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CN-121987455-A - Exoskeleton robot for fracture auxiliary rehabilitation

CN121987455ACN 121987455 ACN121987455 ACN 121987455ACN-121987455-A

Abstract

The invention relates to the technical field of medical rehabilitation instruments, and discloses an exoskeleton robot for fracture auxiliary rehabilitation. The robot comprises a shear deformation sensing component, a shape memory alloy locking component and a joint driving module. The shear deformation sensing assembly comprises a fixed shell, a flexible liner arranged on the inner side of the shell and a sensing beam connected between the shell and the liner. The shape memory alloy locking assembly comprises a locking pin arranged in the connecting rod structure, a shape memory alloy driving piece linked with the locking pin and a locking part which is positioned on the connecting rod structure and corresponds to the position of the locking pin. The strain gauge is electrically connected with the shape memory alloy driving piece. The invention directly senses the transverse micro-slippage representing the shearing risk through the mechanical structure and triggers the rigid mechanical locking in a coordinated manner, thereby providing quick and reliable physical protection for the fracture part and effectively preventing secondary damage in rehabilitation training.

Inventors

  • CHEN XICHENG
  • JI CHUNHUI

Assignees

  • 天津大学

Dates

Publication Date
20260508
Application Date
20260311

Claims (10)

  1. 1. The exoskeleton robot for fracture auxiliary rehabilitation is characterized by comprising a shear deformation sensing assembly, a shape memory alloy locking assembly and a joint driving module; the shear deformation sensing component is in signal connection with the shape memory alloy locking component; the shear deformation sensing assembly comprises a fixed shell (1), a flexible liner (2), a sensing beam (3) and a strain gauge (8); The shape memory alloy locking assembly comprises a connecting rod structure, a locking pin (4) arranged in the connecting rod structure, a shape memory alloy driving piece (5) linked with the locking pin (4), and a locking part (6) arranged on the connecting rod structure and corresponding to the position of the locking pin (4); the flexible liner (2) is arranged on the inner side surface of the fixed shell (1); the sensing beam (3) is connected between the fixed shell (1) and the flexible liner (2); the strain gauge (8) is electrically connected with the shape memory alloy driving piece (5); the joint driving module comprises a driving motor (17) and a speed reducer (18), and the driving motor (17) is connected with a joint of the robot through the speed reducer (18).
  2. 2. The exoskeleton robot for fracture auxiliary rehabilitation according to claim 1, wherein the sensing beam (3) is a cantilever beam, the root of the cantilever beam (3) is connected with the inner wall of the fixed housing (1), and the free end of the cantilever beam is propped against the flexible pad (2) through a columnar force transmission piece (7).
  3. 3. The exoskeleton robot for fracture-assisted rehabilitation according to claim 2, wherein the strain gauge (8) is attached to the surface of the cantilever beam (3) and is electrically connected to a wheatstone bridge circuit provided on a circuit board (9) fixed in the stationary housing (1).
  4. 4. The exoskeleton robot for fracture-assist rehabilitation as claimed in claim 1, wherein the shape memory alloy driving member (5) is a coil compression spring, and a resistance heating wire (10) is wound around the outer circumference of the coil compression spring (5).
  5. 5. The exoskeleton robot for fracture assist rehabilitation as claimed in claim 4, wherein the shape memory alloy locking assembly further comprises a return spring (11), the return spring (11) is arranged in parallel with the helical compression spring (5), one end of each of the return spring and the helical compression spring is fixed on the outer sleeve (12) of the link structure, and the other end of each of the return spring and the helical compression spring is in contact with the locking pin (4).
  6. 6. The exoskeleton robot for fracture auxiliary rehabilitation according to claim 1, wherein the locking part (6) is a row of through holes formed on an inner core rod (13) of the connecting rod structure, and the end part of the locking pin (4) is conical.
  7. 7. The exoskeleton robot for fracture-assisted rehabilitation as claimed in claim 3, further comprising a local control unit (14), wherein the local control unit (14) is enclosed outside the fixed housing (1), the circuit board (9) is electrically connected to the local control unit (14), and the local control unit (14) is electrically connected to the resistance heating wire (10).
  8. 8. The fracture-assist rehabilitation exoskeleton robot as claimed in claim 7, wherein the local control unit (14) is provided with a wireless communication receiving circuit, and the robot is further provided with a separate wireless remote controller provided with physical buttons and communicatively connected to the wireless communication receiving circuit.
  9. 9. The exoskeleton robot for fracture auxiliary rehabilitation according to claim 5, wherein the locking pin (4) is further connected with a manual unlocking rod (15), the manual unlocking rod (15) extends out of the shell of the connecting rod structure, and a pull ring (16) is arranged at the tail end of the manual unlocking rod.
  10. 10. The exoskeleton robot for fracture auxiliary rehabilitation according to claim 1, wherein the fixed housing (1) and the flexible pad (2) are arranged in pairs, and the two fixed housings (1) are connected by the link structure.

