely depended in the variation of scheme, and training is more single.
(3) 3D multimedia simulation system of the present invention, real simulated actual environment in training.Patient person has sense on the spot in person in training process, sensation is own truly walks in true environment, has not only increased recreationally to training, has more strengthened the stimulation to nerve, has improved the effect of rehabilitation training.
(4) bionical biped system is provided with the governor motion at thigh, shank, hip joint position, knee joint position and ankle-joint position, can regulate its length angle etc., thereby make apparatus can carry out personal settings, adapts to each patient's physiological requirement fully.
(5) the present invention combines elliptical machine to come the approximate simulation walking step state, and mechanism is simple, and control is convenient, only needs the system rotary speed of control motor to get final product.
Technological means of the present invention is simple and easy to do, has positive technique effect and application value.
Description of drawings
Fig. 1 is a structural representation of the present invention.
The specific embodiment
Below in conjunction with specific embodiment the present invention is done further concrete detailed description the in detail, but embodiment of the present invention is not limited thereto, the technological parameter for not indicating especially can carry out with reference to routine techniques.
Embodiment
As shown in Figure 1.Lower limb intelligent rehabilitation trainer of the present invention; Comprise control system, auxiliary stand 4, elliptical machine placement platform 5, treadmill platform 12; Auxiliary stand 4 is positioned at the place ahead of elliptical machine placement platform 5; Treadmill platform 12 is positioned at the rear of elliptical machine placement platform 5, it is characterized in that: the lower end of said auxiliary stand 4 is provided with servomotor 6, and top is provided with top support mechanism 7; Said elliptical machine placement platform 5 is provided with electronic elliptical machine 3,3D multimedia simulation system; Said treadmill platform 12 is provided with bionical biped system 11; The arranged outside of said elliptical machine placement platform 5 and treadmill platform 12 has hand rod 10, and said hand rod 10 is arranged at the outside of elliptical machine placement platform 5 and treadmill platform 12 through elevating lever 13; Said control system connects respectively at servomotor 6, electronic elliptical machine 3,3D multimedia simulation system.
The lower end of said top support mechanism is provided with slide block 8 and clasp 9, and clasp 9 is connected with slide block 8 through rope, and slide block 8 is connected with servomotor 6 through screw mandrel.Through rotation control, can control moving forward and backward of slide block 8, thereby the length of the front and back position of adjustment clasp 9 and adjustment rope satisfies different patients' height requirement to servomotor 6.
The roller inside of electronic elliptical machine 3 has increased motor device, is used to drive whole system operation, and the patient need not self and has an effect.
Bionical biped system 11 mainly provides active rehabilitation training to the patient.Simulated the human skeleton structure, can catch the dynamic angle in each joint of patient's shank through the many angular transducers that are provided with in the bionical biped system 11, long according to the leg of input system again, just can extrapolate the real-time space coordinates of people's shank.Utilize these coordinate informations, just can make analysis and evaluation, the prompting foundation is provided for simultaneously 3D multimedia simulation system patient's walking.
Bionical biped system 11 can carry out the length adjustment of mechanism according to the unique physical trait of each patient, and adjustable part and adjustable extent are respectively: hip joint height, adjustable extent 160mm; Thigh length, adjustable extent 105mm; Shank length, adjustable extent 105mm; The ankle-joint height, adjustable extent 36mm; The center, vola is from thigh side distance, adjustable extent 30mm.Wherein the hip joint height goes up and down to regulate through cylinder, and all the other all are through the latch adjusting of transferring the files.
In addition, the adjusting of the rotation gear of the one section transverse arm of hip joint through treadmill platform 12 places, and the cooperation of two sections transverse arms of hip joint rotation just can be regulated the width between two legs.Also can also be provided with buffer spring, the fluctuation up and down of hip joint in the time of can compensating walking at two sections transverse arm places.
Said 3D multimedia simulation system comprises 3D head-mounted display 2, screen 1.3D multimedia simulation system, the demonstration through the 3D simulated environment lets the man-machine interaction of high validity become possibility.The 3D multimedia system mainly is responsible for showing the 3D head-mounted display of 3D environment and being responsible for carrying out the screen 1 (touch-screen) that data show and training parameter is provided with.3D multimedia simulation system can be true to nature the walking environment of anthropomorphic dummy's daily life, and can be illustrated in platform user at the moment with the mode that 3D shows.When the patient has dressed bionical biped, put on after the 3D head-mounted display 2, will show the walking environment of 3D at the moment, after the user began walking, simulated environment also will be carried out corresponding action, and just the people walks the same in actual environment seemingly.The setting of training parameter (the for example speed of travel) can be carried out through screen 1, also the training assessment data can be shown.
The rearward end of said hand rod 10 is provided with expansion link 14, the convenient adjusting.
