Multi-function lower limb ambulation rehabilitation and walking assist device

Abstract

A multi-function lower limb ambulation rehabilitation and walking assist device is provided. Through a suspension unit to support the user, the tolerance of the user's leg is reduced. For users of different weights, it can be used for a walking rehabilitation training of the lower limbs to achieve the best training effect. An exoskeleton rehabilitation device has a hip joint linear actuator, a knee joint linear actuator, a first actuator, a second actuator, a third actuator, and a fourth actuator to drive the one-legged the exoskeleton rehabilitation device which is safe, comfortable, reliable, practical and convenient. An indoor and outdoor navigation auxiliary device can be used as a blind guiding device. Through a display unit, a navigation and positioning system displays the orientation of the user in a virtual map corresponding to the real operation environment and a desired location point.

Claims

1. A multi-function lower limb ambulation rehabilitation and walking assist device, comprising an exoskeleton rehabilitation device, the exoskeleton rehabilitation device comprising a hip joint member, the hip joint member being pivotally connected with a thigh frame, the hip joint member being pivotally connected with a first actuator, the thigh frame being pivotally connected with a second actuator, the first actuator and the second actuator being coupled with a hip joint linear actuator, the first actuator and the second actuator being coupled with a processing unit, one end of the thigh frame, opposite the hip joint member, being provided with a knee joint member, the knee joint member being configured to connect the thigh frame and a shank frame, the knee joint member being pivotally connected with a third actuator, the shank frame being pivotally connected with a fourth actuator, the third actuator and the fourth actuator being coupled with a knee joint linear actuator, the third actuator and the fourth actuator being coupled with the processing unit, the processing unit commanding the first actuator and the second actuator to drive the hip joint linear actuator respectively and the third actuator and the fourth actuator to drive the knee joint linear actuator respectively; the hip joint member and the thigh frame being pivotally connected with each other through a first non-contact angle sensor to sense an angle between the thigh frame and the ground, the knee joint member and the shank frame being pivotally connected with each other through a second non-contact angle sensor to sense an angle between the shank frame and the ground, the first non-contact angle sensor and the second non-contact angle sensor being coupled with the processing unit respectively; the first non-contact angle sensor and the second non-contact angle sensor capturing signals of angular displacement of the hip joint member and the knee joint member in a walk cycle and sending the respective signals to the processing unit, enabling the processing unit to control actuation of the first actuator, the second actuator, the third actuator, and the fourth actuator; the exoskeleton rehabilitation device being connected with a weight support system, the weight support system comprising at least one suspension unit, the suspension unit comprising at least one tension sensing unit to sense a weight, the weight support system being provided with four weight support linear actuators, the weight support linear actuators being coupled with the tension sensing unit respectively to steady the center of gravity of the weight support system and the weight; the suspension unit being provided with a receiving member, the receiving member being provided with a board, the board having a light reflection portion, a bottom of the weight support system being further provided with at least one moving device.

2. The multi-function lower limb ambulation rehabilitation and walking assist device as claimed in claim 1, wherein the exoskeleton rehabilitation device is provided with at least one adjustment member, the adjustment member is adapted to tie the leg of a user, the tightness of the adjustment member is adjustable, the thigh frame is provided with a thigh length adjustment mechanism, and the shank frame is provided with a shank length adjustment mechanism.

3. The multi-function lower limb ambulation rehabilitation and walking assist device as claimed in claim 1, wherein the processing unit is coupled with an indoor and outdoor navigation auxiliary device, the indoor and outdoor navigation auxiliary device is provided with an armrest device, the armrest device is provided with at least one pressure sensor, the pressure sensor is coupled with the processing unit, the indoor and outdoor navigation auxiliary device is further coupled with a navigation and positioning system and a moving unit, the navigation and positioning system and the moving unit are coupled with the processing unit respectively, the navigation and positioning system is provided with a virtual map corresponding to a real operation environment and orients the exoskeleton rehabilitation device at a position point in the virtual map, by setting a location point through the navigation and positioning system, the processing unit controls the moving unit to move from the position point to the location point displayed in the virtual map of the navigation and positioning system, and the indoor and outdoor navigation auxiliary device is further coupled with a front searchlight.