Description

Exoskeleton robot for fracture auxiliary rehabilitation Technical Field The invention relates to the technical field of medical rehabilitation instruments, in particular to an exoskeleton robot for fracture auxiliary rehabilitation. Background Currently, an integrated system architecture is commonly adopted by the fracture auxiliary rehabilitation exoskeleton robot, and the safety protection mechanism of the integrated system architecture depends on closed-loop control of a joint driving motor. Specifically, the motion load is monitored by providing a torque sensor at the joint, judged by a central controller, and finally braking is performed by a driving motor. However, such solutions have several inherent technical limitations, namely firstly, the safety function is deeply coupled with the active driving system at both hardware and software levels, once the central controller, the power supply or the communication link fails, the protection function is failed, and single-point failure risks exist, secondly, the software control loop from sensor signal sensing and central processor operation to motor braking execution is long, the introduced response delay (usually more than 200 milliseconds) has the problem of insufficient time window when the transient shear impact is handled, and most importantly, the indirect monitoring mode depending on the comprehensive moment at the joint cannot effectively distinguish the axial load beneficial to fracture healing and the absolute harmful shear or torsion load in physical principle, and the protection mechanism is essentially based on the logic of 'moment overload protection'. In addition, there are some passive fixation schemes in the prior art that employ rigid mechanical locking in the shear degree of freedom. The scheme is simple in structure, but has the technical defects that firstly, fixation is realized in a mode of completely limiting the degree of freedom of a shearing direction, so that stress cannot be released through micro motion at a contact interface of limbs and a fixer, and local pressure concentration is possibly caused, secondly, the scheme limits lateral displacement in all directions indiscriminately, simultaneously blocks tiny lateral components possibly associated with axial loads, forms rigid mechanical isolation, and is not capable of identifying and judging shearing risks and performing adaptive response according to actual load states and only can provide fixed static constraint from the aspect of functions. In summary, in the prior art, no matter a scheme relying on active driving control or a passive scheme adopting complete rigid locking is adopted, a safe solution capable of directly sensing shearing risk, realizing rapid rigid braking as required through independent physical means and simultaneously allowing safe physiological micro-motion cannot be provided. Disclosure of Invention In view of the above, the present invention aims to provide a fracture-assisted rehabilitation exoskeleton robot, which solves the problems of response delay due to the dependence on a software control loop, single-point failure risk due to deep coupling with a driving system, and principle protection defect due to the inability to directly sense shear load in the prior art by using a separate hardware redundancy mechanism. The invention provides an exoskeleton robot for fracture auxiliary rehabilitation, which comprises a joint driving module, a shear deformation sensing assembly and a shape memory alloy locking assembly. The shear deformation sensing assembly comprises a fixed shell, a flexible liner, a sensing beam and a strain gauge, wherein the shape memory alloy locking assembly comprises a connecting rod structure, a locking pin arranged in the connecting rod structure, a shape memory alloy driving piece in linkage with the locking pin, and a locking part arranged on the connecting rod structure and corresponding to the locking pin, the flexible liner is arranged on the inner side surface of the fixed shell, the sensing beam is connected between the fixed shell and the flexible liner, and the strain gauge is electrically connected with the shape memory alloy driving piece. The shear deformation sensing component and the shape memory alloy locking component together form an independent hardware protection link, and the sensing, judging and executing links are decoupled with the active motion control system of the robot in physical and logical aspects, so that a failure safety barrier special for preventing shearing risks is formed. In an alternative embodiment, the sensing beam is a cantilever beam, the root of the cantilever beam is connected with the inner wall of the fixed shell, and the free end of the cantilever beam is propped against the flexible liner through a columnar force transmission piece. In an alternative embodiment, the strain gauge is attached to the surface of the cantilever beam and is electrically connected to a Wheatstone bridg