CN101006958B - Ankle joint rehabilitation training device - Google Patents
Ankle joint rehabilitation training device Download PDFInfo
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- CN101006958B CN101006958B CN200710048317A CN200710048317A CN101006958B CN 101006958 B CN101006958 B CN 101006958B CN 200710048317 A CN200710048317 A CN 200710048317A CN 200710048317 A CN200710048317 A CN 200710048317A CN 101006958 B CN101006958 B CN 101006958B
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- ankle joint
- rehabilitation training
- moving platform
- revolute pair
- training device
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Abstract
The invention discloses an ankle-joint exercising device based on paralleling mechanism, which comprises the following parts: rotary mechanism with one free degree, spherical paralleling mechanism with two free degrees and tray, wherein the spherical paralleling mechanism is composed of mobile platform to fix tray, two branched chains and fixed platform, which connect each other through driving spoke; the fixed platform of spherical paralleling mechanism connects rotary component of rotary mechanism rigidly, which is set on the rack bearing of rotary mechanism through driving spoke to form 3 free degrees; the tray is assembled on the mobile platform of spherical paralleling mechanism.
Description
One, technical field
The invention belongs to medical instruments field, it relates to a kind of rehabilitation training apparatus, particularly relates to being used for ankle and spraining device with orthopedic rehabilitation instruction.
Two, background technology
Sprained ankle is a kind of common osteoarticular injury, and its incidence rate occupies second in lower extremity injury.The clinical treatment of sprained ankle proves: ankle joint carries out function rehabilitation training at convalescence, and patient's rehabilitation speed is accelerated in the somesthetic sensibility that can quicken organization healing and help recovering ligament, also can prevent from now on owing to unstable the spraining repeatedly of causing of ankle joint.Existing ankle joint rehabilitation training apparatus only has one, two degree of freedom usually, can not simulate the motion of ankle joint complexity truly.N.J. Rutgers university has developed a kind of Rutgers Ankle rehabilitation of anklebone system in 1999, this system is based on the Stewart mechanism and the virtual reality technology of pneumatic servo system control.Rutgers Ankle rehabilitation of anklebone system clinical trial result is obvious, has obtained patient and doctor's good reflection.In the flow of research of rehabilitation of anklebone device, the Jian S.Dai of London university and the people such as Christopher Nester of University of Salford proposed the configuration scheme of the rehabilitation of anklebone parallel institution of three or four degree of freedom, the Zhao Tieshi of Chinese University On The Mountain Of Swallows, proposed to adopt the motion of 3 degree of freedom of 3RSS/S mechanism analog ankle joint in the Dai Jiansheng of hypo and London university.But all there is some weak point to some extent in the above-mentioned rehabilitation of anklebone device of prior art.As the Stewart mechanism that Rutgers Ankle system adopts six degree of freedom, control system complexity, cost are very high, are difficult to apply.3RSS/S mechanism compares with adopting swing hinge owing to adopt ball pivot, and its processing and manufacturing is poor, the manufacturing cost height.
Three, summary of the invention
The deficiency that exists at the ankle joint rehabilitation training device of prior art, purpose of the present invention aims to provide a kind of real motion that can simulate ankle joint, possesses the required function of the ankle joint rehabilitation training of realization, and mechanical system structure is simple, compact, make good processability, the ankle joint rehabilitation training device of low cost of manufacture.
The ankle joint rehabilitation training device that can realize above-mentioned purpose disclosed by the invention, the rotating mechanism that mainly comprises one degree of freedom, the sphere parallel mechanism of two degree of freedom, and foot pallet, described sphere parallel mechanism is by the fixed platform as mechanism's frame, moving platform and 3 connecting rods as output link constitute, wherein a connecting rod connects with fixed platform and moving platform by revolute pair, constitute a movement branched chain that drives the moving platform gyration, other two connecting rods are hinged, the other two ends of two connecting rods connect with fixed platform and moving platform respectively by revolute pair, constitute and drive moving platform another movement branched chain around another axis gyration, the two axial lines of moving platform gyration is perpendicular, article two, movement branched chain is driven by servo drive respectively, the foot palette adjustment is on moving platform, the revolving member rigidity of the fixed platform of sphere parallel mechanism and rotating mechanism is fixed, be placed in by revolute pair on the rack support of rotating mechanism, drive rotation by servo drive, the sphere connection in series-parallel skimulated motion mechanism of constituent apparatus realizes the simulation to the ankle joint real motion.