4. The multi-function lower limb ambulation rehabilitation and walking assist device as claimed in claim 3, wherein the indoor and outdoor navigation auxiliary device is coupled with a remote monitoring system, the remote monitoring system is used to monitor the position of the indoor and outdoor navigation auxiliary device, and the remote monitoring system receives the signals of the angular displacement of the hip joint member and the knee joint member in a walk cycle captured by the first non-contact angle sensor and the second non-contact angle sensor.

5. The multi-function lower limb ambulation rehabilitation and walking assist device as claimed in claim 3, wherein the processing unit is further coupled with a video camera and a laser rangefinder, through the video camera and the laser rangefinder, the processing unit analyzes a motion trajectory of an object to detect a relative location of an obstacle in front and controls the moving unit to move for guiding the exoskeleton rehabilitation device to move away from the obstacle.

6. The multi-function lower limb ambulation rehabilitation and walking assist device as claimed in claim 3, wherein the indoor and outdoor navigation auxiliary device is further coupled with a display unit, the display unit is used to display the virtual map, the position point, and the location point, and the navigation and positioning system is able to plan a route from the position point to the location point in the virtual map and display the route on the display unit.

7. The multi-function lower limb ambulation rehabilitation and walking assist device as claimed in claim 3, wherein the indoor and outdoor navigation auxiliary device is further coupled with an ultrasonic sensing unit, and the ultrasonic sensing unit detects a distance value between the exoskeleton rehabilitation device and the indoor and outdoor navigation auxiliary device for the processing unit to control the speed of movement of the moving unit of the indoor and outdoor navigation auxiliary device.

8. The multi-function lower limb ambulation rehabilitation and walking assist device as claimed in claim 7, wherein the ultrasonic sensing unit is coupled with a filter, and the filter is used to filter noise of the distance value detected by the ultrasonic sensing unit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a perspective view of the present invention;

(2) FIG. 2 is a schematic view of the present invention when in use;

(3) FIG. 3 is a block diagram of pivotal configuration of the hip joint member and the knee joint member of the present invention;

(4) FIG. 4 is a block diagram of the present invention for navigation and walking; and

(5) FIG. 5 is a schematic view showing the route planned by the navigation and positioning system and displayed on the display unit of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

(6) Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings.

(7) Referring to FIG. 1, the present invention relates to a multi-function lower limb ambulation rehabilitation and walking assist device, and comprises an exoskeleton rehabilitation device 1. The exoskeleton rehabilitation device 1 comprises a hip joint member 11. The hip joint member 11 is pivotally connected with a thigh frame 12. The thigh frame 12 is provided with a thigh length adjustment mechanism 121. The hip joint member 11 is pivotally connected with a first actuator 13a. The thigh frame 12 is pivotally connected with a second actuator 13b. The first actuator 13a and the second actuator 13b are coupled with a hip joint linear actuator 14a. The first actuator 13a and the second actuator 13b are coupled with a processing unit 141. The hip joint member 11 and the thigh frame 12 are pivotally connected with each other through a first non-contact angle sensor 15a to sense the angle between the thigh frame 12 and the ground. One end of the thigh frame 12, opposite the hip joint member 11, is provided with a knee joint member 16. The knee joint member 16 is configured to connect the thigh frame 12 and a shank frame 17. The shank frame 17 is provided with a shank length adjustment mechanism 171. The knee joint member 16 is pivotally connected with a third actuator 13c. The shank frame 17 is pivotally connected with a fourth actuator 13d. The third actuator 13c and the fourth actuator 13d are coupled with a knee joint linear actuator 14b. The third actuator 13c and the fourth actuator 13d are coupled with the processing unit 141.

(8) The knee joint member 16 and the shank frame 17 are pivotally connected with each other through a second non-contact angle sensor 15b to sense the angle between the shank frame 17 and the ground. The processing unit 141 commands the first actuator 13a and the second actuator 13b to drive the hip joint linear actuator 14a, respectively. The processing unit 141 commands the third actuator 13c and the fourth actuator 13d to drive the knee joint linear actuator 14b, respectively. The first non-contact angle sensor 15a and the second non-contact angle sensor 15b are coupled with the processing unit 141, respectively. The first non-contact angle sensor 15a and the second non-contact angle sensor 15b capture the signals of the angular displacement of the hip joint member 11 and the knee joint member 16 in a walk cycle and send the respective signals to the processing unit 141, such that the processing unit 141 controls the actuation of the first actuator 13a, the second actuator 13b, the third actuator 13c, and the fourth actuator 13d.