Convenient for using, can set up an oblique pedal 15 in the rear end of treadmill platform 12.
Just can realize the present invention preferably as stated.
The foregoing description is a preferred implementation of the present invention; But embodiment of the present invention is not restricted to the described embodiments; Other any do not deviate from change, the modification done under spirit of the present invention and the principle, substitutes, combination, simplify; All should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (5)
1. lower limb intelligent rehabilitation trainer; Comprise control system, auxiliary stand, elliptical machine placement platform, treadmill platform; Auxiliary stand is positioned at the place ahead of elliptical machine placement platform; The treadmill platform is positioned at the rear of elliptical machine placement platform, it is characterized in that: the lower end of said auxiliary stand is provided with servomotor, and top is provided with the top support mechanism; Said elliptical machine placement platform is provided with electronic elliptical machine, 3D multimedia simulation system; Said treadmill platform is provided with bionical biped system; The arranged outside of said elliptical machine placement platform and treadmill platform has hand rod, and said hand rod is arranged at the outside of elliptical machine placement platform and treadmill platform through elevating lever; Said control system is connected with servomotor, electronic elliptical machine, 3D multimedia simulation system respectively.
2. lower limb intelligent rehabilitation trainer according to claim 1 is characterized in that the lower end of said top support mechanism is provided with slide block and clasp, and clasp is connected with slide block through rope, and slide block is connected with servomotor through screw mandrel.
3. lower limb intelligent rehabilitation trainer according to claim 2 is characterized in that said 3D multimedia simulation system comprises 3D head-mounted display, screen.
4. lower limb intelligent rehabilitation trainer according to claim 3 is characterized in that the rearward end of said hand rod is provided with expansion link.
5. lower limb intelligent rehabilitation trainer according to claim 4 is characterized in that the rear end of said treadmill platform also is connected with an oblique pedal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101750985A CN102671341A (en) | 2012-05-30 | 2012-05-30 | Intelligent rehabilitation training device for lower limbs |
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| CN2012101750985A CN102671341A (en) | 2012-05-30 | 2012-05-30 | Intelligent rehabilitation training device for lower limbs |
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| CN102671341A true CN102671341A (en) | 2012-09-19 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105167958A (en) * | 2015-10-12 | 2015-12-23 | 哈尔滨工程大学 | Lower limb rehabilitation training elliptical machine device |
| CN106137681A (en) * | 2016-07-27 | 2016-11-23 | 营口春港康复辅助器具科技有限公司 | Intelligent lower limb recovery training appliance for recovery |
| CN107184374A (en) * | 2017-07-17 | 2017-09-22 | 广州晓康医疗科技有限公司 | A kind of walking rehabilitation training and evaluation and test equipment |
| CN113316474A (en) * | 2019-02-18 | 2021-08-27 | 赫卡系统株式会社 | Virtual reality walking device with stride adjusting function |
| WO2021190253A1 (en) * | 2020-03-23 | 2021-09-30 | 中国科学院沈阳自动化研究所 | Virtual and real scenario combined balance disorder rehabilitation robot |
| CN107184374B (en) * | 2017-07-17 | 2024-04-19 | 广州晓康医疗科技有限公司 | Walking rehabilitation training and evaluating equipment |
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| US5690582A (en) * | 1993-02-02 | 1997-11-25 | Tectrix Fitness Equipment, Inc. | Interactive exercise apparatus |
| JP2003319984A (en) * | 2002-05-02 | 2003-11-11 | Hitachi Kiden Kogyo Ltd | Apparatus for exercise in standing position |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105167958A (en) * | 2015-10-12 | 2015-12-23 | 哈尔滨工程大学 | Lower limb rehabilitation training elliptical machine device |
| CN105167958B (en) * | 2015-10-12 | 2017-08-04 | 哈尔滨工程大学 | A kind of lower limb rehabilitation training elliptical machine device |
| CN106137681A (en) * | 2016-07-27 | 2016-11-23 | 营口春港康复辅助器具科技有限公司 | Intelligent lower limb recovery training appliance for recovery |
| CN107184374A (en) * | 2017-07-17 | 2017-09-22 | 广州晓康医疗科技有限公司 | A kind of walking rehabilitation training and evaluation and test equipment |
| CN107184374B (en) * | 2017-07-17 | 2024-04-19 | 广州晓康医疗科技有限公司 | Walking rehabilitation training and evaluating equipment |
| CN113316474A (en) * | 2019-02-18 | 2021-08-27 | 赫卡系统株式会社 | Virtual reality walking device with stride adjusting function |
| WO2021190253A1 (en) * | 2020-03-23 | 2021-09-30 | 中国科学院沈阳自动化研究所 | Virtual and real scenario combined balance disorder rehabilitation robot |
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Application publication date: 20120919 |