In technique scheme, the revolute pair axis that constitutes between each member of sphere parallel mechanism can intersect at a point, and preferably the revolute pair axis between each member vertically meets at a bit.
In technique scheme, each the bar arc length degree that constitutes 3 connecting rods of sphere parallel mechanism is a pi/2.
In technique scheme, the intersection point of the revolute pair axis between each member of the axis of rotation of rotating mechanism and formation sphere parallel mechanism intersects.
In technique scheme, said servo drive is a servomotor.
The ankle joint rehabilitation training device that the present invention discloses, spherical surface parallel connected (five bars) mechanism design that its ankle joint skimulated motion mechanism is based on 2DOF forms.Two parallel kinematic side chains that spherical surface parallel connected (five bars) mechanism 3 connecting rods form are respectively by driven by servomotor, can make the rotation that realizes both direction as the moving platform of output link, the revolving member rigidity of the fixed platform of two freedom-degree spherical surface parallel connected mechanisms and one degree of freedom rotating mechanism is fixed, be placed in by revolute pair on the rack support of rotating mechanism, drive rotation by servo drive, constituted sphere serial parallel mechanism with 3 revolution degree of freedom, can simulate ankle motion truly, realize functions such as ankle joint traction, rehabilitation trainings.Ankle joint rehabilitation training device disclosed by the invention, because each kinematic pair of its motion is revolute pair, so its manufacturing good processability, low cost of manufacture, mechanical system structure is simple, compact.Particularly adopt the serial parallel mechanism of 3DOF, reduced the difficulty of its kinesiology and Dynamic solving, Control System Design obtains simplifying, and the rehabilitation training data are easy to handle, and have further improved the manufacturing processing characteristics, have reduced the device manufacturing cost.The invention solves the deficiency that the ankle joint rehabilitation training device of prior art exists, for ankle joint rehabilitation training provides a kind of easier convalescence device of accepting to promote for people.
Four, Brief Description Of Drawings
Accompanying drawing 1 is the population structure sketch map of one embodiment of the invention.
Accompanying drawing 2 is the 2DOF sphere parallel mechanism sketch map of embodiment in the accompanying drawing 1.
Accompanying drawing 3 is the 3DOF serial parallel mechanism sketch of embodiment in the accompanying drawing 1.
Accompanying drawing 4 is the population structure sketch map of another embodiment of the present invention.
Accompanying drawing 5 is the 2DOF sphere parallel mechanism sketch map of embodiment in the accompanying drawing 4.
Accompanying drawing 6 is the 3DOF serial parallel mechanism sketch of embodiment in the accompanying drawing 4.
Accompanying drawing 7 is the present invention's population structure sketch map of another embodiment again.
Accompanying drawing 8 is the 2DOF sphere parallel mechanism sketch map of embodiment in the accompanying drawing 7.
Accompanying drawing 9 is the 3DOF serial parallel mechanism sketch of embodiment in the accompanying drawing 7.
Figure grade sign object in above-mentioned each accompanying drawing is: 1 gantry base; 2 rack supports; 3 fixed platforms; 4 connecting rods; 5 connecting rods; 6 shaft couplings; 7 servomotors; 8 foot pallets; 9 moving platforms; 10 connecting rods; 11 servomotors; 12 shaft couplings; 13 servomotors.