(9) At least one adjustment member 2 is mounted to the exoskeleton rehabilitation device 1. The adjustment member 2 is adapted to tie the leg of the user 8. The tightness of the adjustment member 2 is adjustable according to the demand of the user 8.

(10) A weight support system 3 is connected to the exoskeleton rehabilitation device 1. The weight support system 3 comprises at least one suspension unit 31. The suspension unit 31 comprises at least one tension sensing unit 311 to sense the use's weight. In an embodiment, the weight support system 3 is provided with four weight support linear actuators 312. The weight support linear actuators 312 are coupled with the tension sensing unit 31, respectively. The suspension unit 31 is provided with a receiving member 32. In another embodiment, when the user 8 stands in the receiving member 32, the tension sensing unit 311 of the suspension unit 31 will sense a Z-axis downward weight. After the tension sensing unit 311 senses the weight of the user 8, the weight support linear actuators 312 apply an upward force about 30-40% of the weight to the Z-axis, retaining about 60-70% of the weight to the user 8 for rehabilitation. The receiving member 32 is provided with a board 321. The board 321 has a light reflection portion. The bottom of the weight support system 3 is further provided with at least one moving device 33.

(11) An indoor and outdoor navigation auxiliary device 5 is coupled with the processing unit 141. The indoor and outdoor navigation auxiliary device 5 is further coupled with a navigation and positioning system 51 and a moving unit 56. In an embodiment, the moving unit 56 is coupled with a drive member 561. The navigation and positioning system 51 and the moving unit 56 are coupled with the processing unit 141, respectively. The navigation and positioning system 51 is provided with a virtual map 511 corresponding to a real operation environment (not shown in the drawings) and orients the exoskeleton rehabilitation device 1 at a position point 511a in the virtual map 511. By setting a location point 511b through the navigation and positioning system 51, the processing unit 141 controls the moving unit 56 to move from the position point 511a to the location point 511b displayed in the virtual map 511 of the navigation and positioning system 51. The processing unit 141 is further coupled with a video camera 52 and a laser rangefinder 53. Through the video camera 52 and the laser rangefinder 53, the processing unit 141 analyzes the motion trajectory of an object to detect the location of an obstacle in front and controls the moving unit 56 to dodge the obstacle during movement. The indoor and outdoor navigation auxiliary device 5 is further coupled with an ultrasonic sensing unit 54. The ultrasonic sensing unit 54 detects a distance value to the processing unit 141. In an embodiment, the ultrasonic sensing unit 54 detects the distance value between the user 8 wearing the exoskeleton rehabilitation device 1 and the indoor and outdoor navigation auxiliary device 5 for controlling the speed of movement of the indoor and outdoor navigation auxiliary device 5. The indoor and outdoor navigation auxiliary device 5 is further coupled with a front searchlight 55. The indoor and outdoor navigation auxiliary device 5 is further provided with an armrest device 57. The armrest device 57 is provided with at least one pressure sensor 571. The pressure sensor 571 is coupled with the processing unit 141.

(12) A filter 541 is coupled with the ultrasonic sensing unit 54. The filter 541 is used to filter noise of the distance value detected by the ultrasonic sensing unit 54.

(13) A remote monitoring system 6 is coupled with the indoor and outdoor navigation auxiliary device 5. The remote monitoring system 6 is used to monitor the position of the indoor and outdoor navigation auxiliary device 5. The remote monitoring system 6 receives the signals of the angular displacement of the hip joint member 11 and the knee joint member 16 in a walk cycle captured by the first non-contact angle sensor 15a and the second non-contact angle sensor 15b.

(14) A display unit 7 is coupled with the indoor and outdoor navigation auxiliary device 5. The display unit 7 is used to display the virtual map 511, the position point 511a, and the location point 511b. The navigation and positioning system 51 can plan the route from the position point 511a to the location point 511b in the virtual map 511 to display the route on the display unit 7.

(15) Thereby, please refer to FIG. 1 and FIG. 2, after the user 8 stands in the receiving member 32, the suspension unit 31 is displaced in the direction of X-axis through the weight support linear actuators 312. Each weight support linear actuator 312 is able to bear 120 kilograms. Therefore, the weight support linear actuators 312 do a displacement in the direction of X-axis for other screws. This is relative safe. The displacement depends on the height and weight of the user. For example, if the height of the user 8 is 180 centimeters and the weight is 85 kilograms, the tension sensing unit 311 is used to sense the user's weight. According to the theory of rehabilitation medicine, during the rehabilitation training process, providing a constant weight support force is one of the most effective ways of rehabilitation for the user. The international standard of the weight support is about 30-40% of the user's weight. Therefore, during the rehabilitation training process, the weight support of the user 8 will not more than 40% of the user's weight, namely, not all the user's weight is supported totally. Through the present invention, the user applies a part of his/her force for rehabilitation. In an embodiment, when the weight of the user is 85 kilograms, the tension sensing unit 311 will display a value of 25.5-34 kilograms, but not limited thereto. The tension parameter of the tension sensing unit 311 can be adjusted according to the demand of the user's lower limbs. The present invention can be used for the lower limb rehabilitation for users of different weights. The weight support system 3 is provided with the moving device 33 for walking rehabilitation. During walking rehabilitation, the up and down movement of the center of gravity of the human body can be tracked to provide a constant weight support for the user. This provides a movable active weight support function to achieve a better training effect for rehabilitation. Lower limb joints bear more pressure when standing than sitting. The elderly and the person with weak lower limbs easily fall down on the ground due to lack of leg strength when there is a change of his/her body or a change of the ambient environment. The weight support system 3 helps the user 8 reduce a partial weight to mitigate the lower limb load while walking, and maintains a correct upright posture, and provides a certain support force to ensure the safety of the user 8, eliminating the user's tension and fear because of concerning about falling so as to maintain normal walking for a long distance. Besides, the receiving member 32 is adjustable according to the waistline of the user. Through the receiving member 32 to support the weight of the user's lower limbs, it is convenient for use. In addition, the receiving member 32 is provided with the board 321. The board 321 has a light reflection portion. Therefore, the present invention enhances the safety for the user to walk at night.

(16) Referring to FIG. 3, the user 8 walks in a normal gait for rehabilitation through the exoskeleton rehabilitation device 1, according to a normal gait trajectory set by the system and corresponding to the gait parameters. For example, step and pace parameters are outputted to control and command each joint through the processing unit 141 for guiding the user 8 to exercise walking for rehabilitation. Thus, the exoskeleton rehabilitation device 1 is used in an active training mode which is a control method of master-slave tracing. Wherein, with regard to a large motion of the hip joint member 11 and the knee joint member 16, it is achieved through the hip joint linear actuator 14a and the knee joint linear actuator 14b. With regard to a small motion, such as retraction and extension of the hip joint member 11, it is achieved through the first actuator 13a, the second actuator 13b, the third actuator 13c, and the fourth actuator 13d. Through the hip joint linear actuator 14a, the knee joint linear actuator 14b, the first actuator 13a, the second actuator 13b, the third actuator 13c, and the fourth actuator 13d to drive the one-legged the exoskeleton rehabilitation device 1, the exoskeleton rehabilitation device 1 is safe, comfortable, reliable, practical and convenient for use. Because the required drive components are fewer, the structure of the present invention is simple and beneficial for assembly. Moreover, the exoskeleton rehabilitation device 1 can be used to train walking in a correct gait repeatedly for the user 8, without using a treadmill, so that the user can directly walk on the even ground like the gait trajectory of a human body walking on the ground. Thereby, the present invention accomplishes exercise training of each joint, active and passive self-adjustment of the muscles in the legs and rehabilitation training of neurologic function. Furthermore, the first non-contact angle sensor 15a and the second non-contact angle sensor 15b capture the signals of the conditions of each joint and both legs of the user in a walk cycle and send the respective signals to the remote monitoring system 6 through the processing unit 141. The remote monitoring system 6 monitors the harmony of the exoskeleton rehabilitation device 1 driven by the first actuator 13a, the second actuator 13b, the third actuator 13c, and the fourth actuator 13d and the motion conditions of the user. Besides, the lengths of the tight length adjustment mechanism 121 and the shank length adjustment mechanism 171 are adjustable according to the demand of the user, such that the user 8 gets the best rehabilitation training to enhance the quality of rehabilitation for the injured leg of the user 8.