Five, the specific embodiment
Provide embodiments of the invention below in conjunction with the explanation of accompanying drawing drawing, and structure of the present invention and operation principle are further described by embodiment.What be necessary here to specify is, the specific embodiment of the present invention is not limited to the form among the embodiment, according to content disclosed by the invention, the person of ordinary skill in the field can also take other concrete mode to implement, therefore, embodiment can not be interpreted as it is the specific embodiment that the present invention only can implement.
The structure of the ankle joint rehabilitation training device of present embodiment is shown in Fig. 1, accompanying drawing 2 and accompanying drawing 3.Rotating mechanism by one degree of freedom, the sphere parallel mechanism of two degree of freedom and pallet 8 constitute, described sphere parallel mechanism is by fixed platform 3, constitute as moving platform 9 and 3 connecting rods of output link, wherein a connecting rod 10 is " Y " type structural poles, connect with fixed platform and moving platform by revolute pair, constitute a movement branched chain of ordering about the moving platform gyration, this movement branched chain is driven by shaft coupling 12 by servomotor 13, moving platform under the driving of this movement branched chain around the Y-axis gyration.Other two connecting rods 4 and 5 rotate connection mutually by revolute pair, wherein the other end of connecting rod 5 connects by the supporting of revolute pair with fixed platform 3, the other end of connecting rod 4 connects with moving platform by revolute pair, constitute another movement branched chain that drives the moving platform gyration, this movement branched chain is driven by shaft coupling 6 by the servomotor 7 that is installed in the fixed platform supporting, moving platform around the gyration of Z axle, constitutes the sphere parallel mechanism with 2 rotational freedoms under this movement branched chain drives.The sphere parallel mechanism that is constituted, two axiss of rotation of moving platform-Y-axis, Z axle intersect vertically.The fixed platform 3 of sphere parallel mechanism is fixed with the revolving member rigidity of rotating mechanism, be placed in by revolute pair on the rack support 2 of rotating mechanism, under servo drive motor 11 drives, rotate, constitute connection in series-parallel spherical mechanism with 3 rotational freedoms around X-axis.Its schematic diagram of mechanism as shown in Figure 3.Rack support 2 rigidly fixes connection by bolt and gantry base 1.
The work running of the ankle joint rehabilitation training device of present embodiment is as follows: be installed in two servomotors 7 on the fixed platform 3,13 two driving members 5 and 10 by driving sphere parallel mechanism, make as the moving platform of sphere parallel mechanism output link and can realize around y, z axle both direction rotates, under servomotor 11 drives, sphere parallel mechanism is rotated around the x axle, formation one has the sphere serial parallel mechanism of 3 rotational freedoms, the foot pallet that fixes with moving platform is under above-mentioned 3DOF connection in series-parallel spherical mechanism drives, can realize simulation, can provide effectively functions such as ankle joint realization traction and rehabilitation trainings to the ankle joint real motion.
The structure of the ankle joint rehabilitation training device of present embodiment is shown in Fig. 4, accompanying drawing 5 and accompanying drawing 6.The structure of the structure of present embodiment ankle joint rehabilitation training device and embodiment 1 is basic identical, different places only be, be installed in 2DOF sphere parallel mechanism on the rack support 2 in the servo motor 11 axis of rotation X-axis under driving of driving by revolute pair, intersect at the intersection point of moving platform two axiss of rotation-Y-axis and Z axle.Its schematic diagram of mechanism as shown in Figure 6.
The structure of the ankle joint rehabilitation training device of present embodiment is shown in Fig. 7, accompanying drawing 8 and accompanying drawing 9.The structure of the structure of present embodiment ankle joint rehabilitation training device and embodiment 1 is basic identical, different places be, two servomotors that drive two side chains in parallel are installed in respectively on two mounting supports of fixed platform, two axiss of rotation that two parallel kinematic side chains that sphere parallel mechanism output link moving platform constitutes at 3 connecting rods order about the turning down campaign are X-axis and Y-axis, as shown in Figure 8.Be installed in 2DOF sphere parallel mechanism on the rotating mechanism frame by revolute pair, to drive the axis that motor 11 drives turning down campaigns be the Z axle servo, and the intersection point of Z axle and X-axis and Y-axis is crossing.Its schematic diagram of mechanism as shown in Figure 9.