(17) Referring to FIG. 1 and FIG. 2, when in use, the user 8 can hold on the armrest device 57. Compared to the conventional pressure sensor, the pressure sensor 571 of the present invention can get the walking information relating to the pressure and pressure distribution. When the user 8 applies a force to the pressure sensor 571, the walking information relating to the pressure and pressure distribution is transmitted to the processing unit 141. The processing unit 141 analyzes the walking information and then commands the moving unit 56 to make a turn. For example, when the user 8 applies a force to the right pressure sensor 571, the pressure value detected by the pressure sensor 571 is transmitted to the processing unit 141. The processing unit 141 determines that the pressure value of the right armrest device 57 greater than that of the left armrest device 57, and then commands the moving unit 56 to turn right, achieving a rotation function for the present invention so as to control the movement of the indoor and outdoor navigation auxiliary device 5. The height of the armrest device 57 is adjustable according to the demand of the user.

(18) Referring to FIG. 4 and FIG. 5, through the menu of the display unit 7, the user 8 uses the navigation and positioning system 51 to orient the exoskeleton rehabilitation device 1 at the position point 511a of the virtual map 511 corresponding to the real operation environment. By setting the location point 511b, the navigation and positioning system 51 plans the route from the position point 511a to the location point 511b in the virtual map 511 through the processing unit 141. The moving unit 56 brings the user 8 wearing the exoskeleton rehabilitation device 1 to move. The display unit 7 displays the virtual map 511, the position point 511a, and the location point 511b. The present invention helps the user move expansively, not limited to the rehabilitation room. Furthermore, at night, the user 8 can turn on the front searchlight 55 for viewing the front condition. For example, after the user 8 selects the location point 511b, the indoor and outdoor navigation auxiliary device 5 starts the navigation function after getting the goal. The display unit 7 displays the planned route for the user to walk to the location point 511b smoothly. By providing the remote monitoring system 6, the information of the speed, the coordinates, and the position in the map during walking is transmitted to the remote monitoring system 6 through a wireless communication system (such as GPRS) to monitor the position of the user 8 remotely.

(19) Referring to FIG. 5, the display unit 7 and the remote monitoring system 6 are amended along with movement of the indoor and outdoor navigation auxiliary device 5. For example: replacing a map, amending map parameters and amending the coordinates to cooperate with the new map, enabling the indoor and outdoor navigation auxiliary device 5 to move to anew place, so that the user 8 can clearly understand the orientation of the new place.

(20) Referring to FIG. 5, the indoor and outdoor navigation auxiliary device 5 can be used as a blind guiding device. Through the video camera 52 and the laser rangefinder 53 or an infrared sensor (not shown in the drawings) of the indoor and outdoor navigation auxiliary device 5 to capture the sequence of consecutive images of the area of the front environment, the processing unit 141 analyzes the motion trajectory of the object to detect the position of the front obstacle. During movement, the moving unit 56 guides the exoskeleton rehabilitation device 1 to dodge the front obstacle. Besides, the ultrasonic sensing unit 54 mounted at the back of the indoor and outdoor navigation auxiliary device 5 is used to detect the distance value between the user 8 wearing the exoskeleton rehabilitation device 1 and the indoor and outdoor navigation auxiliary device 5. Through the distance value detected by the ultrasonic sensing unit 54, the processing unit 141 controls the speed of movement of the indoor and outdoor navigation auxiliary device 5 to get the distance between the user 8 and the indoor and outdoor navigation auxiliary device 5. The area of the front environment and the distance between the user 8 and the indoor and outdoor navigation auxiliary device 5 are outputted to the indoor and outdoor navigation auxiliary device 5 through the processing unit 141 to control the speed of movement. For example, when the user 8 walks slowly, the speed of movement of the indoor and outdoor navigation auxiliary device 5 is decelerated to match the user's steps; when the user 8 walks fast, the speed of movement of the indoor and outdoor navigation auxiliary device 5 is accelerated to match the user's steps. When the front space is narrow, although the user 8 is closer to the indoor and outdoor navigation auxiliary device 5, it is unable to accelerate or advance at a high speed. Thus, when the user encounters an obstacle in front, the speed is adjusted and the indoor and outdoor navigation auxiliary device 5 is turned away from the obstacle in front to avoid accidents of collision. The speed of movement of the indoor and outdoor navigation auxiliary device 5 is adjusted according to the width of the front space and the distance between the user 8 and the indoor and outdoor navigation auxiliary device 5 to match the demand of the user 8 for walking and safety.