Claims (6)
1. ankle joint rehabilitation training device, the rotating mechanism that mainly comprises one degree of freedom, the sphere parallel mechanism of two degree of freedom, and foot pallet, it is characterized in that described sphere parallel mechanism is by fixed platform, moving platform and 3 connecting rods constitute, wherein a connecting rod connects with fixed platform and moving platform by revolute pair, constitute a movement branched chain that drives the moving platform gyration, other two connecting rods are hinged, the other two ends of two connecting rods connect with fixed platform and moving platform respectively by revolute pair, constitute and drive moving platform another movement branched chain around another axis gyration, the two axial lines of moving platform gyration is perpendicular, article two, movement branched chain is driven by servo drive respectively, the foot palette adjustment is on moving platform, and the revolving member rigidity of the fixed platform of sphere parallel mechanism and rotating mechanism is fixed, is placed in by revolute pair on the rack support of rotating mechanism, drive rotation, the sphere connection in series-parallel skimulated motion mechanism of constituent apparatus by servo drive.
2. ankle joint rehabilitation training device as claimed in claim 1, the revolute pair axis that it is characterized in that constituting between each member of sphere parallel mechanism intersects at a point.
3. ankle joint rehabilitation training device as claimed in claim 2, the revolute pair axis that it is characterized in that constituting between each member of sphere parallel mechanism meets at a bit mutual vertically.
4. as claim 1 or 2 or 3 described ankle joint rehabilitation training devices, each the bar arc length degree that it is characterized in that constituting 3 connecting rods of sphere parallel mechanism is a pi/2.
5. ankle joint rehabilitation training device as claimed in claim 4, the intersection point that it is characterized in that the axis of rotation of rotating mechanism and constitute the revolute pair axis between each member of sphere parallel mechanism intersects.
6. ankle joint rehabilitation training device as claimed in claim 5 is characterized in that described servo drive is a servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710048317A CN101006958B (en) | 2007-01-23 | 2007-01-23 | Ankle joint rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710048317A CN101006958B (en) | 2007-01-23 | 2007-01-23 | Ankle joint rehabilitation training device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101006958A CN101006958A (en) | 2007-08-01 |
| CN101006958B true CN101006958B (en) | 2010-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200710048317A Expired - Fee Related CN101006958B (en) | 2007-01-23 | 2007-01-23 | Ankle joint rehabilitation training device |
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| CN (1) | CN101006958B (en) |
Families Citing this family (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101987060B (en) * | 2010-11-23 | 2012-05-09 | 哈尔滨工程大学 | Ankle joint recovery trainer through rope traction |
| CN102028604B (en) * | 2010-12-21 | 2012-10-03 | 上海电机学院 | Parallel type ankle rehabilitation training apparatus |
| CN101999970B (en) * | 2010-12-24 | 2013-01-30 | 上海电机学院 | Parallel multi-degree-of-freedom ankle joint rehabilitation trainer |
| ITMI20112325A1 (en) * | 2011-12-20 | 2013-06-21 | Consiglio Nazionale Ricerche | DEVICE AND METHOD FOR REHABILITATION OF FOOT MOVEMENTS |
| CN103027823B (en) * | 2012-11-30 | 2015-06-10 | 中国科学院深圳先进技术研究院 | Ankle joint rehabilitation training device, control system and ankle joint rehabilitation training machine |