(21) The present invention has the following advantages and effects:

(22) 1. Through the suspension unit 31 to support the user's weight, the tolerance of the user's leg is reduced to mitigate the burden of the lower limbs to support the weight. For users of different weights, the exoskeleton rehabilitation device can be used for a walking rehabilitation training of the lower limbs to achieve the best training effect and to mitigate the burden of the lower limbs to support the weight.

(23) 2. Compared to a conventional ambulation rehabilitation training system, the exoskeleton rehabilitation device 1 of the present invention has the hip joint linear actuator 14a, the knee joint linear actuator 14b, the first actuator 13a, the second actuator 13b, the third actuator 13c, and the fourth actuator 13d to drive the one-legged the exoskeleton rehabilitation device 1. The exoskeleton rehabilitation device is safe, comfortable, reliable, practical and convenient. The required drive components are fewer, so the structure of the present invention is simple. Moreover, the exoskeleton rehabilitation device 1 can be used to train walking in a correct gait repeatedly for the user 8, without using a treadmill, so that the user can directly walk on the even ground like the gait trajectory of a human body walking on the ground. Thereby, the present invention accomplishes exercise training of each joint, active and passive self-adjustment of the muscles in the legs and rehabilitation training of neurologic function. Furthermore, the first non-contact angle sensor 15a and the second non-contact angle sensor 15b capture the signals of the conditions of each joint and both legs of the user in a walk cycle and send the respective signals to the processing unit 141 for controlling the harmony of the exoskeleton rehabilitation device 1 and the user 8, such that the user 8 gets the best rehabilitation training to enhance the quality of rehabilitation for the injured leg of the user 8.

(24) 3. The indoor and outdoor navigation auxiliary device 5 of the present invention can be used as a blind guiding device. Through the menu of the display unit 7, the navigation and positioning system 51 orients the exoskeleton rehabilitation device 1 at the position point 511a in the virtual map 511 corresponding to the real operation environment and the desired location point 511b, and the navigation and positioning system 51 plans the route from the position point 511a to the location point 511b in the virtual map 511 through the processing unit 141 for the user 8 to clearly understand his/her orientation. The indoor and outdoor navigation auxiliary device 5 uses the ultrasonic sensing unit 54, the video camera 52, the laser rangefinder 53, and the infrared sensor to calculate the advance speed and the turning speed and to dodge the obstacle in front. Furthermore, the indoor and outdoor navigation auxiliary device 5 transmits the information of the speed, the coordinates, and the position in the map during walking to the remote monitoring system 6 through a wireless area network so as to monitor the position of the user 8 remotely. The receiving member is provided with the board having a light reflection portion, which enhances the safety for the user 8 to walk at night. Furthermore, the user 8 can turn on the front searchlight 55 for viewing the front condition.

(25) 4. When in use, the user 8 can hold on the armrest device. Compared to the conventional pressure sensor, the pressure sensor of the present invention can get the walking information relating to the pressure and pressure distribution. When the user applies a force to the pressure sensor, the walking information relating to the pressure and pressure distribution is transmitted to the processing unit. The processing unit analyzes the walking information and then commands the moving unit to make a turn.

(26) Although particular embodiments of the present invention have been described in detail for purposes of illustration, various modifications and enhancements may be made without departing from the spirit and scope of the present invention. Accordingly, the present invention is not to be limited except as by the appended claims.