| CN103070757B (en) * | 2013-01-08 | 2014-10-15 | 北京工业大学 | Parallel-type initiative/passive ankle rehabilitation training device |
| CN103083156B (en) * | 2013-01-21 | 2015-03-04 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| GB201305984D0 (en) * | 2013-04-03 | 2013-05-15 | Moog Bv | Mechanical linkage |
| CN103190972B (en) * | 2013-04-12 | 2014-11-05 | 郑州轻工业学院 | Auxiliary ankle recovering device with sphere-pin pairs |
| CN103786156A (en) * | 2014-01-21 | 2014-05-14 | 西北工业大学 | Space teleoperation hand controller |
| CN105326624B (en) * | 2014-08-14 | 2017-07-07 | 北京信息科技大学 | Upper limbs/lower limb spatial movement rehabilitation training auxiliary equipment |
| EP3274059B1 (en) | 2015-03-24 | 2021-04-07 | Fondazione Istituto Italiano di Tecnologia | Driving system for controlling the rotation of an object about two perpendicular axes of rotation and rehabilitation machine for rehabilitation of the lower limbs and the trunk incorporating such a driving system |
| CN104887457B (en) * | 2015-06-11 | 2018-03-13 | 尚晓玉 | A kind of device for healing and training and its training stand |
| ITUB20160357A1 (en) | 2016-01-26 | 2017-07-26 | Rx S P A | Treadmill for physical exercise |
| CN105853144B (en) * | 2016-04-08 | 2017-12-19 | 王春宝 | The ankle dorsal flexion plantar flexion device for healing and training of integration trainingt and motion state detection |
| CN105853142B (en) * | 2016-04-08 | 2018-08-31 | 王春宝 | The ankle joint rehabilitation training device of integrated rehabilitation training and motion state detection |
| CN106730634B (en) * | 2016-12-31 | 2022-02-15 | 中北大学 | Ankle rehabilitation device with adjustable axis |
| CN107803820B (en) * | 2017-10-16 | 2020-09-22 | 清华大学 | Three-degree-of-freedom parallel mechanism ankle joint rehabilitation device |
| CN107898602A (en) * | 2017-12-22 | 2018-04-13 | 南瑞佳 | A kind of neurology department's rehabilitation device |
| CN108042983B (en) * | 2018-01-29 | 2019-10-29 | 牡丹江师范学院 | A kind of ankle three-dimensional force training device |
| CN109223440A (en) * | 2018-09-11 | 2019-01-18 | 佳木斯大学 | A kind of parallel institution ankle device for rehabilitation |
| CN111904801A (en) * | 2020-09-21 | 2020-11-10 | 东北大学秦皇岛分校 | Series-parallel flexible ankle joint rehabilitation device |
| CN113181602B (en) * | 2021-06-08 | 2022-06-03 | 重庆理工大学 | Upper limb rehabilitation training mechanism |
| CN114699720A (en) * | 2022-03-14 | 2022-07-05 | 北京诺亦腾科技有限公司 | Lower limb rehabilitation training device |
| CN114668629B (en) * | 2022-04-22 | 2024-01-12 | 河北工业大学 | Four-degree-of-freedom ankle joint rehabilitation parallel mechanism with closed chain of children |
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| US6277057B1 (en) * | 2000-02-28 | 2001-08-21 | Craig Hayden | Ankle rehabilitation device |
| US6878102B1 (en) * | 2001-08-21 | 2005-04-12 | Luis Alberto Commisso | Leg-ankle-foot exercise assembly |
| CN2722971Y (en) * | 2004-09-13 | 2005-09-07 | 邯郸钢铁集团有限责任公司 | Automatic recovery device for ankle joint wound |
| JP2005312922A (en) * | 2004-03-31 | 2005-11-10 | Toshio Morikawa | Ankle exercise instrument |
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| US6277057B1 (en) * | 2000-02-28 | 2001-08-21 | Craig Hayden | Ankle rehabilitation device |
| US6878102B1 (en) * | 2001-08-21 | 2005-04-12 | Luis Alberto Commisso | Leg-ankle-foot exercise assembly |
| JP2005312922A (en) * | 2004-03-31 | 2005-11-10 | Toshio Morikawa | Ankle exercise instrument |
| CN2722971Y (en) * | 2004-09-13 | 2005-09-07 | 邯郸钢铁集团有限责任公司 | Automatic recovery device for ankle joint wound |
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| CN101006958A (en) | 2007-08-01 |
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